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Microsoft's Azure RTOS ThreadX for Renesas RXv2
Using the CC-RX Tools
1. Building the ThreadX run-time Library
Please see the Samples repository on GitHub for the Azure RTOS demonstrations
for the RXv2.
2. Demonstration System
Please see the Samples repository on GitHub for the Azure RTOS demonstrations
for the RXv2
3. System Initialization
The system entry point using Renesas tools is at the label _PowerON_Reset_PC.
Use the resetprg.c file that comes with your release. Most notable is that Threadx
applications run in supervisor mode and do not use user mode. Hence switching to
user mode has been commented out.
The vector area is set up using either intprg.c or in the file tx_initialize_low_level.src.
The file tx_initialize_low_level.src is responsible for setting up various system data
structures, interrupt vectors, and a periodic timer. This is the ideal place add
application specific hardware initialization code.
ThreadX utilizes CMT0 as a periodic timer interrupt source. The CMT0 interrupt is
typically setup for 10ms periodic interrupts and the interrupt priority level is set to
level 5 with the symbol CMT_RX_CFG_IPR in r_cmt_rx_config.h of Renesas CMT timer module
(r_cmt_rx). You may change any of the timer parameters to suit your needs.
In addition, _tx_initialize_low_level determines the first available address for use by
the application, which is supplied as the sole input parameter to your application
definition function, tx_application_define(). The mechanism is implemented by creating the
FREEMEM section, this section should be linked last in the RAM area. tx_initialize_low_level
will pick up the starting label of this section and put it in the global variable:
_tx_initialize_unused_memory
4. Context Switch, Register Usage and Stack Frames
The RXv2 port for ThreadX uses the first software interrupt, SWINT, i.e., interrupt #27,
to perform context switch with the interrupt priority level 1. This ISR is thus reserved
when using ThreadX and the SWINT should not be manipulated in any way by the application.
The port will setup the interrupt within _tx_initialize_low_level and the compiler will
automatically install the necessary interrupt vector. As such no additional initialization
is necessary by the application.
The following defines the saved context stack frame used by the ThreadX port. The
state of the CPU registers at the time of a context switch is saved on the running
thread's stack The top of the suspended thread's stack is pointed to by
tx_thread_stack_ptr in the associated thread control block TX_THREAD.
Offset Interrupted Stack Frame
0x00 1
0x04 ACC0
0x08 ACC1
0x0C R6
0x10 R7
0x14 R8
0x18 R9
0x1C R10
0x20 R11
0x24 R12
0x28 R13
0x2C FPSW
0x30 R14
0x34 R15
0x38 R3
0x3C R4
0x40 R5
0x44 R1
0x48 R2
0x4C PC - return address
0x50 PSW
Note: By default ccrx does not save the state of the accumulator registers ACC0 and ACC1
when entering an ISR. This means that if the ISR uses any of the DSP instructions the
content of those registers could be corrupted. Saving and restoring of the acummulators
can be enabled by adding the -save_acc command line option.
5. Improving Performance
The distribution version of ThreadX is built without any compiler
optimizations. This makes it easy to debug because you can trace or set
breakpoints inside of ThreadX itself. Of course, this costs some
performance. To make ThreadX run faster, you can change the ThreadX Library
project to disable debug information and enable the desired optimizations.
In addition, you can eliminate the ThreadX basic API error checking by
compiling your application code with the symbol TX_DISABLE_ERROR_CHECKING
defined before tx_api.h is included.
6. Timer Processing
Timer processign is performed by calling __tx_timer_interrupt(). This should usually be done
from within the callback of a periodic timer with a period of 100Hz. In the sample projects
a Renesas Fit CMT periodic timer module (r_cmt_rx) is used as the timer source.
7. Interrupt Handling
Interrupt handling is unaffected by the ThreadX port as such user interrupts can be
written according to the toolchain's documentation. It is recommended not to use interrupt
priority 1 as this is the priority of the context switch interrupt. However using interrupt
priority 1 won't cause any negative side effects but doing so may slightly reduce
performance. Please refer to the toolchain documentation for additional details on how to
define interrupt service routines.
8. Execution Profiling
The RX port adds support for the Execution Profiling Kit (EPK). The EPK consists
of the files tx_execution_profile.c and tx_execution_profile.h. See the documentation
of the EPK for generic usage details.
To add the EPK to your RXv2 release make the following modifications:
* Enable the following define for both the Threadx library and the application
TX_EXECUTION_PROFILE_ENABLE
* Setup CMT1 as a free running 16 bit timer.
* In tx_execution_profile.h, change following around line 52:
#ifdef TX_EXECUTION_64BIT_TIME
typedef unsigned long long EXECUTION_TIME;
#define TX_EXECUTION_MAX_TIME_SOURCE 0xFFFFFFFFFFFFFFFF
#else
typedef unsigned long EXECUTION_TIME;
#define TX_EXECUTION_MAX_TIME_SOURCE 0xFFFF
#endif
/* Define basic constants for the execution profile kit. */
#define TX_EXECUTION_TIME_SOURCE (EXECUTION_TIME) *((USHORT *) 0x8800A)
Rebuild the Threadx library and the application.
Refer to the EPK documentation how to interpret the results.
9. Revision History
For generic code revision information, please refer to the readme_threadx_generic.txt
file, which is included in your distribution. The following details the revision
information associated with this specific port of ThreadX:
For generic code revision information, please refer to the readme_threadx_generic.txt
file, which is included in your distribution. The following details the revision
information associated with this specific port of ThreadX:
04-25-2022 Release 6.1.11 changes:
tx_thread_schedule.src Added low power support
01-31-2022 Release 6.1.10 changes:
tx_port.h Removed system state macro, and added
missing interrupt control defines
tx_timer_interrupt.src Added missing thread preemption logic
10-15-2021 Release 6.1.9 changes:
tx_thread_context_restore.src Removed unnecessary stack type placement
tx_thread_schedule.src Removed unnecessary stack type checking
tx_thread_stack_build.src Removed unnecessary stack type placement
06-02-2021 Release 6.1.7 changes:
readme_threadx.txt Updated instructions on how to use execution profile.
04-02-2021 Release 6.1.6 changes:
tx_port.h Updated macro definition
12-31-2020 Initial ThreadX release for the RXv2 using CC-RXX tools, version 6.1.3
Copyright(c) 1996-2022 Microsoft Corporation
https://azure.com/rtos
www.expresslogic.com
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