AN QP and ARM7/9 - Quantum Leaps

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Table of Contents 1 Introduction........................................................................................................................................1 1.1 About QP..........................................................................................................................................2 1.2 About the ARM Port.............................................................................................................................2 1.3 Licensing QP .......................................................................................................................................3 2 Directories and Files .........................................................................................................................4 2.1 Building the QP Libraries.....................................................................................................................5 2.2 Building the Examples .........................................................................................................................6 3 The Vanilla Port..................................................................................................................................7 3.1 Compiler Options Used........................................................................................................................7 3.2 The QF Port Header File .....................................................................................................................7 3.2.1 The QF Critical Section................................................................................................................7 3.2.2 Discussion of the QF Critical Section ........................................................................................10 3.3 Handling Interrupts ............................................................................................................................11 3.3.1 The IRQ “Wrapper” Function in Assembly.................................................................................12 3.3.2 The FIQ “Wrapper” Function in Assembly .................................................................................15 3.3.3 Other ARM Exception “Wrapper” Functions in Assembly .........................................................17 3.3.4 Defining The BSP_irq() C-level IRQ Handler ............................................................................19 3.3.5 The C-level ISRs........................................................................................................................20 3.3.6 Defining The BSP_fiq() C-level IRQ Handler.............................................................................20 3.3.7 Initializing the Vector Table and the Vectored Interrupt Controller............................................21 3.4 Idle Loop Customization in the “Vanilla” Port ....................................................................................22 4 The QK Port......................................................................................................................................23 4.1 Compiler and Linker Options Used....................................................................................................23 4.2 The QK Port Header File ...................................................................................................................23 4.2.1 The QK Critical Section .............................................................................................................23 4.3 Handling Interrupts ............................................................................................................................23 4.3.1 The IRQ “Wrapper” Function for QK..........................................................................................24 4.3.2 The FIQ “Wrapper” Function for QK ..........................................................................................26 4.4 Idle Loop Customization in the QK Port ............................................................................................28 5 Controlling Placement of the Code in Memory and ARM/THUMB Compilation........................29 6 References .......................................................................................................................................30 7 Contact Information.........................................................................................................................31 Copyright © Quantum Leaps, LLC. All Rights Reserved. i
1 Introduction This Application Note describes how to use the QP/C and QP/C++ state machine frameworks version 4 or higher with the ARM7 or ARM9 processors. This document describes the following two main implementation options: 1. The cooperative “Vanilla” kernel available in the QF real-time framework; and 2. The preemptive run-to-completion QK kernel. To focus the discussion, this Application Note uses the IAR Embedded Workbench ® for ARM (EWARM version 5.30 KickStart edition, which is available as a free download from the IAR website www.iar.com). However, most of the code described here is generic ARM/THUMB and should be easily adapted to any ARM development toolset, such as the RealView ® , Keil, Green Hills, or GNU. This Application Note does not contain any executable examples, which are provided in the QP Development Kits (QDKs) for specific ARM7/ARM9 boards. The QDKs for ARM are available as separate downloads from www.state-machine/arm. NOTE: Even though this Application Note is based on the IAR toolset for ARM, the provided explanations are applicable to most toolsets supporting ARM7/ARM9 processors. NOTE: This Application Note pertains both to C and C++ versions of the QP state machine frameworks. Most of the code listings in this document refer to the QP/C version. Occasionally the C code is followed by the equivalent C++ implementation to show the C++ differences whenever such differences become important. Copyright © Quantum Leaps, LLC. All Rights Reserved. 1 of 31
Page 1: QP state machine frameworks for ARM
Page 5 and 6: Application Note QP and ARM7/9 www.
Page 9 and 10: 3 The Vanilla Port Application Note
Page 25 and 26: 4 The QK Port Application Note QP a
Page 31 and 32: 5 Controlling Placement of the Code
Page 33: Application Note QP and ARM7/9 www.

AN QP and ARM7/9 - Quantum Leaps

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