*******************************************************************************                          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. +81-3-3454-3191                            *******************************************************************************                                  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 isbelieved to be reliable, TRON ASSOCIATION is not assuring its contents norassuming 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 promotedof all the subprojects within the TRON Project.  The ITRON specificationoperating system faithfully realizes the promise of the real-time operabilitythat is the basis of the TRON Project.  The major feature of ITRONspecification is its adaptability which can be implemented even on compacthardware systems having extremely limited amounts of memory.  Since it istherefore being used in industrial applications, including embedding inmachines, controlling robots and controlling factory plants, its adaptabilityhas grown greatly to the point that it has grown into a real-time OS usedas the standard in many fields.  Since the ITRON specification delivers anoperating system which can be optimized for the application, it has evolvedinto a series of specifications for various applied fields.  Specificationsof ITRON1, ITRON2, uITRON and ITRON/FILE have now been released.  If you wantdetails on the specific nature of each of these specifications, please seethe "ITRON Standard Guidebook '92 to '93" (Published by Personal MediaCorporation in Japanese).Including new features and strengthened specifications, uITRON 3.0specification described in this document is based on 10 years of TRONproject experience and represents the latest version of the ITRONspecification.  In addition to the characteristic of compactness androbustness of the conventional uITRON specification, uITRON 3.0 specificationincludes network support functions for loosely-coupled distributed processing.Combined with recent reductions in the prices of microprocessors, the numberof microprocessors required by applications has grown rapidly resulting ina growing need to configure distributed systems by networking many separateprocessors.  uITRON 3.0 specification is intended as the platform forbuilding such distributed systems.Such distributed systems have many requirements.  Not only must the operatingsystem provide the ability to perform real-time processing and ensuretransparency between nodes, but also it must be adaptable to various sizesystems and low cost systems in particular.  Specifically, it must beadaptable to many different communication media and network topologies, andworkable in environments where available memory on each node may be extremelysmall.  uITRON 3.0 specification has been designed to meet all of theserequirements.  Rather than merely crowning the specification with the latesttechnical fads, uITRON 3.0 specification is a confident work that reflectsboth industry opinion and many years of experience.  The editor fullyexpects that uITRON 3.0 specification will be effectively utilized in manyembedded network systems.This document is an official ITRON standard specification prepared bythe ITRON Technical Committee of the TRON Association.  I wish to express mysincere gratitude to the many people without whose cooperation this book wouldnot 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