Microsoft's Azure RTOS ThreadX for Renesas RXv2 Using the GNU 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 the GNU tools is at the label _PowerON_Reset. The vector area is setup in the file tx_initialize_low_level.S. This file is also responsible for setting up various system data structures, interrupt vectors, and the periodic timer interrupt. This file is also an ideal place to add additional hardware initialization code. The ThreadX demonstration for the RXv2 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 as needed. Increasing the timer interrupt frequency increases the overhead of the timer handling code on the system. 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 first available memory is determined by the location of the '_end' label the is defined in the linker script. '_end' should reference the first memory AFTER all other RAM sections in your linker control file. 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 GNURX 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 -msave-acc-in-interrupts 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: 04-25-2022 Release 6.1.11 changes: tx_thread_schedule.s Added low power support 01-31-2022 Release 6.1.10 changes: tx_port.h Added missing interrupt control defines tx_timer_interrupt.s Added missing thread preemption logic 10-15-2021 Release 6.1.9 changes: tx_thread_context_restore.s Removed unnecessary stack type placement tx_thread_schedule.s Removed unnecessary stack type checking tx_thread_stack_build.s Removed unnecessary stack type placement 06-02-2021 Release 6.1.7 changes: tx_port.h Fix TX_RESTORE issue 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 GNURX tools, version 6.1.3 Copyright(c) 1996-2022 Microsoft Corporation https://azure.com/rtos