Smart Fusion Micrium Webinar

Rapid product development with Actel's ARM-based SmartFusion and Micrium's C/OS-III
Matt Gordon, Micrium Wendy Lockhart, Actel
What is SmartFusion?
Actel Corporation Confidential 2010
SmartFusion: Innovative, Intelligent, Integration
Proven FPGA fabric Complete ARM Cortex-M3 MCU subsystem...& its hard Programmable analog In a flash-based device In production now!
No-Compromise Microcontroller Subsystem (MSS)

100 MHz 32-bit ARM Cortex-M3 processor Bus matrix with up to 16 Gbps throughput 10/100 Ethernet MAC SPI, I2C, UART, 32-bit Timers Up to 512 KB flash and 64 KB of SRAM External memory controller 8-channel DMA controller Up to 41 MSS I/Os
Programmable Analog

Analog compute engine (ACE) offloads CPU from analog tasks Voltage, current and temp monitors 12-bit (SAR) ADCs @ up to 600 Ksps Sigma-Delta DACs Up to ten 50 ns high-speed comparators Up to 32 analog inputs and 3 outputs
No-Compromise FPGA Fabric
Proven flash-based FPGA fabric 60,000 to 500,000 system gates 350 MHz system performance Embedded SRAMs and FIFOs Up to 128 FPGA I/Os
Innovative Intelligent Integration
SmartFusion Design Environment
Full-featured traditional FPGA design flow Industry-leading software IDEs for embedded design Simulation, timing and power analysis reduce debug time Debug through FlashPro or standard RealView header
MSS Configurator
Configure the MSS peripherals and I/Os Create or import hardware configuration Automatically generate drivers for peripherals Configure programmable analog components Enables connection of FPGA fabric designs and IP to MSS
MSS configurator enables co-design between multiple users
An Introduction to RealTime Kernels
2009, Micrim, All Rights Reserved
www.Micrium.com
Real-Time Operating Systems

A real-time operating system, or RTOS, is a collection of software that provides useful services to application code
Application
File System GUI TCP/IP Kernel RTOS USB Bluetooth RS-232
Hardware
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Real-Time Kernels
A kernel is a key RTOS component Essentially a task scheduler The glue that holds the other components together Application developers can use a real-time kernel to achieve deterministic performance Most common alternative is the foreground/background system
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A Foreground/Background Example
Background
int { Perform initializations; while (1) { ADC_Read(); SPI_Read(); USB_Packet(); LCD_Update(); Audio_Decode(); File_Write(); } } } main (void)
Foreground
void { Clear interrupt; Read packet; App_ISRUSB (void)
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A Kernel-Based Example
Tasks
void { while (1) { ADC_Read(); Sleep for 1 ms; } } void { while (1) { Wait for signal from ISR; USB_Packet(); } } App_TaskUSB (void *p_arg) } App_TaskADC (void *p_arg)
ISRs
void { Clear interrupt; Signal USB Task; App_ISRUSB (void)
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Tasks
C functions Usually periodic Can be treated almost as if they are separate programs Managed by the kernel
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Tasks (Cont.)
static void App_TaskExample (void *p_arg) { Perform initializations; while (1) { Work toward tasks goals; } }
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Data Structures Associated with Tasks

Task Control Block (TCB)
Allows the kernel to keep track of a tasks state
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StkPtr ExtPtr StkLimitPtr NextPtr PrevPtr
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Stack
Used to save register values during context switches
StkPtr ExtPtr StkLimitPtr NextPtr PrevPtr
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R4 R5 R6 R7 R8 R9 R10 R11 StkPtr ExtPtr StkLimitPtr NextPtr PrevPtr R0 R1 R2 R3 R12 LR PC
= 0x04040404 = 0x05050505 = 0x06060606 = 0x07070707 = 0x08080808 = 0x09090909 = 0x10101010 = 0x11111111 = p_arg = 0x01010101 = 0x02020202 = 0x03030303 = 0x12121212 = OS_TaskReturn = task
xPSR = 0x01000000
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Task Creation
void OSTaskCreate (OS_TCB CPU_CHAR OS_TASK_PTR void OS_PRIO CPU_STK CPU_STK The tasks OS_STK_SIZE priority OS_MSG_QTY OS_TICK void OS_OPT OS_ERR *p_tcb, The tasks TCB *p_name, *p_task, *p_arg, The actual task prio, *p_stk_base, *p_stk_limit, The tasks stk_size, stack q_size, time_quanta, *p_ext, opt, *p_err);
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Understanding Kernel Services
www.Micrium.com
Foreground/Background Scheduling
while (1) { ADC_Read(); LCD_Update(); SPI_Read(); USB_Packet(); LCD_Update(); Audio_Decode(); File_Write(); LCD_Update(); }
Functions must be called repeatedly in order to produce expected behavior
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Kernel Scheduling
The kernel is responsible for running tasks There are two common schemes Cooperative scheduling Preemptive scheduling
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Cooperative Scheduling
Interrupt signals the availability of the USB Tasks data
ISR
USB Task
ADC Task
The USB task cannot run until the ADC task completes
Time
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Preemptive Scheduling
Interrupt signals the availability of the highpriority tasks data
ISR
The high-priority task is scheduled by the kernel
USB Task (High Priority)
ADC Task (Low Priority)

Time
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Setting Execution Rates in a Foreground/Background System

int main (void) { unsigned short i; i = 0; while (1) { ADC_Read(); if ((i % 8192) == 0) { SPI_Read(); } USB_Packet(); LCD_Update(); if ((i % 1024) == 0) { Audio_Decode(); } All rates are based on the total File_Write(); execution time of the loop i++; } }
2009, Micrim, All Rights Reserved www.Micrium.com
Setting Execution Rates with a Kernel

static void App_TaskStart (void *p_arg) { OS_ERR err; Perform initializations; Kernel delays task while (1) { for 100 ms Toggle LED; OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &err); } }
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Round-Robin Scheduling
Multiple tasks are assigned the same priority Kernel runs each task for a period of time set by the application developer
Task A
Task B
Task C
Time Quantum Time
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Synchronization in a Foreground/Background System

int { Perform initializations; while (1) { ADC_Rd(); SPI_Rd(); USB_Pkt(); LCD_Update(); } } void { while (App_PktRxd > 0) { Read packet; Send response; App_PktRxd--; } }
main (void)
void {
App_ISRUSB (void) Clear interrupt; App_PktRxd++;
A global variable is used to signal packet reception

USB_Pkt (void)
Synchronization in a Kernel
void { Perform initializations; while (1) { Pend on semaphore; Read packet; Send response; } } } App_TaskUSB (void *p_arg) void { Clear interrupt; Post semaphore; App_ISRUSB (void)
Signaling is accomplished with a kernel primitive called a semaphore
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Semaphores
Essentially counters A zero value indicates no activity A non-zero value indicates that events have taken place Two primary operations Pend: Wait for events to occur Post: Signal occurrence of events While one task is waiting, the kernel runs other tasks
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Event Flags
Another means of synchronization Implemented with 8-, 16-, or 32-bit variables Each bit corresponds to an event Pend and post operations Tasks can wait for multiple events to take place
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Resource Protection in a Foreground/Background System

int { Perform initializations; while (1) { ADC_Rd(); SPI_Rd(); UART_Write(); LCD_Update(); } } void { Disable interrupts; Write message; UART_Write (void) } main (void) void { Clear interrupt; Read received character; App_ISRUART (void)
Interrupts must be disabled while the shared resource (the UART) is accessed
Re-enable interrupts; }
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Resource Protection in a Kernel

void { Perform initializations; while (1) { Acquire mutex; Write message; Release mutex; Delay for 1s; } } } App_TaskUART (void *p_arg) void { Perform initializations; while (1) { Read file; Acquire mutex; Write status to UART; Release mutex; App_TaskFS (void *p_arg)
A kernel primitive called a } mutex is used to protect shared resources
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Mutexes
Implemented much like semaphores Counter is normally initialized to a value of one Only effective when used every time a shared resource is accessed May offer protection against priority inversion
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Additional Means of Resource Protection

Locking and Unlocking the scheduler Disabling and Re-enabling interrupts The only effective technique for resources that are accessed by ISRs Semaphores Use for resource protection is discouraged due to potential for priority inversion
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Summary of Kernels and Kernel Services

A kernel facilitates development of multi-task applications Most kernels are either cooperative are preemptive In a preemptive kernel, high priority tasks run as soon as they are made ready Task management is not the only service provided by a typical kernel Other services include synchronization and resource protection
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C/OS-III Example #1
www.Micrium.com
Required Tools and Software

Libero IDE and SoftConsole Available from http://www.actel.com/download/software/libero/files.aspx C/OS-III example projects and C/Probe Available from http://micrium.com/page/downloads/ports/actel
www.Micrium.com
Hardware
www.Micrium.com
Programming the Board

1. Extract contents of uCOS-III-Actel-SmartFusionEvalKit.zip 2. Jumper JP7 to USB PROG and JP10 to FPGA 3. Connect board to PC
Two USB connections
4. Run FlashPro 5. Create New Project 6. Specify PDB file and program
MICRIUM\Software\EvalBoards\Actel\SmartFusionEvalKit\Hardware\SmartFusion.pdb
Building and Running the Example

1. Start SoftConsole
Choose workspace location
2. Import examples 3. Set path and environment variables 4. Build first project, Ex1_OS 5. Open Debug Dialog
Jumper JP10 should be in M3 position
6. Run code
app.c, main()
OSInit(&os_err); OSTaskCreate((OS_TCB (CPU_CHAR (OS_TASK_PTR (void (OS_PRIO (CPU_STK *)&App_TaskStartTCB, *)"Start", )App_TaskStart, *)0, )APP_CFG_TASK_START_PRIO, *)&App_TaskStartStk[0],
(CPU_STK_SIZE )APP_CFG_TASK_START_STK_SIZE_LIMIT, (CPU_STK_SIZE )APP_CFG_TASK_START_STK_SIZE, (OS_MSG_QTY (OS_TICK (void (OS_OPT (OS_ERR OSStart(&os_err);
)0u, )0u, *)0, )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), *)&os_err);
app.c, App_TaskStart()
/* Initializations */ App_TaskCreate(); App_ObjCreate(); while (DEF_TRUE) { BSP_LED_Toggle(1); OSTimeDlyHMSM(0u, 0u, 0, 100u, OS_OPT_TIME_HMSM_STRICT, &err); }
www.Micrium.com
C/OS-III Example #2
www.Micrium.com
C/Probe
www.Micrium.com
Contact Information
Sales questions:
Robert Langley, Sales Representative Phone: +1 954 217 2036 Ext. 104 E-mail: robert.langley@micrium.com
Other inquiries:
Matt Gordon, Sr. Applications Engineer Phone: +1 954 217 2036 Ext. 102 E-mail: matt.gordon@micrium.com
www.Micrium.com

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Rapid product development with Actel's ARM-based SmartFusion and Micrium's C/OS-III

Matt Gordon, Micrium Wendy Lockhart, Actel

Actel Corporation Confidential 2010

SmartFusion: Innovative, Intelligent, Integration

Actel Corporation Confidential 2010

No-Compromise Microcontroller Subsystem (MSS)

Actel Corporation Confidential 2010

Actel Corporation Confidential 2010

No-Compromise FPGA Fabric

Actel Corporation Confidential 2010

Innovative Intelligent Integration

Actel Corporation Confidential 2010

SmartFusion Design Environment

Actel Corporation Confidential 2010

MSS configurator enables co-design between multiple users

Actel Corporation Confidential 2010

An Introduction to RealTime Kernels

2009, Micrim, All Rights Reserved

Real-Time Operating Systems

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

Data Structures Associated with Tasks

2009, Micrim, All Rights Reserved

Data Structures Associated with Tasks

StkPtr ExtPtr StkLimitPtr NextPtr PrevPtr

2009, Micrim, All Rights Reserved

Data Structures Associated with Tasks

StkPtr ExtPtr StkLimitPtr NextPtr PrevPtr

2009, Micrim, All Rights Reserved

Data Structures Associated with Tasks

R4 R5 R6 R7 R8 R9 R10 R11 StkPtr ExtPtr StkLimitPtr NextPtr PrevPtr R0 R1 R2 R3 R12 LR PC

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

Understanding Kernel Services

2009, Micrim, All Rights Reserved

Functions must be called repeatedly in order to produce expected behavior

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

Interrupt signals the availability of the USB Tasks data

2009, Micrim, All Rights Reserved

Interrupt signals the availability of the highpriority tasks data

The high-priority task is scheduled by the kernel

USB Task (High Priority)

ADC Task (Low Priority)

2009, Micrim, All Rights Reserved

Setting Execution Rates in a Foreground/Background System

Setting Execution Rates with a Kernel

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

Synchronization in a Foreground/Background System

App_ISRUSB (void) Clear interrupt; App_PktRxd++;

A global variable is used to signal packet reception

Signaling is accomplished with a kernel primitive called a semaphore

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

2009, Micrim, All Rights Reserved

Resource Protection in a Foreground/Background System

2009, Micrim, All Rights Reserved

Resource Protection in a Kernel

)0u, )0u, )0, )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), )&os_err);