mitron402.book

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1 µitron4.0 Ver ( ) ITRON Copyright (C) 1999, 2001, 2004 by TRON ASSOCIATION, JAPAN 1

2 µitron4.0 Ver ( ) ( ) µitron ( ) ITRON TEL: FAX: TRON The Real-time Operating system Nucleus ITRON Industrial TRON µitron Micro Industrial TRON BTRON Business TRON CTRON Central and Communication TRON TRON ITRON µitron BTRON CTRON 2

3 ITRON TRON 15 ITRON OA ITRON TRON µitron4.0 µitron3.0 GUI ITRON ITRON CPU µitron4.0 µitron4.0 ITRON µitron i

4 1984 ITRON 15 µitron ITRON µitron4.0 WG µitron4.0 WG WG ITRON RTOS µitron4.0 WG µitron4.0 ITRON 2 µitron4.0 ITRON µitron4.0 µitron µitron4.0 µitron4.0 µitron µitron4.0 ii

5 µitron OS µitron4.0 ITRON µitron4.0 µitron4.0 µitron µitron4.0 µitron4.0 WG µitron4.0 ITRON ITRON µitron4.0 iii

6 µ ITRON4.0 µ ITRON4.0 C API 1 TRON ITRON ITRON µ ITRON4.0 µ ITRON4.0 µ ITRON4.0 2 µitron4.0 3 µitron4.0 4 µitron µitron4.0 iv

7 µitron4.0 µitron4.0 API µ ITRON4.0 µ ITRON4.0 µitron4.0 µitron3.0 µitron3.0 µitron3.0 µ ITRON4.0 µitron4.0 µitron4.0 4 API API API API API API API API S API API API C API C v

8 API API cre_yyy yyy cre_tsk cre_sem cre_flg x x x y x y x y x y TA_HLNG TA_ASM TA_ACT 4 TA_HLNG TA_ASM TA_HLNG TA_ACT TA_ASM TA_ACT vi

9 ... i... ii...iv...v... vii... xi API... xvi 1 µitron ITRON RTOS ITRON ITRON µitron ITRON µitron µitron ITRON ITRON API ID API API vii

10 API ITRON ITRON ITRON ITRON ITRON API µitron CPU CPU viii

11 µitron µitron µitron µitron ix

12 API API x

13 µitron4.0 acp_por acre_alm ID acre_cyc ID acre_dtq ID acre_flg ID acre_isr ID acre_mbf ID acre_mbx ID acre_mpf ID acre_mpl ID acre_mtx ID acre_por ID acre_sem ID acre_tsk ID...85 act_tsk...89 cal_por cal_svc can_act...91 can_wup chg_ixx chg_pri...97 clr_flg cre_alm cre_cyc cre_dtq cre_flg cre_isr cre_mbf cre_mbx cre_mpf cre_mpl cre_mtx cre_por cre_sem cre_tsk...85 def_exc CPU xi

14 def_inh def_ovr def_svc def_tex del_alm del_cyc del_dtq del_flg del_isr del_mbf del_mbx del_mpf del_mpl del_mtx del_por del_sem del_tsk...88 dis_dsp dis_int dis_tex dly_tsk ena_dsp ena_int ena_tex exd_tsk...94 ext_tsk...93 frsm_tsk fsnd_dtq fwd_por get_ixx get_mpf get_mpl get_pri...99 get_tid ID get_tim iact_tsk...89 ifsnd_dtq iget_tid ID iloc_cpu CPU ipsnd_dtq xii

15 iras_tex irel_wai irot_rdq iset_flg isig_sem isig_tim iunl_cpu CPU iwup_tsk loc_cpu CPU loc_mtx pacp_por pget_mpf pget_mpl ploc_mtx pol_flg pol_sem prcv_dtq prcv_mbf prcv_mbx psnd_dtq psnd_mbf ras_tex rcv_dtq rcv_mbf rcv_mbx ref_alm ref_cfg ref_cyc ref_dtq ref_flg ref_isr ref_mbf ref_mbx ref_mpf ref_mpl ref_mtx ref_ovr ref_por ref_rdv ref_sem xiii

16 ref_sys ref_tex ref_tsk ref_tst ref_ver rel_mpf rel_mpl rel_wai rot_rdq rpl_rdv rsm_tsk set_flg set_tim sig_sem slp_tsk snd_dtq snd_mbf snd_mbx sns_ctx sns_dpn sns_dsp sns_loc CPU sns_tex sta_alm sta_cyc sta_ovr sta_tsk...92 stp_alm stp_cyc stp_ovr sus_tsk tacp_por tcal_por ter_tsk...95 tget_mpf tget_mpl tloc_mtx trcv_dtq trcv_mbf trcv_mbx xiv

17 tslp_tsk tsnd_dtq tsnd_mbf twai_flg twai_sem unl_cpu CPU unl_mtx wai_flg wai_sem wup_tsk xv

18 API µitron4.0 API ATT_INI ATT_ISR CRE_ALM CRE_CYC CRE_DTQ CRE_FLG CRE_MBF CRE_MBX CRE_MPF CRE_MPL CRE_MTX CRE_POR CRE_SEM CRE_TSK...85 DEF_EXC CPU DEF_INH DEF_OVR DEF_SVC DEF_TEX INCLUDE...50 xvi

19 1 µitron TRON: The Real-time Operating system Nucleus 1984 HFDS Highly Functionally Distributed System HFDS HFDS ITRON OS BTRON OS CTRON OS HMI HFDS VLSI 1

20 HFDS OS OS HFDS OS OS HMI Human Machine Interface 1 VLSI TAD TRON Application Databus 2

21 TAD OS 1 HMI ITRON Industrial TRON JTRON ITRON OS RTOS Real-Time Operating System ITRON JTRON 10 ITRON RTOS Java JTRON ITRON Java ITRON GUI Java ITRON Java ITRON RTOS Java JTRON 1997 JTRON1.0 ITRON RTOS Java JTRON2.0 BTRON Business TRON BTRON HMI TAD BTRON HMI GUI HMI 3

22 TAD BTRON1 BTRON2 BTRON3 µbtron BTRON1 BTRON2 BTRON3 µbtron PDA BTRON BTRON1 OS 1991 BTRON 1991 BTRON BTRON TACL TRON Application Control flow Language TAD TRON CTRON Communication and Central TRON CTRON 80 CTRON CTRON CTRON CTRON 1989 CTRON OS CTRON CTRON CTRON

23 HMI HFDS HFDS HMI HMI TRON HMI HMI HMI HMI Computer Augmented Environments Ubiquitous Computing HFDS 10 MNP 5

24 CTRON CTRON OS 1994 World Wide Web WWW WWW HFDS BTRON BTRON BTRON RTOS µitron RTOS 6

25 1.2 ITRON ROM RAM I/O 1 MCU Micro Controller Unit 1 MCU MCU C µitron RTOS RTOS 7

26 RTOS 1996 RTOS OS OS ITRON RTOS RTOS MCU RTOS RTOS OS OS 2 2 RTOS OS OS RTOS RTOS 8

27 RTOS RTOS ITRON ITRON 1984 RTOS ITRON ITRON 1987 ITRON1 ITRON MCU µitron Ver ITRON µitron MCU MCU MCU µitron µitron MCU µitron 32 MCU ITRON 8 32 MCU 1993 µitron3.0 µitron3.0 1 µitron3.0 9

28 µitron3.0: An Open and Portable Real-Time Operating System for Embedded Systems IEEE CS Press ITRON ITRON µitron µitron ITRON ITRON 1-1 ITRON ITRON ITRON ITRON 1-1. ITRON AV PDA OA CD-ROM FAX ISDN PHS ATM FA BTRON ITRON/FILE ITRON µitron 10

29 RTOS MCU µitron ITRON HFDS 1.3 ITRON ITRON RTOS ITRON OS µitron 11

30 ITRON µitron Ver MCU ITRON2 32 µitron3.0 1 ITRON

31 µitron X µitron A µitron 1-1. µitron 1.4 µitron ITRON 2 ITRON 1996 ITRON 2 2 ITRON 2 13

32 2 µitron4.0 TCP/IP API Application Program Interface Java TCP/IP TCP/IP API TCP/IP API ITRON TCP/IP API TCP/IP ITRON TCP/IP API Java 1 Java Java ITRON Java Java ITRON ITRON Java ITRON JTRON ITRON µitron4.0 ITRON ITRON C µitron4.0 2 ITRON 4 µitron4.0 µitron

33 (a) ITRON ITRON (b) ITRON (c) ITRON RTOS (d) µitron3.0 6 µitron µitron µitron 8 64 µitron µitron4.0 15

34 µitron µitron µitron4.0 µitron KB µitron3.0 S E 16

35 API µitron4.0 µitron µitron4.0 µitron µitron3.0 µitron4.0 ID µitron4.0 ITRON2 17

36 1-2 µitron4.0 µitron3.0 µitron4.0 µitron µitron3.0 µitron µitron3.0 µitron µitron4.0 µitron4.0 µitron µitron4.0 µitron4.0 µitron CPU CPU CPU CPU UNIX ITRON2 CPU 18

37 µitron4.0 1 µitron3.0 µitron4.0 µitron3.0 E ref_sys ref_sys µitron4.0 5 sns_yyy CPU µitron3.0 loc_cpu CPU µitron4.0 CPU 19

38 ID µitron3.0 ID ID µitron4.0 ID ID ID µitron µitron4.0 µitron4.0 POSIX µitron4.0 20

39 µitron C GUI µitron4.0 API API API { } API ID ID ID µitron4.0 API API µitron4.0 µitron3.0 21

40 µitron3.0 22

41 2 ITRON ITRON µitron4.0 ITRON µitron4.0 µitron4.0 µitron4.0 µitron ITRON ITRON ITRON ITRON ITRON ITRON ITRON ITRON 23

42 2.1.2 API API Application Program Interface API (A) ITRON C API µitron3.0 µitron3.0 (B) ITRON (C) API API ITRON API API API API ITRON API 24

43 (D) API ITRON C API C C API p_ pk_ ppk_ API ITRON (E) ITRON ITRON ITRON (F) ITRON 25

44 C API (G) ITRON C API (H) ITRON ITRON ID ITRON ITRON _KERNEL_H_ #define _KERNEL_H_ #ifndef _KERNEL_H_ #endif ID API ID ID 26

45 ID 1 1 ID ( 5) ID ID ID ( 4) 0 ID ID µitron3.0 µitron µitron

46 2.1.5 ITRON ( 4) E_OK 0 BOOL C API void 8 8 ITRON ITRON E_XXXXX E_XXXXX E_XXXXX ITRON 28

47 E_SYS E_NOSPT E_RSFN E_CTX E_MACV E_OACV E_NOMEM E_OK µitron3.0 E_PAR E_OK µitron3.0 29

48 µitron ID TA_XXXXX TA_XXXXX API TA_NULL 0 µitron3.0 µitron3.0 ID E_TMOUT 30

49 0 0 0 E_WBLK ITRON E_TMOUT E_TMOUT E_WBLK TMO TMO_POL 0 TMO_FEVR 1 TMO_NBLK 2 31

50 TMO_POL RELTIM RELTIM SYSTIM API ITRON API API C API 2-1 C 32

51 system.cfg www_cfg.c www_id.h kernel_cfg.c kernel_id.h 2-1. API API C ID C API API API C ID C API API # # 33

52 API API #include C system.cfg #include "rep_id.h" INCLUDE("<itron.h>"); TCP_CRE_REP(REP_HTTP, {... CRE_TSK(TSK_A, { TA_HLNG,.. CRE_SEM(SEM_A, { TA_TPRI,.. rep_id.h #define REP_HTTP 1 INCLUDE("<itron.h>"); TCP_CRE_REP(1, {... CRE_TSK(TSK_A, { TA_HLNG,.. CRE_SEM(SEM_A, { TA_TPRI,.. tcpip_cfg.c #include <itron.h> INCLUDE("<itron.h>"); CRE_TSK(TSK_TCPIP, {... CRE_MBX(MBX_REP_HTTP,... CRE_TSK(TSK_A, { TA_HLNG,.. CRE_SEM(SEM_A, { TA_TPRI,.. kernel_cfg.c #include <itron.h> kernel_id.h #define TSK_TCPIP 1 #define MBX_REP_HTTP 1 #define TSK_A 2 #define SEM_A

53 #include REP_HTTP TCP_CRE_REP INCLUDE tcpip_cfg.c tcpip_cfg.c #include INCLUDE TSK_TCPIP CRE_TSK MBX_REP_HTTP CRE_MBX kernel_cfg.c kernel_cfg.c #include INCLUDE TSK_TCPIP MBX_REP_HTTP TSK_A SEM_A kernel_id.h C API ID #ifdef # # 35

54 # API API C API C API, { } API 4 (a) ID ID API ID #define API (b) ID ID (c) (d) C API API API 36

55 ITRON API #include API 2 API API C NULL API 0 NULL NULL NULL API API ID API API API API ; C sizeof 37

56 NULL CONFIGURATOR #define CONFIGURATOR NULL #ifndef CONFIGURATOR #endif API 4 ID C C 2.2 API API 2 4 API 5 v www WWW 38

57 2.2.2 xxx yyy xxx_yyy xxx_yyy z zxxx_yyy 2 zzxxx_yyy www_xxx_yyy www_zxxx_yyy xxx zxxx v v xxx_yyy v zxxx_yyy www_vxxx_yyy www_vzxxx_yyy i v i ivxxx_yyy µitron4.0 xxx yyy z API API API ITRON API ITRON id no atr stat mode ID ID ID ATR STAT MODE 39

58 2-1. µitron4.0 xxx yyy acp accept alm alarm handler act* activate cfg configuration att attach cpu CPU cal call ctx context can cancel cyc cyclic handler chg change dpn dispatch pending clr clear dsp dispatch cre create dtq data queue def define exc exception del delete flg eventflag dis disable inh interrupt handler dly delay ini initilization ena enable int interrupt exd exit and delete isr interrupt service routine ext exit mbf message buffer fwd forward mbx mailbox get get mpf fixed-sized memory pool loc* lock mpl memory pool pol poll mtx mutex ras raise ovr overrun handler rcv receive por port ref reference pri priority rel release rdq ready queue rot rotate rdv randezvous rpl reply sem semaphore rsm resume sys system set set svc service call sig signal tex task exception slp sleep tid task ID snd send tim time sns sense tsk task sta start tst task status stp stop ver version sus suspend ter terminate z unl unlock a automatic ID assignment wai* wait f force wup* wake up i interrupt p poll t timeout * yyy 40

59 pri sz cnt ptn tim cd PRI SIZE UINT UINT i max min left p_ pk_ pk_cyyy cre_yyy pk_dyyy def_yyy pk_ryyy ref_yyy pk_www_cyyy www_cre_yyy pk_www_dyyy www_def_yyy pk_www_ryyy www_ref_yyy ppk_ P T_ T_CYYY cre_yyy T_RYYY ref_yyy T_WWW_ T_WWW_CYYY www_cre_yyy T_WWW_RYYY www_ref_yyy ITRON ITRON

60 (A) ITRON ITRON ITRON (B) ITRON E_XXXXX XXXXX 2 5 EV_XXXXX EC_XXXXX XXXXX 2 5 (C) TUU_XXXXX TUU_WWW_XXXXX UU 1 3 XXXXX 2 7 UU API WWW_XXXXX TA_ TFN_ TFN_XXX_YYY xxx_yyy TFN_WWW_XXX_YYY www_xxx_yyy TSZ_ TBIT_ TMAX_ TMIN_ ITRON ITRON ITRON itron.h kernel.h 42

61 kernel_id.h C _kernel_ _KERNEL_ C _ www_ _WWW_ 2.3 ITRON ITRON itron.h 64 D UD VD ITRON B H W D UB UH UW UD VB VH VW VD VP FP INT

62 UINT BOOL FN ER ID ATR STAT MODE PRI SIZE TMO RELTIM SYSTIM VP_INT TRUE FALSE ID ER_BOOL ER_ID ER_UINT ID ID UINT 1 VB VH VW VD VP_INT SYSTIM ITRON INT 16 UINT 16 FN ER ID ATR STAT

63 MODE PRI SIZE TMO RELTIM SYSTIM SIZE UINT SYSTIM + SYSTIM SYSTIM SYSTIM ER_BOOL TRUE FALSE ER_ID ID ER_UINT UINT 1 µitron3.0 CYCTIME ALMTIME DLYTIME RELTIM SYSTIME SYSTIM STAT MODE SIZE BOOL_ID VP_INT ER_BOOL ER_ID ER_UINT ITRON itron.h ITRON (1) NULL 0 TRUE 1 FALSE 0 E_OK 0 µitron3.0 C NADR 1 NULL 0 45

64 (2) (A) EC_SYS 5 8 E_SYS 5 (B) EC_NOSPT 9 16 ITRON E_NOSPT 9 ITRON E_RSFN E_RSATR E_RSFN 10 ITRON E_RSATR 11 ITRON (C) EC_PAR E_PAR 17 E_ID E_ID 18 ID ID ID (D) EC_CTX

65 E_CTX 25 E_MACV E_OACV E_ILUSE E_MACV 26 E_OACV 27 E_ILUSE 28 (E) EC_NOMEM E_NOMEM 33 E_NOID 34 ID ID ID (F) EC_OBJ

66 E_OBJ 41 E_NOEXS E_QOVR E_NOEXS 42 ID ID E_QOVR 43 (G) EC_RLWAI E_RLWAI 49 E_TMOUT 50 E_DLT 51 E_CLS 52 E_CLS (H) EC_WARN

67 E_WBLK 57 E_BOVR 58 (I) 5 96 ITRON (J) EV_XXXXX µitron3.0 E_ILUSE E_NOID E_CLS E_WBLK E_BOVR EN_XXXXX ITRON/ FILE E_INOSPT 8 8 errno (3) TA_NULL 0 (4) TMO_POL 0 TMO_FEVR 1 TMO_NBLK ITRON itron.h ITRON 49

68 (1) ER ercd = ERCD ( ER mercd, ER sercd ) ER mercd = MERCD ( ER ercd ) ER sercd = SERCD ( ER ercd ) ITRON API (1) INCLUDE ( ) ; C #include ITRON API INCLUDE ( "<itron.h>" ) ; INCLUDE ( "\"memory.h\"" ) ; 50

69 3 µitron (1) (2) (3) (4) (5) 51

70 (6) (a) RUNNING (b) READY (c) 3 (c.1) WAITING 52

71 (c.2) SUSPENDED µitron4.0 (c.3) WAITING-SUSPENDED (d) DORMANT (e) NON-EXISTENT

72 READY WAITING WAITING- SUSPENDED SUSPENDED RUNNING DORMANT NON-EXISTENT 3-1. µitron3.0 RUN RUNNING WAIT WAITING SUSPEND SUSPENDED WAIT-SUSPEND WAITING-SUSPENDED API POSIX Java API µitron4.0 54

73 ITRON ITRON ITRON FCFS First Come First Served ITRON TSS Time Sharing System TSS 55

74 (a) 1 A 3 E 2 1 A 2 B C D 3 E (a) 2 B C D 3 E (b)b 2 C D 3 E (c)b 2 C D B 3 E (d)b 3-2. B C D A 56

75 A B 3-2 (b) A B B C D 3-2 (a) 3-2 (b) B 3-2 (c) B B C D 3-2 (d) µitron µitron4.0 IRC Interrupt Request Controller IRC IRC IRC IRC 57

76 µitron4.0 API DEF_INH API ATT_ISR API API API API API 3-3 µitron4.0 IRC

77 IRC IRC IRC IRC CPU API API IRC µitron4.0 2 ID INHNO IRC INTNO 59

78 dis_int ena_int IRC IRC IRC ID IRC µitron4.0 CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU 60

79 4.3 CPU CPU CPU CPU CPU CPU CPU (a) CPU CPU sns_yyy CPU (b) CPU ID (c) CPU ras_tex CPU CPU (b) (c) µitron4.0 (a) (a.1) (b) (c) CPU (d) (e) (e.1) 61

80 CPU CPU CPU 4.10 CPU µitron3.0 SVC CPU CPU CPU CPU 62

81 CPU CPU µitron E_CTX TSK_SELF 0 E_ID CPU CPU CPU CPU E_CTX µitron3.0 µitron µitron4.0 (1) CPU (2) (3) 63

82 isig_tim CPU CPU CPU CPU 64

83 3.5.4 CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU loc_cpu iloc_cpu CPU unl_cpu iunl_cpu CPU sns_ctx sns_loc CPU sns_dsp sns_dpn sns_tex loc_cpu iloc_cpu loc_cpu iloc_cpu unl_cpu iunl_cpu CPU E_CTX CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU 65

84 CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU µitron3.0 CPU CPU CPU

85 E_CTX CPU CPU pol_sem twai_sem TMO_POL CPU 67

86 µitron4.0 CPU CPU CPU CPU CPU CPU µitron3.0 CPU CPU

87 A B iact_tsk( B) 3-4. A A B A B B A B B A i 3 (a) 69

88 i E_CTX iact_tsk iwup_tsk irel_wai iras_tex isig_sem iset_flg ipsnd_dtq ifsnd_dtq isig_tim irot_rdq iget_tid ID iloc_cpu CPU iunl_cpu CPU (b) sns_yyy sns_ctx sns_loc CPU sns_dsp sns_dpn sns_tex (c) E_CTX 70

89 3.6.3 µitron3.0 i µitron3.0 µitron iget_tid ID iloc_cpu CPU iunl_cpu CPU sns_ctx sns_loc CPU sns_dsp sns_dpn sns_tex E_OK 71

90 E_NOMEM iras_tex iras_tex E_OK µitron µitron4.0 xxx_yyy zxxx_yyy v i xxx_yyy i zxxx_yyy i i v xxx_yyy ivxxx_yyy E_CTX 72

91 E_CTX API

92 API ATT_INI API API API ATT_INI ATT_INI API API ID API CRE_YYY cre_yyy del_yyy ID ID ID ID ID API ATT_YYY ID ID ID ID acre_yyy 74

93 ID ID ID ID ID E_NOID ID ID ID E_DLT ID ID µitron4.0 C TA_HLNG TA_ASM CPU 75

94 µitron4.0 µitron4.0 ret_int ret_int ret_int CPU µitron4.0 ret_tmr C ret_tmr ret_tmr µitron3.0 µitron4.0 C ret_yyy

95 µitron3.0 µitron (1) TA_HLNG 0x00 TA_ASM 0x01 TA_TFIFO 0x00 FIFO TA_TPRI 0x01 TA_MFIFO 0x00 FIFO TA_MPRI 0x02 µitron3.0 TA_HLNG TA_ASM (2) E_CLS E_WBLK E_BOVR 3 E_OBJ E_QOVR E_RLWAI E_TMOUT (a) E_CLS E_WBLK E_BOVR 77

96 (b) E_OACV E_NOID E_NOEXS E_DLT (c) E_SYS E_RSFN E_NOMEM (d) E_NOSPT E_RSATR E_PAR E_ID E_CTX E_MACV E_ILUSE (3) ( 0xe0) ( 0x05) cal_svc 4 ( 0xe0) ( 0x05) ( 0x100) ( 0xe1) ( 0x200) ( 0x101) µitron3.0 ( 0x80) ( 0x05) 8 (4) TSK_SELF 0 TSK_NONE 0 µitron3.0 TSK_NONE µitron3.0 FALSE (1) TMIN_TPRI TMAX_TPRI TMIN_MPRI TMAX_MPRI

97 TMAX_TPRI 16 TMAX_MPRI TMAX_TPRI TMIN_TPRI TMIN_MPRI 1 1 (2) TKERNEL_MAKER TKERNEL_PRID TKERNEL_SPVER TKERNEL_PRVER ITRON ref_ver 79

98 80

99 4 µitron ID ID ID sta_tsk 0 exinf sta_tsk

100 C void task ( VP_INT exinf ) { ext_tsk ( ) ; } ext_tsk exd_tsk TMAX_ACTCNT typedef struct t_ctsk { ATR tskatr ; /* */ VP_INT exinf ; /* */ FP task ; /* */ PRI itskpri ; /* */ SIZE stksz ; /* */ VP stk ; /* */ /* */ } T_CTSK ; typedef struct t_rtsk { STAT tskstat ; /* */ PRI tskpri ; /* */ PRI tskbpri ; /* */ STAT tskwait ; /* */ ID wobjid ; /* ID */ TMO lefttmo ; /* */ UINT actcnt ; /* */ UINT wupcnt ; /* */ UINT suscnt ; /* */ /* */ } T_RTSK ; typedef struct t_rtst { STAT tskstat ; /* */ STAT tskwait ; /* */ 82

101 /* */ } T_RTST ; TFN_CRE_TSK 0x05 cre_tsk TFN_ACRE_TSK 0xc1 acre_tsk TFN_DEL_TSK 0x06 del_tsk TFN_ACT_TSK 0x07 act_tsk TFN_IACT_TSK 0x71 iact_tsk TFN_CAN_ACT 0x08 can_act TFN_STA_TSK 0x09 sta_tsk TFN_EXT_TSK 0x0a ext_tsk TFN_EXD_TSK 0x0b exd_tsk TFN_TER_TSK 0x0c ter_tsk TFN_CHG_PRI 0x0d chg_pri TFN_GET_PRI 0x0e get_pri TFN_REF_TSK 0x0f ref_tsk TFN_REF_TST 0x10 ref_tst cre_tsk acre_tsk del_tsk sta_tsk exd_tsk ref_tsk ref_tst 1 TMAX_ACTCNT CPU CPU TMAX_ACTCNT 0 µitron3.0 83

102 rot_rdq ID get_tid dis_dsp ena_dsp rel_wai act_tsk can_act sta_tsk µitron3.0 84

103 CRE_TSK API S cre_tsk acre_tsk ID API CRE_TSK ( ID tskid, { ATR tskatr, VP_INT exinf, FP task, PRI itskpri, SIZE stksz, VP stk } ) ; C API ER ercd = cre_tsk ( ID tskid, T_CTSK *pk_ctsk ) ; ER_ID tskid = acre_tsk ( T_CTSK *pk_ctsk ) ; ID tskid ID acre_tsk T_CTSK * pk_ctsk CRE_TSK pk_ctsk T_CTSK ATR tskatr VP_INT exinf FP task PRI itskpri SIZE stksz VP stk cre_tsk ER ercd E_OK acre_tsk ER_ID tskid ID E_ID ID tskid cre_tsk E_NOID ID ID acre_tsk E_NOMEM E_RSATR tskatr E_PAR pk_ctsk task itskpri stksz stk 85

104 E_OBJ cre_tsk tskid ID pk_ctsk tskatr exinf task itskpri stksz stk CRE_TSK tskid tskatr acre_tsk ID ID ID tskatr TA_HLNG TA_ASM TA_ACT TA_HLNG 0x00 TA_ASM 0x01 TA_ACT 0x02 TA_ACT stk stksz stk NULL 0 stksz stksz E_PAR tskatr TA_ASM stk NULL 86

105 cre_tsk E_OBJ stk NULL stksz µitron3.0 stk µitron3.0 stk NULL tskatr exinf exinf VP VP_INT stksz INT SIZE TA_ACT acre_tsk 87

106 del_tsk C API ER ercd = del_tsk ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_NOEXS E_OBJ ID tskid tskid E_OBJ E_NOEXS E_OBJ exd_tsk 88

107 act_tsk S iact_tsk S C API ER ercd = act_tsk ( ID tskid ) ; ER ercd = iact_tsk ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_NOEXS E_QOVR ID tskid tskid E_NOEXS 1 1 E_QOVR E_QOVR tskid TSK_SELF 0 E_ID 1 E_QOVR 89

108 µitron3.0 90

109 can_act S C API ER_UINT actcnt = can_act ( ID tskid ) ; ID tskid ID ER_UINT actcnt 0 E_ID E_NOEXS ID tskid tskid 0 tskid TSK_SELF 0 0 can_act 1 µitron3.0 91

110 sta_tsk C API ER ercd = sta_tsk ( ID tskid, VP_INT stacd ) ; ID tskid ID VP_INT stacd ER ercd E_OK E_ID E_NOEXS E_OBJ ID tskid tskid stacd E_OBJ E_NOEXS E_OBJ µitron3.0 stacd INT VP_INT 92

111 ext_tsk S C API void ext_tsk ( ) ; 1 1 ext_tsk µitron3.0 93

112 exd_tsk C API void exd_tsk ( ) ; 94

113 ter_tsk S C API ER ercd = ter_tsk ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_NOEXS E_ILUSE E_OBJ ID tskid tskid 1 1 E_OBJ E_ILUSE snd_mbf get_mpl 95

114 µitron3.0 E_OBJ E_ILUSE 96

115 chg_pri S C API ER ercd = chg_pri ( ID tskid, PRI tskpri ) ; ID tskid ID PRI tskpri ER ercd E_OK E_ID E_NOEXS E_PAR E_ILUSE E_OBJ ID tskid tskpri tskid tskpri tskid TSK_SELF 0 tskpri TPRI_INI 0 TA_CEILING tskpri E_ILUSE 97

116 snd_mbf get_mpl TA_INHERIT µitron3.0 chg_pri tskpri TPRI_INI 98

117 get_pri S C API ER ercd = get_pri ( ID tskid, PRI *p_tskpri ) ; ID tskid ID ER ercd E_OK PRI tskpri E_ID E_NOEXS E_PAR E_OBJ ID tskid p_tskpri tskid tskpri tskid TSK_SELF 0 chg_pri get_pri µitron3.0 tskpri get_yyy 99

118 ref_tsk C API ER ercd = ref_tsk ( ID tskid, T_RTSK *pk_rtsk ) ; ID tskid ID T_RTSK * pk_rtsk ER ercd E_OK pk_rtsk T_RTSK STAT tskstat PRI tskpri PRI tskbpri STAT tskwait ID wobjid ID TMO lefttmo UINT actcnt UINT wupcnt UINT suscnt E_ID E_NOEXS E_PAR ID tskid pk_rtsk tskid pk_rtsk E_NOEXS tskstat TTS_RUN 0x01 TTS_RDY 0x02 TTS_WAI 0x04 TTS_SUS 0x08 TTS_WAS 0x0c TTS_DMT 0x10 tskpri tskbpri 100

119 tskwait tskwait TTW_SLP 0x0001 TTW_DLY 0x0002 TTW_SEM 0x0004 TTW_FLG 0x0008 TTW_SDTQ 0x0010 TTW_RDTQ 0x0020 TTW_MBX 0x0040 TTW_MTX 0x0080 TTW_SMBF 0x0100 TTW_RMBF 0x0200 TTW_CAL 0x0400 TTW_ACP 0x0800 TTW_RDV 0x1000 TTW_MPF 0x2000 TTW_MPL 0x4000 wobjid ID wobjid lefttmo lefttmo lefttmo 0 lefttmo TMO_FEVR lefttmo actcnt wupcnt suscnt tskid TSK_SELF 0 µitron3.0 wid wobjid tskbpri 101

120 lefttmo actcnt tskstat tskpri tskstat UINT STAT tskpri tskwait lefttmo dly_tsk RELTIM TMO lefttmo 102

121 ref_tst C API ER ercd = ref_tst ( ID tskid, T_RTST *pk_rtst ) ; ID tskid ID T_RTST * pk_rtst ER ercd E_OK pk_rtst T_RTST STAT tskstat STAT tskwait E_ID E_NOEXS E_PAR ID tskid pk_rtst tskid pk_rtst ref_tsk tskstat tskwait ref_tsk tskid TSK_SELF 0 ref_tsk ref_tst µitron

122 TMAX_WUPCNT TMAX_SUSCNT TFN_SLP_TSK 0x11 slp_tsk TFN_TSLP_TSK 0x12 tslp_tsk TFN_WUP_TSK 0x13 wup_tsk TFN_IWUP_TSK 0x72 iwup_tsk TFN_CAN_WUP 0x14 can_wup TFN_REL_WAI 0x15 rel_wai TFN_IREL_WAI 0x73 irel_wai TFN_SUS_TSK 0x16 sus_tsk TFN_RSM_TSK 0x17 rsm_tsk TFN_FRSM_TSK 0x18 frsm_tsk TFN_DLY_TSK 0x19 dly_tsk 1 104

123 TMAX_WUPCNT TMAX_SUSCNT 1 TMAX_WUPCNT 0 TMAX_SUSCNT TMAX_SUSCNT 0 µitron3.0 rel_wai dly_tsk 105

124 slp_tsk S tslp_tsk S C API ER ercd = slp_tsk ( ) ; ER ercd = tslp_tsk ( TMO tmout ) ; TMO tmout tslp_tsk ER ercd E_OK E_PAR E_RLWAI E_TMOUT tmout tslp_tsk rel_wai tslp_tsk 1 1 tslp_tsk slp_tsk tmout TMO_POL 0 TMO_FEVR 1 slp_tsk can_wup 106

125 wup_tsk S iwup_tsk S C API ER ercd = wup_tsk ( ID tskid ) ; ER ercd = iwup_tsk ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_NOEXS E_OBJ E_QOVR ID tskid tskid E_OK E_NOEXS E_OBJ 1 1 E_QOVR E_OBJ E_QOVR tskid TSK_SELF 0 E_ID 1 E_QOVR 107

126 µitron3.0 act_tsk 108

127 can_wup S C API ER_UINT wupcnt = can_wup ( ID tskid ) ; ID tskid ID ER_UINT wupcnt 0 E_ID E_NOEXS E_OBJ ID tskid tskid 0 tskid TSK_SELF 0 can_wup 1 µitron3.0 wupcnt 109

128 rel_wai S irel_wai S C API ER ercd = rel_wai ( ID tskid ) ; ER ercd = irel_wai ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_NOEXS E_OBJ ID tskid tskid E_RLWAI E_OBJ E_NOEXS E_OBJ E_OBJ frsm_tsk rsm_tsk snd_mbf get_mpl rel_wai wup_tsk wup_tsk rel_wai wup_tsk 110

129 E_OK rel_wai E_RLWAI wup_tsk rel_wai E_OBJ 111

130 sus_tsk S C API ER ercd = sus_tsk ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_CTX E_NOEXS E_OBJ E_QOVR ID tskid tskid 1 1 E_QOVR E_CTX tskid TSK_SELF 0 1 E_QOVR 112

131 µitron

132 rsm_tsk S frsm_tsk S C API ER ercd = rsm_tsk ( ID tskid ) ; ER ercd = frsm_tsk ( ID tskid ) ; ID tskid ID ER ercd E_OK E_ID E_NOEXS E_OBJ ID tskid tskid rsm_tsk frsm_tsk 0 E_OBJ E_NOEXS E_OBJ 1 µitron

133

134 dly_tsk S C API ER ercd = dly_tsk ( RELTIM dlytim ) ; RELTIM dlytim ER ercd E_OK E_PAR E_RLWAI dlytim rel_wai dlytim dlytim E_OK dlytim dlytim dlytim 0 rel_wai tslp_tsk dlytim wup_tsk dlytim dly_tsk ter_tsk rel_wai µitron3.0 dlytim DLYTIME RELTIM 116

135 ena_tex E_CTX 0 CPU 4 texptn exinf

136 TEXPTN C void texrtn ( TEXPTN texptn, VP_INT exinf ) { } TBIT_TEXPTN TEXPTN typedef struct t_dtex { ATR texatr ; /* */ FP texrtn ; /* */ /* */ } T_DTEX ; typedef struct t_rtex { STAT texstat ; /* */ TEXPTN pndptn ; /* */ /* */ } T_RTEX ; TFN_DEF_TEX 0x1b def_tex TFN_RAS_TEX 0x1c ras_tex TFN_IRAS_TEX 0x74 iras_tex TFN_DIS_TEX 0x1d dis_tex TFN_ENA_TEX 0x1e ena_tex TFN_SNS_TEX 0x1f sns_tex TFN_REF_TEX 0x20 ref_tex def_tex ref_tex TEXPTN 16 TBIT_TEXPTN

137 CPU CPU CPU dis_tex ena_tex def_tex C longjmp ena_tex µitron

138 ena_tex CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU CPU TCB Task Control Block TCB 120

139 µitron3.0 µitron4.0 µitron4.0 longjmp longjmp ext_tsk longjmp longjmp longjmp 121

140 DEF_TEX API S def_tex API DEF_TEX ( ID tskid, { ATR texatr, FP texrtn } ) ; C API ER ercd = def_tex ( ID tskid, T_DTEX *pk_dtex ) ; ID tskid ID T_DTEX * pk_dtex DEF_TEX pk_dtex T_DTEX ATR texatr FP texrtn ER ercd E_OK E_ID E_NOEXS E_RSATR E_PAR ID tskid texatr pk_dtex texrtn tskid pk_dtex texatr texrtn DEF_TEX tskid texatr pk_dtex NULL 0 0 def_tex tskid TSK_SELF 0 122

141 texatr TA_HLNG TA_ASM TA_HLNG 0x00 TA_ASM 0x01 texatr TA_ASM pk_dtex NULL def_tex DEF_TEX CRE_TSK 0 123

142 ras_tex S iras_tex S C API ER ercd = ras_tex ( ID tskid, TEXPTN rasptn ) ; ER ercd = iras_tex ( ID tskid, TEXPTN rasptn ) ; ID tskid ID TEXPTN rasptn ER ercd E_OK E_ID E_NOEXS E_PAR E_OBJ ID tskid rasptn tskid rasptn rasptn tskid TSK_SELF 0 E_ID E_OBJ E_OBJ E_OBJ rasptn 0 E_PAR rel_wai frsm_tsk rsm_tsk 124

143 CPU 125

144 dis_tex S C API ER ercd = dis_tex ( ) ; ER ercd E_OK E_OBJ E_OBJ 126

145 ena_tex S C API ER ercd = ena_tex ( ) ; ER ercd E_OK E_OBJ E_CTX E_OBJ E_CTX 127

146 sns_tex S C API BOOL state = sns_tex ( ) ; BOOL state TRUE FALSE TRUE TRUE 128

147 ref_tex C API ER ercd = ref_tex ( ID tskid, T_RTEX *pk_rtex ) ; ID tskid ID T_RTEX * pk_rtex ER ercd E_OK pk_rtex T_RTEX STAT texstat TEXPTN pndptn E_ID E_NOEXS E_PAR E_OBJ ID tskid pk_rtex tskid pk_rtex texstat TTEX_ENA 0x00 TTEX_DIS 0x01 pndptn pndptn 0 tskid TSK_SELF 0 E_OBJ E_OBJ 129

148 4.4 µitron ID ID ID 1 1 TMAX_MAXSEM typedef struct t_csem { ATR sematr ; /* */ UINT isemcnt ; /* */ UINT maxsem ; /* */ /* */ } T_CSEM ; typedef struct t_rsem { 130

149 ID wtskid ; /* ID */ UINT semcnt ; /* */ /* */ } T_RSEM ; TFN_CRE_SEM 0x21 cre_sem TFN_ACRE_SEM 0xc2 acre_sem TFN_DEL_SEM 0x22 del_sem TFN_SIG_SEM 0x23 sig_sem TFN_ISIG_SEM 0x75 isig_sem TFN_WAI_SEM 0x25 wai_sem TFN_POL_SEM 0x26 pol_sem TFN_TWAI_SEM 0x27 twai_sem TFN_REF_SEM 0x28 ref_sem cre_sem acre_sem del_sem ref_sem TMAX_MAXSEM TMAX_MAXSEM TMAX_MAXSEM 131

150 CRE_SEM API S cre_sem acre_sem ID API CRE_SEM ( ID semid, { ATR sematr, UINT isemcnt, UINT maxsem } ) ; C API ER ercd = cre_sem ( ID semid, T_CSEM *pk_csem ) ; ER_ID semid = acre_sem ( T_CSEM *pk_csem ) ; ID semid ID acre_sem T_CSEM * pk_csem CRE_SEM pk_csem T_CSEM ATR sematr UINT isemcnt UINT maxsem cre_sem ER ercd E_OK acre_sem ER_ID semid ID E_ID E_NOID E_RSATR E_PAR E_OBJ ID semid cre_sem ID ID acre_sem sematr pk_csem isemcnt maxsem cre_sem 132

151 semid ID pk_csem sematr isemcnt maxsem CRE_SEM semid sematr acre_sem ID ID ID sematr TA_TFIFO TA_TPRI TA_TFIFO 0x00 FIFO TA_TPRI 0x01 isemcnt maxsem E_PAR maxsem 0 TMAX_MAXSEM E_PAR µitron3.0 isemcnt maxsem INT UINT acre_sem 133

152 del_sem C API ER ercd = del_sem ( ID semid ) ; ID semid ID ER ercd E_OK E_ID E_NOEXS ID semid semid

153 sig_sem S isig_sem S C API ER ercd = sig_sem ( ID semid ) ; ER ercd = isig_sem ( ID semid ) ; ID semid ID ER ercd E_OK E_ID E_NOEXS E_QOVR ID semid semid 1 E_OK 1 1 E_QOVR E_QOVR 135

154 wai_sem S pol_sem S twai_sem S C API ER ercd = wai_sem ( ID semid ) ; ER ercd = pol_sem ( ID semid ) ; ER ercd = twai_sem ( ID semid, TMO tmout ) ; ID semid ID TMO tmout twai_sem ER ercd E_OK E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID semid tmout twai_sem rel_wai pol_sem wai_sem pol_sem semid TA_TFIFO 0x00 TA_TPRI 0x01 pol_sem wai_sem twai_sem wai_sem tmout TMO_POL 0 TMO_FEVR 1 136

155 twai_sem tmout TMO_POL E_CTX pol_sem tmout TMO_FEVR wai_sem µitron3.0 preq_sem pol_sem 137

156 ref_sem C API ER ercd = ref_sem ( ID semid, T_RSEM *pk_rsem ) ; ID semid ID T_RSEM * pk_rsem ER ercd E_OK pk_rsem T_RSEM ID wtskid ID UINT semcnt E_ID E_NOEXS E_PAR ID semid pk_rsem semid pk_rsem wtskid ID TSK_NONE 0 semcnt wtskid TSK_NONE semcnt 0 µitron3.0 ID semcnt INT UINT 138

157 4.4.2 ID ID ID FLGPTN TBIT_FLGPTN FLGPTN typedef struct t_cflg { ATR flgatr ; /* */ FLGPTN iflgptn ; /* */ /* */ } T_CFLG ; typedef struct t_rflg { ID wtskid ; /* ID */ FLGPTN flgptn ; /* */ /* */ } T_RFLG ; TFN_CRE_FLG 0x29 cre_flg TFN_ACRE_FLG 0xc3 acre_flg TFN_DEL_FLG 0x2a del_flg TFN_SET_FLG 0x2b set_flg 139

158 TFN_ISET_FLG 0x76 iset_flg TFN_CLR_FLG 0x2c clr_flg TFN_WAI_FLG 0x2d wai_flg TFN_POL_FLG 0x2e pol_flg TFN_TWAI_FLG 0x2f twai_flg TFN_REF_FLG 0x30 ref_flg cre_flg acre_flg del_flg ref_flg TA_WMUL 16 TBIT_FLGPTN 16 FLGPTN 16 1 C FLGPTN TBIT_FLGPTN µitron3.0 UINT FLGPTN 140

159 CRE_FLG API S cre_flg acre_flg ID API CRE_FLG ( ID flgid, { ATR flgatr, FLGPTN iflgptn } ) ; C API ER ercd = cre_flg ( ID flgid, T_CFLG *pk_cflg ) ; ER_ID flgid = acre_flg ( T_CFLG *pk_cflg ) ; ID flgid ID acre_flg T_CFLG * pk_cflg CRE_FLG pk_cflg T_CFLG ATR flgatr FLGPTN iflgptn cre_flg ER ercd E_OK acre_flg ER_ID flgid ID E_ID E_NOID E_RSATR E_PAR E_OBJ ID flgid cre_flg ID ID acre_flg flgatr pk_cflg iflgptn cre_flg flgid ID pk_cflg flgatr 141

160 iflgptn CRE_FLG flgid flgatr acre_flg ID ID ID flgatr TA_TFIFO TA_TPRI TA_WSGL TA_WMUL TA_CLR TA_TFIFO 0x00 FIFO TA_TPRI 0x01 TA_WSGL 0x00 TA_WMUL 0x02 TA_CLR 0x04 flgatr TA_WMUL TA_TFIFO FIFO flgatr TA_WSGL TA_TFIFO TA_TPRI TA_CLR µitron3.0 wai_flg TA_TPRI iflgptn UINT FLGPTN TA_WMUL acre_flg 142

161 del_flg C API ER ercd = del_flg ( ID flgid ) ; ID flgid ID ER ercd E_OK E_ID E_NOEXS ID flgid flgid

162 set_flg S iset_flg S C API ER ercd = set_flg ( ID flgid, FLGPTN setptn ) ; ER ercd = iset_flg ( ID flgid, FLGPTN setptn ) ; ID flgid ID FLGPTN setptn ER ercd E_OK E_ID E_NOEXS E_PAR ID flgid setptn flgid setptn setptn E_OK TA_CLR 0x04 TA_CLR wai_flg TA_WMUL 0x02 TA_CLR set_flg 144

163 setptn 0 µitron3.0 setptn UINT FLGPTN 145

164 clr_flg S C API ER ercd = clr_flg ( ID flgid, FLGPTN clrptn ) ; ID flgid ID FLGPTN clrptn ER ercd E_OK E_ID E_NOEXS E_PAR ID flgid clrptn flgid clrptn 0 clrptn clrptn 1 µitron3.0 clrptn UINT FLGPTN 146

165 wai_flg S pol_flg S twai_flg S C API ER ercd = wai_flg ( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn ) ; ER ercd = pol_flg ( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn ) ; ER ercd = twai_flg ( ID flgid, FLGPTN waiptn, MODE wfmode, FLGPTN *p_flgptn, TMO tmout ) ; ID flgid ID FLGPTN waiptn MODE wfmode TMO tmout twai_flg ER ercd E_OK FLGPTN flgptn E_ID E_NOEXS E_PAR E_ILUSE E_RLWAI E_TMOUT E_DLT ID flgid waiptn wfmode p_flgptn tmout TA_WSGL rel_wai pol_flg wai_flg pol_flg flgid waiptn wfmode flgptn waiptn wfmode flgptn 147

166 TA_CLR 0x04 waiptn wfmode TA_WSGL 0x00 E_ILUSE wfmode TWF_ANDW TWF_ORW waiptn wfmode wfmode TWF_ANDW 0x00 waiptn TWF_ORW 0x01 waiptn TA_TFIFO 0x00 TA_TPRI 0x01 pol_flg wai_flg twai_flg wai_flg tmout TMO_POL 0 TMO_FEVR 1 waiptn 0 E_PAR twai_flg tmout TMO_POL E_CTX pol_flg tmout TMO_FEVR wai_flg µitron3.0 waitpn flgptn UINT FLGPTN wfmode UINT MODE TWF_CLR TA_CLR TWF_ORW waiptn 0 E_PAR 148

167 149

168 ref_flg C API ER ercd = ref_flg ( ID flgid, T_RFLG *pk_rflg ) ; ID flgid ID T_RFLG * pk_rflg ER ercd E_OK pk_rflg T_RFLG ID wtskid ID FLGPTN flgptn E_ID E_NOEXS E_PAR ID flgid pk_rflg flgid pk_rflg wtskid ID TSK_NONE 0 flgptn µitron3.0 ID flgptn UINT FLGPTN 150

169 ID ID ID 0 1 SIZE dtqsz = TSZ_DTQ ( UINT dtqcnt ) dtqcnt typedef struct t_cdtq { ATR dtqatr ; /* */ UINT dtqcnt ; /* */ VP dtq ; /* */ /* */ } T_CDTQ ; typedef struct t_rdtq { 151

170 ID stskid ; /* ID */ ID rtskid ; /* ID */ UINT sdtqcnt ; /* */ /* */ } T_RDTQ ; TFN_CRE_DTQ 0x31 cre_dtq TFN_ACRE_DTQ 0xc4 acre_dtq TFN_DEL_DTQ 0x32 del_dtq TFN_SND_DTQ 0x35 snd_dtq TFN_PSND_DTQ 0x36 psnd_dtq TFN_IPSND_DTQ 0x77 ipsnd_dtq TFN_TSND_DTQ 0x37 tsnd_dtq TFN_FSND_DTQ 0x38 fsnd_dtq TFN_IFSND_DTQ 0x78 ifsnd_dtq TFN_RCV_DTQ 0x39 rcv_dtq TFN_PRCV_DTQ 0x3a prcv_dtq TFN_TRCV_DTQ 0x3b trcv_dtq TFN_REF_DTQ 0x3c ref_dtq cre_dtq acre_dtq del_dtq ref_dtq 255 TSZ_DTQ A B A snd_dtq B rcv_dtq A A 4-1 (a) B rcv_dtq A snd_dtq B B 4-1 (b) A snd_dtq B rcv_dtq 152

171 A B A B snd_dtq ( dtqid ) rcv_dtq ( dtqid ) rcv_dtq ( dtqid ) snd_dtq ( dtqid ) (a) snd_dtq (b) rcv_dtq 4-1. A B µitron3.0 µitron3.0 µitron

172 CRE_DTQ API S cre_dtq acre_dtq ID API CRE_DTQ ( ID dtqid, { ATR dtqatr, UINT dtqcnt, VP dtq } ) ; C API ER ercd = cre_dtq ( ID dtqid, T_CDTQ *pk_cdtq ) ; ER_ID dtqid = acre_dtq ( T_CDTQ *pk_cdtq ) ; ID dtqid ID acre_dtq T_CDTQ * pk_cdtq CRE_DTQ pk_cdtq T_CDTQ ATR dtqatr UINT dtqcnt VP dtq cre_dtq ER ercd E_OK acre_dtq ER_ID dtqid ID E_ID ID dtqid cre_dtq E_NOID ID ID acre_dtq E_NOMEM E_RSATR dtqatr E_PAR pk_cdtq dtqcnt dtq E_OBJ cre_dtq 154

173 dtqid ID pk_cdtq dtqatr dtqcnt dtq CRE_DTQ dtqid dtqatr dtqcnt acre_dtq ID ID ID dtqatr TA_TFIFO TA_TPRI TA_TFIFO 0x00 FIFO TA_TPRI 0x01 dtq dtqcnt TSZ_DTQ dtqcnt dtq NULL 0 dtqcnt E_PAR dtqcnt 0 dtq NULL FIFO FIFO snd_dtq fsnd_dtq snd_dtq fsnd_dtq fsnd_dtq snd_dtq 155

174 del_dtq C API ER ercd = del_dtq ( ID dtqid ) ; ID dtqid ID ER ercd E_OK E_ID E_NOEXS ID dtqid dtqid

175 snd_dtq S psnd_dtq S ipsnd_dtq S tsnd_dtq S C API ER ercd = snd_dtq ( ID dtqid, VP_INT data ) ; ER ercd = psnd_dtq ( ID dtqid, VP_INT data ) ; ER ercd = ipsnd_dtq ( ID dtqid, VP_INT data ) ; ER ercd = tsnd_dtq ( ID dtqid, VP_INT data, TMO tmout ) ; ID dtqid ID VP_INT data TMO tmout tsnd_dtq ER ercd E_OK E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID dtqid tmout tsnd_dtq rel_wai snd_dtq tsnd_dtq snd_dtq snd_dtq tsnd_dtq dtqid data E_OK data TA_TFIFO 0x00 157

176 TA_TPRI 0x01 psnd_dtq ipsnd_dtq snd_dtq tsnd_dtq snd_dtq tmout TMO_POL 0 TMO_FEVR 1 psnd_dtq ipsnd_dtq E_TMOUT E_TMOUT tsnd_dtq tmout TMO_POL E_CTX psnd_dtq tmout TMO_FEVR snd_dtq 158

177 fsnd_dtq S ifsnd_dtq S C API ER ercd = fsnd_dtq ( ID dtqid, VP_INT data ) ; ER ercd = ifsnd_dtq ( ID dtqid, VP_INT data ) ; ID dtqid ID VP_INT data ER ercd E_OK E_ID E_NOEXS E_ILUSE ID dtqid 0 dtqid data E_OK data 0 0 E_ILUSE 0 E_ILUSE 159

178 rcv_dtq S prcv_dtq S trcv_dtq S C API ER ercd = rcv_dtq ( ID dtqid, VP_INT *p_data ) ; ER ercd = prcv_dtq ( ID dtqid, VP_INT *p_data ) ; ER ercd = trcv_dtq ( ID dtqid, VP_INT *p_data, TMO tmout ) ; ID dtqid ID TMO tmout trcv_dtq ER ercd E_OK VP_INT data E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID dtqid p_data tmout rel_wai prcv_dtq rcv_dtq prcv_dtq dtqid data data E_OK 0 E_OK data 160

179 prcv_dtq rcv_dtq trcv_dtq rcv_dtq tmout TMO_POL 0 TMO_FEVR 1 trcv_dtq tmout TMO_POL E_CTX prcv_dtq tmout TMO_FEVR rcv_dtq 161

180 ref_dtq C API ER ercd = ref_dtq ( ID dtqid, T_RDTQ *pk_rdtq ) ; ID dtqid ID T_RDTQ * pk_rdtq ER ercd E_OK pk_rdtq T_RDTQ ID stskid ID ID rtskid ID UINT sdtqcnt E_ID E_NOEXS E_PAR ID dtqid pk_rdtq dtqid pk_rdtq stskid ID TSK_NONE 0 rtskid ID TSK_NONE 0 sdtqcnt rtskid TSK_NONE sdtqcnt 0 stskid TSK_NONE sdtqcnt 162

181 4.4.4 ID ID ID 163

182 T_MSG T_MSG_PRI T_MSG T_MSG_PRI T_MSG typedef struct t_msg_pri { T_MSG msgque ; /* */ PRI msgpri ; /* */ } T_MSG_PRI ; SIZE mprihdsz = TSZ_MPRIHD ( PRI maxmpri ) maxmpri typedef struct t_cmbx { ATR mbxatr ; /* */ PRI maxmpri ; /* */ VP mprihd ; /* */ /* */ } T_CMBX ; typedef struct t_rmbx { ID wtskid ; /* ID */ T_MSG * pk_msg ; /* */ /* */ } T_RMBX ; TFN_CRE_MBX 0x3d cre_mbx TFN_ACRE_MBX 0xc5 acre_mbx TFN_DEL_MBX 0x3e del_mbx TFN_SND_MBX 0x3f snd_mbx TFN_RCV_MBX 0x41 rcv_mbx TFN_PRCV_MBX 0x42 prcv_mbx TFN_TRCV_MBX 0x43 trcv_mbx TFN_REF_MBX 0x44 ref_mbx 164

183 cre_mbx acre_mbx del_mbx ref_mbx TSZ_MPRIHD C T_MSG T_MSG_PRI T_MSG_PRI msgpri sizeof ( T_MSG ) sizeof ( T_MSG_PRI ) µitron

184 CRE_MBX API S cre_mbx acre_mbx ID API CRE_MBX ( ID mbxid, { ATR mbxatr, PRI maxmpri, VP mprihd } ) ; C API ER ercd = cre_mbx ( ID mbxid, T_CMBX *pk_cmbx ) ; ER_ID mbxid = acre_mbx ( T_CMBX *pk_cmbx ) ; ID mbxid ID acre_mbx T_CMBX * pk_cmbx CRE_MBX pk_cmbx T_CMBX ATR mbxatr PRI maxmpri VP mprihd cre_mbx ER ercd E_OK acre_mbx ER_ID mbxid ID E_ID E_NOID E_NOMEM E_RSATR E_PAR ID mbxid cre_mbx ID ID acre_mbx mbxatr pk_cmbx maxmpri mprihd 166

185 E_OBJ cre_mbx mbxid ID pk_cmbx mbxatr maxmpri mprihd maxmpri mprihd mbxatr TA_MPRI 0x02 CRE_MBX mbxid mbxatr maxmpri acre_mbx ID ID ID mbxatr TA_TFIFO TA_TPRI TA_MFIFO TA_MPRI TA_TFIFO 0x00 FIFO TA_TPRI 0x01 TA_MFIFO 0x00 FIFO TA_MPRI 0x02 mbxatr TA_MPRI mprihd maxmpri TSZ_MPRIHD maxmpri mprihd NULL 0 maxmpri 0 TMAX_MPRI E_PAR mprihd NULL 167

186 TSZ_MPRIHD maxmpri CRE_MBX maxmpri C maxmpri maxmpri TSZ_MPRIHD maxmpri µitron3.0 maxmpri mprihd acre_mbx 168

187 del_mbx C API ER ercd = del_mbx ( ID mbxid ) ; ID mbxid ID ER ercd E_OK E_ID E_NOEXS ID mbxid mbxid

188 snd_mbx S C API ER ercd = snd_mbx ( ID mbxid, T_MSG *pk_msg ) ; ID mbxid ID T_MSG * pk_msg ER ercd E_OK E_ID E_NOEXS E_PAR ID mbxid pk_msg msgpri mbxid pk_msg pk_msg E_OK pk_msg pk_msg TA_MFIFO 0x00 pk_msg TA_MPRI 0x02 TA_MPRI 0x02 pk_msg T_MSG_PRI msgpri µitron3.0 snd_msg snd_mbx 170

189 rcv_mbx S prcv_mbx S trcv_mbx S C API ER ercd = rcv_mbx ( ID mbxid, T_MSG **ppk_msg ) ; ER ercd = prcv_mbx ( ID mbxid, T_MSG **ppk_msg ) ; ER ercd = trcv_mbx ( ID mbxid, T_MSG **ppk_msg, TMO tmout ) ; ID mbxid ID TMO tmout trcv_mbx ER ercd E_OK T_MSG * pk_msg E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID mbxid ppk_msg tmout rel_wai prcv_mbx rcv_mbx prcv_mbx mbxid pk_msg pk_msg TA_TFIFO 0x00 TA_TPRI 0x01 prcv_mbx rcv_mbx trcv_mbx 171

190 rcv_mbx tmout TMO_POL 0 TMO_FEVR 1 trcv_mbx tmout TMO_POL E_CTX prcv_mbx tmout TMO_FEVR rcv_mbx µitron3.0 rcv_msg prcv_msg trcv_msg rcv_mbx prcv_mbx trcv_mbx 172

191 ref_mbx C API ER ercd = ref_mbx ( ID mbxid, T_RMBX *pk_rmbx ) ; ID mbxid ID T_RMBX * pk_rmbx ER ercd E_OK pk_rmbx T_RMBX ID wtskid ID T_MSG * pk_msg E_ID E_NOEXS E_PAR ID mbxid pk_rmbx mbxid pk_rmbx wtskid ID TSK_NONE 0 pk_msg NULL 0 wtskid TSK_NONE pk_msg NULL µitron3.0 ID 173

192 4.5 µitron priority inheritance protocol priority ceiling protocol ID ID ID TA_INHERIT 0x02 TA_CEILING 0x03 TA_CEILING TA_CEILING E_ILUSE TA_CEILING chg_pri chg_pri 174

193 E_ILUSE TA_INHERIT TA_CEILING TA_INHERIT chg_pri TA_INHERIT µitron4.0 TA_INHERIT TA_INHERIT TA_CEILING chg_pri 175

194 unl_mtx typedef struct t_cmtx { ATR mtxatr ; /* */ PRI ceilpri ; /* */ /* */ } T_CMTX ; typedef struct t_rmtx { ID htskid ; /* ID */ ID wtskid ; /* ID */ /* */ } T_RMTX ; TFN_CRE_MTX 0x81 cre_mtx TFN_ACRE_MTX 0xc6 acre_mtx TFN_DEL_MTX 0x82 del_mtx TFN_LOC_MTX 0x85 loc_mtx TFN_PLOC_MTX 0x86 ploc_mtx TFN_TLOC_MTX 0x87 tloc_mtx TFN_UNL_MTX 0x83 unl_mtx TFN_REF_MTX 0x88 ref_mtx TA_TFIFO TA_TPRI 1 highest locker protocol 176

195 snd_mbf get_mpl µitron3.0 µitron

196 CRE_MTX cre_mtx acre_mtx API ID API CRE_MTX ( ID mtxid, { ATR mtxatr, PRI ceilpri } ) ; C API ER ercd = cre_mtx ( ID mtxid, T_CMTX *pk_cmtx ) ; ER_ID mtxid = acre_mtx ( T_CMTX *pk_cmtx ) ; ID mtxid ID acre_mtx T_CMTX * pk_cmtx CRE_MTX pk_cmtx T_CMTX ATR mtxatr PRI ceilpri cre_mtx ER ercd E_OK acre_mtx ER_ID mtxid ID E_ID E_NOID E_RSATR E_PAR E_OBJ ID mtxid cre_mtx ID ID acre_mtx mtxatr pk_cmtx ceilpri cre_mtx mtxid ID pk_cmtx mtxatr 178

197 ceilpri ceilpri mtxatr TA_CEILING 0x03 CRE_MTX mtxid mtxatr acre_mtx ID ID ID mtxatr TA_TFIFO TA_TPRI TA_INHERIT TA_CEILING TA_TFIFO 0x00 FIFO TA_INHERIT 0x02 TA_CEILING 0x03 179

198 del_mtx C API ER ercd = del_mtx ( ID mtxid ) ; ID mtxid ID ER ercd E_OK E_ID E_NOEXS ID mtxid mtxid TA_INHERIT TA_CEILING

199 loc_mtx ploc_mtx tloc_mtx C API ER ercd = loc_mtx ( ID mtxid ) ; ER ercd = ploc_mtx ( ID mtxid ) ; ER ercd = tloc_mtx ( ID mtxid, TMO tmout ) ; ID mtxid ID TMO tmout tloc_mtx ER ercd E_OK E_ID E_NOEXS E_PAR E_ILUSE E_RLWAI E_TMOUT E_DLT ID mtxid tmout tloc_mtx rel_wai ploc_mtx loc_mtx ploc_mtx mtxid TA_TFIFO 0x00 E_ILUSE TA_CEILING 181

200 E_ILUSE ploc_mtx loc_mtx tloc_mtx loc_mtx tmout TMO_POL 0 TMO_FEVR 1 TA_INHERIT TA_INHERIT rel_wai TA_CEILING tloc_mtx tmout TMO_POL E_CTX ploc_mtx tmout TMO_FEVR loc_mtx 182

201 unl_mtx C API ER ercd = unl_mtx ( ID mtxid ) ; ID mtxid ID ER ercd E_OK E_ID E_NOEXS E_ILUSE ID mtxid mtxid E_OK E_ILUSE TA_INHERIT TA_CEILING 183

202 ref_mtx C API ER ercd = ref_mtx ( ID mtxid, T_RMTX *pk_rmtx ) ; ID mtxid ID T_RMTX * pk_rmtx ER ercd E_OK pk_rmtx T_RMTX ID htskid ID ID wtskid ID E_ID E_NOEXS E_PAR ID mtxid pk_rmtx mtxid pk_rmtx htskid ID TSK_NONE 0 wtskid ID TSK_NONE 0 htskid TSK_NONE wtskid TSK_NONE 184

203 4.5.2 ID ID ID 0 SIZE mbfsz = TSZ_MBF ( UINT msgcnt, UINT msgsz ) msgsz msgcnt typedef struct t_cmbf { ATR mbfatr ; /* */ UINT maxmsz ; /* */ SIZE mbfsz ; /* */ 185

204 VP mbf ; /* */ /* */ } T_CMBF ; typedef struct t_rmbf { ID stskid ; /* ID */ ID rtskid ; /* ID */ UINT smsgcnt ; /* */ SIZE fmbfsz ; /* */ /* */ } T_RMBF ; TFN_CRE_MBF 0x89 cre_mbf TFN_ACRE_MBF 0xc7 acre_mbf TFN_DEL_MBF 0x8a del_mbf TFN_SND_MBF 0x8d snd_mbf TFN_PSND_MBF 0x8e psnd_mbf TFN_TSND_MBF 0x8f tsnd_mbf TFN_RCV_MBF 0x91 rcv_mbf TFN_PRCV_MBF 0x92 prcv_mbf TFN_TRCV_MBF 0x93 trcv_mbf TFN_REF_MBF 0x94 ref_mbf A B A snd_mbf B rcv_mbf A A 4-2 (a) B rcv_mbf A snd_mbf B B 4-2 (b) A snd_mbf B rcv_mbf A B

205 A B A B snd_mbf ( mbfid ) rcv_mbf ( mbfid ) snd_mbf ( mbfid ) rcv_mbf ( mbfid ) (a) snd_mbf (b) rcv_mbf 4-2. A 10 B 20 A B B ID 4 ID 3 2 µitron

206 CRE_MBF cre_mbf acre_mbf API ID API CRE_MBF ( ID mbfid, { ATR mbfatr, UINT maxmsz, SIZE mbfsz, VP mbf } ) ; C API ER ercd = cre_mbf ( ID mbfid, T_CMBF *pk_cmbf ) ; ER_ID mbfid = acre_mbf ( T_CMBF *pk_cmbf ) ; ID mbfid ID acre_mbf T_CMBF * pk_cmbf CRE_MBF pk_cmbf T_CMBF ATR mbfatr UINT maxmsz SIZE mbfsz VP mbf cre_mbf ER ercd E_OK acre_mbf ER_ID mbfid ID E_ID E_NOID E_NOMEM E_RSATR E_PAR ID mbfid cre_mbf ID ID acre_mbf mbfatr pk_cmbf maxmsz mbfsz mbf 188

207 E_OBJ cre_mbf mbfid ID pk_cmbf mbfatr maxmsz mbfsz mbf CRE_MBF mbfid mbfatr mbfsz acre_mbf ID ID ID mbfatr TA_TFIFO TA_TPRI TA_TFIFO 0x00 FIFO TA_TPRI 0x01 mbf mbfsz TSZ_MBF mbfsz mbf NULL 0 mbfsz mbfsz 0 maxmsz 0 E_PAR mbfsz E_PAR FIFO FIFO mbf NULL mbfsz µitron3.0 TA_TPRI µitron3.0 mbf bufsz mbfsz 189

208 maxmsz mbfsz maxmsz INT UINT mbfsz INT SIZE acre_mbf 190

209 del_mbf C API ER ercd = del_mbf ( ID mbfid ) ; ID mbfid ID ER ercd E_OK E_ID E_NOEXS ID mbfid mbfid

210 snd_mbf psnd_mbf tsnd_mbf C API ER ercd = snd_mbf ( ID mbfid, VP msg, UINT msgsz ) ; ER ercd = psnd_mbf ( ID mbfid, VP msg, UINT msgsz ) ; ER ercd = tsnd_mbf ( ID mbfid, VP msg, UINT msgsz, TMO tmout ) ; ID mbfid ID VP msg UINT msgsz TMO tmout tsnd_mbf ER ercd E_OK E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID mbfid msg msgsz tmout rel_wai psnd_mbf snd_mbf psnd_mbf mbfid msg msgsz msgsz 192

211 TA_TPRI 0x01 TA_TFIFO 0x00 TA_TPRI 0x01 rel_wai ter_tsk rcv_mbf rcv_mbf chg_pri psnd_mbf snd_mbf tsnd_mbf snd_mbf tmout TMO_POL 0 TMO_FEVR 1 msgsz E_PAR msgsz 0 E_PAR tsnd_mbf tmout TMO_POL E_CTX psnd_mbf tmout TMO_FEVR snd_mbf µitron3.0 msgsz INT UINT 193

212 rcv_mbf prcv_mbf trcv_mbf C API ER_UINT msgsz = rcv_mbf ( ID mbfid, VP msg ) ; ER_UINT msgsz = prcv_mbf ( ID mbfid, VP msg ) ; ER_UINT msgsz = trcv_mbf ( ID mbfid, VP msg, TMO tmout ) ; ID mbfid ID VP msg TMO tmout trcv_mbf ER_UINT msgsz E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID mbfid msg tmout rel_wai prcv_mbf rcv_mbf prcv_mbf mbfid msg msgsz msg msgsz 194

213 E_OK msg msgsz E_OK prcv_mbf rcv_mbf trcv_mbf rcv_mbf tmout TMO_POL 0 TMO_FEVR 1 trcv_mbf tmout TMO_POL E_CTX prcv_mbf tmout TMO_FEVR rcv_mbf µitron3.0 msgsz msgsz INT UINT ER_UINT 195

214 ref_mbf C API ER ercd = ref_mbf ( ID mbfid, T_RMBF *pk_rmbf ) ; ID mbfid ID T_RMBF * pk_rmbf ER ercd E_OK pk_rmbf T_RMBF ID stskid ID ID rtskid ID UINT smsgcnt SIZE fmbfsz E_ID E_NOEXS E_PAR ID mbfid pk_rmbf mbfid pk_rmbf stskid ID TSK_NONE 0 rtskid ID TSK_NONE 0 smsgcnt fmbfsz 196

215 fmbfsz fmbfsz fmbfsz stskid TSK_NONE rtskid TSK_NONE smsgcnt 0 stskid TSK_NONE fmbfsz µitron3.0 ID fmbfsz frbufsz fmbfsz INT SIZE 197

216 4.5.3 ID ID ID 0 198

217 1 2 RDVPTN RDVNO TBIT_RDVPTN RDVPTN typedef struct t_cpor { ATR poratr ; /* */ UINT maxcmsz ;/* UINT */ maxrmsz ; /* */ /* */ } T_CPOR ; typedef struct t_rpor { ID ctskid ; /* ID */ ID atskid ; /* ID */ /* */ } T_RPOR ; typedef struct t_rrdv { ID wtskid ; /* ID */ /* */ } T_RRDV ; TFN_CRE_POR 0x95 cre_por TFN_ACRE_POR 0xc8 acre_por TFN_DEL_POR 0x96 del_por TFN_CAL_POR 0x97 cal_por TFN_TCAL_POR 0x98 tcal_por TFN_ACP_POR 0x99 acp_por TFN_PACP_POR 0x9a pacp_por TFN_TACP_POR 0x9b tacp_por 199

218 TFN_FWD_POR 0x9c fwd_por TFN_RPL_RDV 0x9d rpl_rdv TFN_REF_POR 0x9e ref_por TFN_REF_RDV 0x9f ref_rdv ADA CSP Communicating Sequential Processes ADA µitron4.0 ADA µitron4.0 ADA µitron A B A B A B cal_por ( porid ) acp_por ( porid ) acp_por ( porid ) rpl_rdv ( rdvno ) cal_por ( porid ) rpl_rdv ( rdvno ) (a) cal_por (b) acp_por 4-3. A cal_por B acp_por A A 4-3 (a) B acp_por A cal_por B B 4-3 (b) A cal_por B acp_por A B A 200

219 B rpl_rdv A ID ID µitron3.0 UINT RDVPTN RNO RDVNO 2 201

220 CRE_POR cre_por acre_por API ID API CRE_POR ( ID porid, { ATR poratr, UINT maxcmsz, UINT maxrmsz } ) ; C API ER ercd = cre_por ( ID porid, T_CPOR *pk_cpor ) ; ER_ID porid = acre_por ( T_CPOR *pk_cpor ) ; ID porid ID acre_por T_CPOR * pk_cpor CRE_POR pk_cpor T_CPOR ATR poratr UINT maxcmsz UINT maxrmsz cre_por ER ercd E_OK acre_por ER_ID porid ID E_ID ID porid cre_por E_NOID ID ID acre_por E_RSATR poratr E_PAR pk_cpor maxcmsz maxrmsz E_OBJ cre_por 202

221 porid ID pk_cpor poratr maxcmsz maxrmsz CRE_POR porid poratr acre_por ID ID ID poratr TA_TFIFO TA_TPRI TA_TFIFO 0x00 FIFO TA_TPRI 0x01 maxcmsz maxrmsz E_PAR maxcmsz maxrmsz 0 FIFO µitron3.0 TA_TPRI maxcmsz maxrmsz INT UINT acre_por 203

222 del_por C API ER ercd = del_por ( ID porid ) ; ID porid ID ER ercd E_OK E_ID E_NOEXS ID porid porid

223 cal_por tcal_por C API ER_UINT rmsgsz = cal_por ( ID porid, RDVPTN calptn, VP msg, UINT cmsgsz ) ; ER_UINT rmsgsz = tcal_por ( ID porid, RDVPTN calptn, VP msg, UINT cmsgsz, TMO tmout ) ; ID porid ID RDVPTN calptn VP msg UINT cmsgsz TMO tmout tcal_por ER_UINT rmsgsz 0 E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID porid calptn msg cmsgsz tmout rel_wai tcal_por porid calptn msg cmsgsz msg rmsgsz calptn 205

224 msg cmsgsz cmsgsz TA_TFIFO 0x00 TA_TPRI 0x01 tcal_por cal_por tcal_por tmout E_TMOUT tmout TMO_FEVR 1 tmout TMO_POL 0 E_PAR tcal_por cal_por tcal_por rel_wai E_RLWAI E_DLT calptn 0 E_PAR cmsgsz E_PAR cmsgsz 0 msg 206

225 msg tcal_por tmout TMO_FEVR cal_por µitron3.0 tcal_por pcal_por µitron4.0 tmout TMO_POL E_PAR 0 rmsgsz calptn UINT RDVPTN cmsgsz rmsgsz INT UINT rmsgsz ER_UINT calptn 0 E_PAR 207

226 acp_por pacp_por tacp_por C API ER_UINT cmsgsz = acp_por ( ID porid, RDVPTN acpptn, RDVNO *p_rdvno, VP msg ) ; ER_UINT cmsgsz = pacp_por ( ID porid, RDVPTN acpptn, RDVNO *p_rdvno, VP msg ) ; ER_UINT cmsgsz = tacp_por ( ID porid, RDVPTN acpptn, RDVNO *p_rdvno, VP msg, TMO tmout ) ; ID porid ID RDVPTN acpptn VP msg TMO tmout tacp_por ER_UINT cmsgsz 0 RDVNO rdvno E_ID E_NOEXS E_PAR E_RLWAI E_TMOUT E_DLT ID porid acpptn msg tmout rel_wai pacp_por acp_por pacp_por porid acpptn msg cmsgsz rdvno acpptn 208

227 rdvno msg cmsgsz pacp_por acp_por tacp_por acp_por tmout TMO_POL 0 TMO_FEVR 1 acpptn 0 E_PAR acp_por acp_por tacp_por tmout TMO_POL E_CTX pacp_por tmout TMO_FEVR acp_por µitron3.0 cmsgsz acpptn UINT RDVPTN rdvno RNO RDVNO cmsgsz INT UINT ER_UINT acpptn 0 E_PAR 209

228 210

229 fwd_por C API ER ercd = fwd_por ( ID porid, RDVPTN calptn, RDVNO rdvno, VP msg, UINT cmsgsz ) ; ID porid ID RDVPTN calptn RDVNO rdvno VP msg UINT cmsgsz ER ercd E_OK E_ID E_NOEXS E_PAR E_ILUSE E_OBJ ID porid calptn msg cmsgsz rdvno rdvno porid calptn msg cmsgsz fwd_por rdvno A porid fwd_por fwd_por calptn A A 211

230 msg cmsgsz cmsgsz A A msg cmsgsz A TA_TFIFO 0x00 A TA_TPRI 0x01 A A E_ILUSE cmsgsz E_PAR cmsgsz 0 rdvno fwd_por rdvno E_OBJ rdvno E_OBJ calptn 0 E_PAR fwd_por A fwd_por fwd_por msg cmsgsz fwd_por fwd_por fwd_por fwd_por 212

231 tcal_por tcal_por A tcal_por fwd_por fwd_por E_OBJ ref_rdv fwd_por 4-4 cal_por acp_por fwd_por fwd_por fwd_por acp_por acp_por acp_por rpl_rdv rpl_rdv rpl_rdv 4-4. fwd_por 213

232 µitron3.0 A msg cmsgsz A tcal_por fwd_por 0 calptn UINT RDVPTN rdvno RNO RDVNO cmsgsz INT UINT fwd_por cal_por A A cmsgsz A msg cmsgsz A 214

233 rpl_rdv C API ER ercd = rpl_rdv ( RDVNO rdvno, VP msg, UINT rmsgsz ) ; RDVNO rdvno VP msg UINT rmsgsz ER ercd E_OK E_PAR E_OBJ msg rmsgsz rdvno rdvno msg rmsgsz rdvno msg rmsgsz rmsgsz rdvno E_OBJ rdvno E_OBJ rdvno rpl_rdv rmsgsz E_PAR rmsgsz 0 rpl_rdv 215

234 E_OBJ ref_rdv rmsgsz TCB TCB µitron3.0 0 rdvno RNO RDVNO rmsgsz INT UINT rpl_rdv ID rdvno E_PAR E_OBJ rdvno 216

235 ref_por C API ER ercd = ref_por ( ID porid, T_RPOR *pk_rpor ) ; ID porid ID T_RPOR * pk_rpor ER ercd E_OK pk_rpor T_RPOR ID ctskid ID ID atskid ID E_ID E_NOEXS E_PAR ID porid pk_rpor porid pk_rpor ctskid ID TSK_NONE 0 atskid ID TSK_NONE 0 µitron3.0 ID 217

236 ref_rdv C API ER ercd = ref_rdv ( RDVNO rdvno, T_RRDV *pk_rrdv ) ; RDVNO rdvno T_RRDV * pk_rrdv ER ercd E_OK pk_rrdv T_RRDV ID wtskid ID E_PAR pk_rrdv rdvno pk_rrdv rdvno ID wtskid rdvno wtskid TSK_NONE 0 rpl_rdv fwd_por wtskid ID E_OBJ µitron3.0 ITRON2 rdv_sts 218

237 4.6 µitron4.0 MMU ID ID ID SIZE mpfsz = TSZ_MPF ( UINT blkcnt, UINT blksz ) blksz blkcnt typedef struct t_cmpf { ATR mpfatr ; /* */ UINT blkcnt ; /* */ UINT blksz ; /* */ VP mpf ; /* */ /* */ } T_CMPF ; typedef struct t_rmpf { 219

238 ID wtskid ; /* ID */ UINT fblkcnt ; /* */ /* */ } T_RMPF ; TFN_CRE_MPF 0x45 cre_mpf TFN_ACRE_MPF 0xc9 acre_mpf TFN_DEL_MPF 0x46 del_mpf TFN_GET_MPF 0x49 get_mpf TFN_PGET_MPF 0x4a pget_mpf TFN_TGET_MPF 0x4b tget_mpf TFN_REL_MPF 0x47 rel_mpf TFN_REF_MPF 0x4c ref_mpf cre_mpf acre_mpf del_mpf ref_mpf TSZ_MPF 220