Code Composer Studio & DSP/BIOS

transcript

Integrated DevelopIntegrated Develop EnvironmentEnvironment

Real Time Scheduling,Real Time Scheduling,Debug & AnalysisDebug & Analysis

Time To MarketTime To MarketPerformancePerformance

ReliabilityReliability

HOST DEVELOPMENT COMPUTER

Code Composer Studio

Programming With DSP/BIOS

TARGET TMS320 DSP HARDWARE

DSP/BIOS Kernel Interface

target application program

.c.asm .h

programsources

kernelheaders

.exeexecutableimage

JTAGEMULATION SERVER

kernel modules

CONFIGURATION

VISUALIZATION

C- and ASM-callable functions

interactive configuration tool

kernel-aware debug support

on-the-fly program analysis

real-timecapture

Software Modules

DSP/BIOS™ contains a collection of modules

Each module is a coherent software package

Module viewed from two perspectives

interface — related set of constants, types, andfunctions visible to client programs

body — algorithms and data structures chosen to implement functionality of the interface

4real-time host link

Mix-and-Match Modules

REAL-TIME CAPTURE software event logs statistics accumulators host cmd/data channels

HARDWARE ABSTRACTION real-time clock services device-independent I/O logical memory segments

MULTIPLE THREADS HW+SW interrupts synchronized tasks background routines

SUMCOUNTMAX

XXXX XXXX

XXXX XXXXXXXX XXXX

get()post()

post()

pend()

FFFFRAM

data port

streams

messagesperiodic

functions

wall-clocktime

fast slow

allocation

static

dynamic

LOG - Event Log Manager

HostTarget

LOG object

LOG buffer

read &clear

• Logs reside in target memory• Fixed or circular buffer• Logs passed to host during idle• Set up with Config tool

Standard C function I/O

printf Function - data collection - I/O - data format & display

5,100+ cycles(200 cycles per

char)10,400 words

DSP/BIOS I/O

LOGprintf Function

- data collection28 cycles (C54x)

16 words

- I/Oapprox 100 cycles

- data format & display>1,000 cycles

THREAD

BIOS IDLE

SUMCOUNTMAX

XXXX XXXX

XXXX XXXXXXXX XXXX

get()post()

post()

pend()

FFFFRAM

data port

streams

messagesperiodic

functions

wall-clocktime

fast slow

allocation

static

dynamic

STS - Statistics Manager

Capture Count, Maximum, and Total values for any variables in Real Time

HWI, SWI, PRD, and PIP captured automatically

STS statistics APIs for explicit statistics objects in your target program

Trace Manager

Real-time analysis: Turns on/off traces Use only what you need

Target can start/stop acquiring data when anomaly discovered with fixed log:Store 1st n events since enabledStore last n events until disabled

SUMCOUNTMAX

XXXX XXXX

XXXX XXXXXXXX XXXX

get()post()

post()

pend()

FFFFRAM

data port

streams

messagesperiodic

functions

wall-clocktime

fast slow

allocation

static

dynamic

HST - Host Channel Manager

Real-time file I/O

AudioSWI

PIPE buffers

frame 1 frame 2

frame 2 frame 1

Host Channels

Host Computer

SUMCOUNTMAX

XXXX XXXX

XXXX XXXXXXXX XXXX

get()post()

post()

pend()

FFFFRAM

data port

streams

messagesperiodic

functions

wall-clocktime

fast slow

allocation

static

dynamic

CLK Manager

CPU Clock

ex: 200 MHz

TimerRegister

•User sets us/interrupt• Tool sets PRD register

TimerInterrupt

• Calls PRD_Tick• Calls any CLK HWI functions

/4 ex:PRD = 49999

PRD - Periodic Function Manager

Use CLK Manager to drive PRD

Call PRD_Tick

Timer Interrupt

or Call PRD_tick yourself

Low Resolution ‘tick rate’ex: 1 ms

PostsPRD_SWI

Executesall ready

ex: loadPRDevery 16 ms

(16 ticks)

PIP - Buffered Pipe Manager

Example: audio demo

AudioSWI

Codec IS

Reader

Reader Writer

Writer

Audio in/out

PIPE buffersframe 1 frame 2

frame 2 frame 1

MEM - Memory Manager

Specify memory segments and locate code and data sectionsDSP/BIOS generates linker.cmd file

Section Description Default.data Data IDRAM.text Program IPRAM.stack Stack IDRAM.bios BIOS code IPRAM

Examples:

SUMCOUNTMAX

XXXX XXXX

XXXX XXXXXXXX XXXX

get()post()

post()

pend()

FFFFRAM

data port

streams

messagesperiodic

functions

wall-clocktime

fast slow

allocation

static

dynamic

Principal Software Requirements

Real Time System attributes... Event DrivenEvent Driven

synchronous & synchronous & asynchronousasynchronous

Time ConstrainedTime Constrainedhard & soft real timehard & soft real time

Require ConcurrencyRequire Concurrencypreemptionpreemption

multi-taskingmulti-tasking

JWL - TISB - 2/08/00

The Historical Problem

_IO_isr: ssbx intm stm #0, imr pshm st0

…. popm st0 rsbx intm rete

void main(void){/* enable end–of–frame interrupt */DMA0_SCNTL = SCNTL_ENABLE;while (*ping_rx_flag != 0) {/* ping_flag starts 1, toggles every int */if(ping_rx_flag == 1) ping_rx_flag = 0;else ping_rx_flag = 1; }

Hardware Only Scheduling !!

C main background functions !!

No Guarantee of ConcurrencyNo Guarantee of Concurrency

Ad Hoc AnalysisAd Hoc Analysis

Interrupts DisabledInterrupts Disabled Unmanaged Interrupt Unmanaged Interrupt

Context SwitchContext Switch

Non-deterministic timingNon-deterministic timing

No Software PreemptionNo Software Preemption

The Need for Preemption - Single Task

1 2 3 54 6 7

Arunning

Brunning

Task A: period 2 ms, compute 1 ms (50%)

Task ATask B

MaxHeadroom CPU Usage

Actual100%

--100%50%

DR - TISB - 1/24/00

Cyclic Scheduling - Two Tasks

54 6 7

Arunning

Brunning

Task B: period 30 ms, compute 2 ms (6.67%)

Task ATask B

Actual0%0%

57%57%

DR - TISB - 1/24/00

Preemptive Scheduling - Two Tasks

1 2 3 54 6 7

Arunning

Brunning

Task B: period 30 ms, compute 2 ms (6.67%)

Task ATask B

Actual87%

650%100%57%

DR - TISB - 1/24/00

The DSP/BIOS Solution_IO_isr: HWI_enter pshm st0 pshm st1 …. popm st1 popm st0 HWI_exit

Managed Context SwitchManaged Context Switch

Very Low OverheadVery Low Overhead

HW Interrupt Scheduling SW Interrupt Scheduling predictable thread control Real Time Analysis low overhead logging and statistics

Preemptive SW SchedulingPreemptive SW Scheduling Time DeterminismTime Determinism

Foreground Level Scheduling !!

void main(void) {/* enable end–of–frame interrupt */DMA0_SCNTL = SCNTL_ENABLE;/* post SW interrupt swiProcessBuffer */SWI_post(&swiProcessBuffer);/* ping_flag starts 1, toggles every int */if(ping_rx_flag == 1) ping_rx_flag = 0;else ping_rx_flag = 1;LOG_printf (&message, “Buffer 1 Avail”);

Real-time Multi-threaded Systems

Single-thread Approach:arm() {for (;;) {if (shoulder needs moving)moveshoulder();if (wrist needs moving)movewrist();.....

Multi-thread Approach:shoulder() {

for(;;) {wait for event;moveshoulder()}

wrist() {for(;;) {

wait for event;movewrist()}

Fundamental mechanism needed for an application to control and react to multiple, discrete real world events to produce a correct result within a specified time

Traditional Super-loopTraditional Super-loop(Cyclically Scheduled)(Cyclically Scheduled)

Independent ControlIndependent Control

Cyclically Scheduled Systems Are Problematic

INTsINTs

fxn 2fxn 2

fxn 1fxn 1

main()main()

fxn 3fxn 3

fxn 4fxn 4

INTsINTs

Time-Out?

CPU Load?

... hence the need for preemptive Real Time SchedulingReal Time Scheduling

Thread Scheduling - HWI & Idle/ Background

INT 5INT 5

INT 1INT 1

main()main()

INT 2INT 2

INT 3INT 3

INT 4INT 4

TimeJWL - TISB - 2/4/00

HWI - Hardware ISR Manager

Respond to external asynchronous events

HWIs run uninterrupted to completionIf posted multiple times, runs only onceNeed to minimize time and code in Interrupt Service RoutineMove large processing needs by posting a SWI

HWI time is ‘Other Threads’ on Execution Graph

Set up with Config Tool

Priority Based Scheduling - DSP/BIOS

HWIsHWIs

SWI 1SWI 1

main ()main ()

SWI 2SWI 2

SWI 3SWI 3

SWI 4SWI 4

TimeJWL - TISB - 1/24/00

Ready (post)

Preempted

DSP/BIOS - Round Robin & Periodic Examples

INT 1INT 1

SWI 1SWI 1

main ()main ()

SWI 2SWI 2

SWI 3SWI 3

SWI 5SWI 5

Priority basedScheduling

Round robinScheduling

SWI 4SWI 4

PeriodicScheduling

DSP/BIOS - SW Interrupt Scheduling

DSP/BIOS Software Interrupt threads use an ‘Interrupt Service’DSP/BIOS Software Interrupt threads use an ‘Interrupt Service’scheduling model.scheduling model.

DSP/BIOS SWI threads are preemptable, and run to completion.DSP/BIOS SWI threads are preemptable, and run to completion.DSP/BIOS SWI threads cannot be suspended (blocked) and therefore DSP/BIOS SWI threads cannot be suspended (blocked) and therefore

must have required resources ready before they run.must have required resources ready before they run.DSP/BIOS SWI threads are an excellent scheduling mechanism for DSP/BIOS SWI threads are an excellent scheduling mechanism for

very low overhead, deterministic, ‘Hard Real Time’ systems.very low overhead, deterministic, ‘Hard Real Time’ systems.

INT 1INT 1

SWI 1SWI 1

SWI 2SWI 2

SWI 3SWI 3

SWI 5SWI 5

SWI 4SWI 4

JWL - TISB - 2/08/00

DSP/BIOS II - Beyond SW Interrupts

_IO_isr: ssbx intm stm #0, imr pshm st0

…. popm st0 rsbx intm rete

A need for Dynamic A need for Dynamic PrioritizationPrioritization

No Guarantee of No Guarantee of Resource Resource AvailabilityAvailability

What if our new design requiresconcurrent real time operation?

But there is...

JWL - TISB - 2/08/00

void main(void){/* enable end–of–frame interrupt */DMA0_SCNTL = SCNTL_ENABLE;/* post SW interrupt swiProcessBuffer */SWI_post(&swiProcessBuffer);/* ping_flag starts 1, toggles every int */if(ping_rx_flag == 1) ping_rx_flag = 0;else ping_rx_flag = 1;LOG_printf (&message, “Buffer 1 Avail”);

The DSP/BIOS II Solution_IO_isr: HWI_enter pshm st0 pshm st1 …. popm st1 popm st0 HWI_exit

Void main(){ TSK_create((ProcessBuffer)task,1); }/* ======== task ======== */Void task(Int id){SEM_pend(ping_rx_flag = 1);} LOG_printf(&trace, ”Buffer 1 Avail"); } Low OverheadLow Overhead

HW Interrupt Scheduling SW Interrupt Scheduling TASK Scheduling blocking semaphores dynamic prioritization dynamic creation & termination Real Time Analysis low overhead log & statistics

RTOS style ConcurrencyRTOS style Concurrency

Dynamic Resource SharingDynamic Resource Sharing Dynamic SchedulingDynamic Scheduling

Then we need Synchronized TaskScheduling !!(Multi-Tasking) (SPOX)

JWL - TISB - 2/08/00

DSP/BIOS II Task Scheduling

INT 1INT 1

SWI 1SWI 1

TSK 2TSK 2

TSK 1TSK 1

DSP/BIOS II adds “Multi-Tasking” scheduling to the “InterruptDSP/BIOS II adds “Multi-Tasking” scheduling to the “InterruptService” scheduling model.Service” scheduling model.

DSP/BIOS Tasks are dynamic, preemptable, and can be suspendedDSP/BIOS Tasks are dynamic, preemptable, and can be suspended(blocked) to wait for data or other tasks.(blocked) to wait for data or other tasks.

DSP/BIOS Tasks are an excellent scheduling mechanism for DSP/BIOS Tasks are an excellent scheduling mechanism for dynamic, shared resource, ‘Hard & Soft Real Time’ systems.dynamic, shared resource, ‘Hard & Soft Real Time’ systems.

preempted

blocked

Ready (post)

Preempted

BlockedTerminated

IDL - Idle Function Manager

DSP BIOS API

H/W Interrupts

Background• Host data pump• Idle CPU load• Your function

Program

• Insert functions to execute within idle• Lowest priority SWI thread• Set up with Config Tool• Continuous loop - round robin• Real-time analysis plug-ins updated

C main ()

Real-Time Analysis

Determine whether the system is:Operating within its design specificationsMeeting its performance targetsShowing any subtle timing problems

Analyze real-time operation:Software logic analyzerCPU loadThread timing and count statistics

How do I ‘BIOS-ize’ my Code?

Start a new project Set up objects with Configuration Tool Migrate interrupt vector table to the HWI

module Migrate memory sections from linker.cmd file

to MEM module Save and Add the .cdb file to your project Edit C source for #include headers and declare

variables Change C functions within your program

to DSP/BIOS APIs. Build the new project

Also… try the CC Studio Tutorial examplesAlso… try the CC Studio Tutorial examples……and study the DSP/BIOS by Degrees app note - SPRA591and study the DSP/BIOS by Degrees app note - SPRA591… … also Audio Example - DSP/BIOS app note - SPRA598also Audio Example - DSP/BIOS app note - SPRA598

Starting New ProjectsCNew Project (xxx.mak) Add source files Add linker command file Add Run-Time library

BIOSNew Project (xxx.mak) Setup new configuration Add configuration file (xxx.cbd) Add source files Add linker command file

Set Up System Easily with Configuration tool

Easy to visually configure run-time objects Set global run-time parameters Statically configures objects Detect errors early by validating properties before execution Calculate estimated data and minimal stack size Minimize target memory footprint by eliminating run-time code

Saves time by getting you started quickly

Adds basic Run Time services Add interrupt vector definitions Add memory section definitions Optionally add thread scheduling Optionally add low overhead instrumentation

objects Visually create run-time objects bound to the

executable program

Summary - DSP/BIOS Modules

ATM - Atomic Functions

CLK - Clock Manager

DEV - Device Driver Interface

GBL - Global Properties

HST - Host Channel Manager

HWI - HW Interrupt Manager

IDL - Idle Manager

LCK - Resource Lock Manager

LOG - Log Event Manager

MBX - Mailbox Manager

MEM - Memory Manager

PIP - Pipe Manager

PRD - Periodic Function Manager

QUE - Queue Function Manager

RTDX - Real Time Data Exchange

SEM - Semaphores

SIO - Stream I/O

STS - Statistics Accumulator

SWI - SW Interrupt Manager

SYS - System Services

TRC - Trace State

TSK - Multi-Tasking

Where do these fit?RT Capture, H/W Abstraction, or Multiple Threads

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Recommended literature & source info?Code Composer Studio demo, tutorial, & docs:http://www.ti.com/sc/docs/tools

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