mitron3.02.txt

rtai-3.1-test3的源代码(Real-Time Application Interface )

******************************************************************************
*                          uITRON 3.0 Specification                          *
*                                                                            *
*                        General Editor: Ken Sakamura                        *
*                                                                            *
*                          Document number: I-01-02E                         *
*                         Version number: Ver 3.02.00                        *
*                                                                            *
*                              TRON ASSOCIATION                              *
*    Katsuta Building 5F, 3-39 Mita 1-chome, Minato-ku, Tokyo 108, JAPAN     *
*                            Tel. [phone]                            *
******************************************************************************
                                  Note: "u" of "uITRON" represents Greek "mu"
                                        and is read as "micro".

******************************************************************************
*              Copyright (C) 1993,1994,1995 by TRON ASSOCIATION              *
*                                                                            *
*      The copyright of this document is reserved by TRON ASSOCIATION.       *
******************************************************************************



******************************************************************************
*                             LICENSE AGREEMENT                              *
*                                                                            *
*   Permission to receive, use, and/or reproduce the SPECIFICATIONS which    *
*   follow is granted only under the following terms and conditions.         *
*   Acceptance of receipt of the SPECIFICATIONS constitutes your agreement   *
*   with such terms and conditions.  If you do not agree with such terms     *
*   and conditions, do not retrieve the SPECIFICATIONS.                      *
*                                                                            *
*   SECTION #1  COPYRIGHT AND OTHER PROPRIETARY RIGHTS                       *
*   1.1  All copyright and other proprietary rights relating to or in        *
*        connection with the SPECIFICATIONS belong to solely the TRON        *
*        ASSOCIATION.                                                        *
*                                                                            *
*   SECTION #2  LIMITATION OF REPRODUCTION                                   *
*   2.1  The SPECIFICATIONS may be reproduced in their entity but any        *
*        reproduction in part is strictly prohibited.                        *
*                                                                            *
*   SECTION #3  COPYRIGHT NOTICES                                            *
*   3.1  In no event may the copyright notices or the terms and conditions   *
*        of this LICENSE AGREEMENT and "Fundamental Concepts Governing the   *
*        TRON Project" described on the SPECIFICATIONS be deleted.           *
*   3.2  When you reproduce the SPECIFICATION, in no event may the           *
*        copyright notices or the terms and conditions of this LICENSE       *
*        AGREEMENT and "Fundamental Concepts Governing the TRON Project"     *
*        on any copy of the SPECIFICATIONS be deleted.                       *
*                                                                            *
*   SECTION #4  RESTRICTION OF MODIFICATIONS                                 *
*   4.1  Any modification of the SPECIFICATIONS is strictly prohibited.      *
*                                                                            *
*   SECTION #5  RESTRICTION OF REDISTRIBUTION                                *
*   5.1  Redistributing the SPECIFICATIONS upon receipt of payment of        *
*        consideration therefor without written consent from the TRON        *
*        ASSOCIATION prior to such distribution is strictly prohibited.      *
*                                                                            *
*   SECTION #6  NO WARRANTIES                                                *
*   6.1  The TRON ASSOCIATION disclaims all warranties with regards to the   *
*        SPECIFICATIONS, including all implied warranties of                 *
*        merchantability and fitness.                                        *
*   6.2  In no event shall the TRON ASSOCIATION be liable for any special,   *
*        indirect or consequential damage or any damages or disputes         *
*        whatsoever arising out of or in connection with the use of the      *
*        SPECIFICATIONS.                                                     *
******************************************************************************

******************************************************************************
*              Fundamental Concepts Governing the TRON Project               *
*                                                                            *
* 1. The computer architecture TRON originated by Dr. Ken Sakamura is an     *
*    open computer architecture.  The TRON Specifications are made           *
*    publicly available to anyone in the world.                              *
*                                                                            *
* 2. Copyrights to the TRON Specifications belong to the TRON ASSOCIATION.   *
*    Anyone is entitled to utilize the TRON Specifications in developing     *
*    and merchandising products conforming to the TRON Specifications.       *
*                                                                            *
* 3. The TRON ASSOCIATION has been established as the core organization for  *
*    the purpose of preparing the TRON Specifications, conducting            *
*    conformance testing, and otherwise promoting the TRON Project.          *
*    Membership in the TRON ASSOCIATION is open to anyone in the world who   *
*    shares in the objectives of the TRON Project and agrees to observe      *
*    the TRON ASSOCIATION's rules.                                           *
*                                           The TRON ASSOCIATION             *
******************************************************************************

The contents of this document may be revised without prior notice.
Although the contents in this document have been carefully reviewed and is
believed to be reliable, TRON ASSOCIATION is not assuring its contents nor
assuming any liability of problems caused by this document.

TRON   is an abbreviation of The Real-time Operating system Nucleus.
BTRON  is an abbreviation of Business TRON.
CTRON  is an abbreviation of Communication and Central TRON.
ITRON  is an abbreviation of Industrial TRON.
MTRON  is an abbreviation of Macro TRON.

****************************************************************************
***    Preface to the uITRON 3.0 Specifiction                            ***
****************************************************************************

Since the beginning, the ITRON subproject has been the most heavily promoted
of all the subprojects within the TRON Project.  The ITRON specification
operating system faithfully realizes the promise of the real-time operability
that is the basis of the TRON Project.  The major feature of ITRON
specification is its adaptability which can be implemented even on compact
hardware systems having extremely limited amounts of memory.  Since it is
therefore being used in industrial applications, including embedding in
machines, controlling robots and controlling factory plants, its adaptability
has grown greatly to the point that it has grown into a real-time OS used
as the standard in many fields.  Since the ITRON specification delivers an
operating system which can be optimized for the application, it has evolved
into a series of specifications for various applied fields.  Specifications
of ITRON1, ITRON2, uITRON and ITRON/FILE have now been released.  If you want
details on the specific nature of each of these specifications, please see
the "ITRON Standard Guidebook '92 to '93" (Published by Personal Media
Corporation in Japanese).

Including new features and strengthened specifications, uITRON 3.0
specification described in this document is based on 10 years of TRON
project experience and represents the latest version of the ITRON
specification.  In addition to the characteristic of compactness and
robustness of the conventional uITRON specification, uITRON 3.0 specification
includes network support functions for loosely-coupled distributed processing.
Combined with recent reductions in the prices of microprocessors, the number
of microprocessors required by applications has grown rapidly resulting in
a growing need to configure distributed systems by networking many separate
processors.  uITRON 3.0 specification is intended as the platform for
building such distributed systems.

Such distributed systems have many requirements.  Not only must the operating
system provide the ability to perform real-time processing and ensure
transparency between nodes, but also it must be adaptable to various size
systems and low cost systems in particular.  Specifically, it must be
adaptable to many different communication media and network topologies, and
workable in environments where available memory on each node may be extremely
small.  uITRON 3.0 specification has been designed to meet all of these
requirements.  Rather than merely crowning the specification with the latest
technical fads, uITRON 3.0 specification is a confident work that reflects
both industry opinion and many years of experience.  The editor fully
expects that uITRON 3.0 specification will be effectively utilized in many
embedded network systems.

This document is an official ITRON standard specification prepared by
the ITRON Technical Committee of the TRON Association.  I wish to express my
sincere gratitude to the many people without whose cooperation this book would
not have been possible.

                                                              June, 1993
                                                            Ken Sakamura
                                            TRON Project, Project Leader

****************************************************************************
***    Table of Contents                                                 ***
****************************************************************************

  Chapter 1 Basic Philosophy of the ITRON and uITRON 3.0 Specification
      1.1 The TRON Project
      1.2 TRON Subprojects
      1.3 Multitasking, Real-time Operating Systems
      1.4 History of ITRON Specification and Planned Future Developments
      1.5 Features of ITRON Specification
      1.6 The Basic ITRON Concept
            Tasks
            Resources
            Task State and Operation
            Task Scheduling
            System State During Non-Task Portion Execution
            Task-Independent and Quasi-Task Portions
            Objects
            Concepts of Standardization and Compatibility
                    in ITRON Specification
      1.7 uITRON 3.0 Specification Overview
            Position of uITRON 3.0 Specification
            Levels of uITRON 3.0 Specification
      1.8 Implementation-Dependent Functions
            Issuing System Calls from Task-Independent Portions
            Implementation-Dependent System Call Names
            Implementation-Dependent Error Names

  Chapter 2 The Connection Function of uITRON 3.0 Specification
      2.1 Connection Function in Practical Use
            Concept the Connection Function in Application
            Example Using A MessageBuffer
            Scope of the Connection Function Specification
            Connection Function Response Wait State
      2.2 Significance and Background of the Connection Function
            The Relationship to IMTRON specification
            The Relationship with Other Network Systems
            The Relationship between Conventional ITRON Specification
            and Connection Functions
      2.3 The Meaning of ID Numbers and the Object Location Table
            How Objects on other Nodes are Accessed
            Problems Concerning Return Parameters

  Chapter 3 System Calls of uITRON 3.0 Specification
      3.1 Task Management Functions
      3.2 Task-Dependent Synchronization Functions
      3.3 Synchronization and Communication Functions
      3.4 Extended Synchronization and Communication Functions
      3.5 Interrupt Management Functions
      3.6 Memorypool Management Functions
      3.7 Time Management Functions
      3.8 System Management Functions
      3.9 Network Support Functions

  Chapter 4 Connection Function Communication Protocol
      4.1 Overview of Communications Protocols
            Position of Communications Protocols
            Design Concept for the Connection Interface
            Packet Types
            Configuration of the Connection Interface
            Bit Length of Data in Packets
            Specific Packet Flow
      4.2 Communication Packet in Practice
            Packet Structure Contents
            Level X Information
            Connection Function-Related Errors
            TC Packet
            Packet Flow When Using Rendezvous

  Chapter 5 Standard Interfaces
      5.1 The Assembler Interface
            How Parameters are Passed
            Flag Value Changes in the PSW after System Calls have Executed
            Function Code
      5.2 C Language Interface and Mnemonics
            Mnemonics