80x86 Port with Hardware FP Support

Real Mode, Large Model with Hardware Floating-Point Support

This section describes how µC/OS-II has been ported to the Intel 80x86 series of processors that provides a Floating-Point Unit (FPU). Some of the processors that can make use of this port are the Intel 80486™, Pentiums™ (all models), Xeon™, AMD Athlon™, K6™-series, ElanSC520™ and more. The port assumes the Borland C/C++ compiler V4.51 and was setup to generate code for the large memory model. The processor is assumed to be running in real mode. The code for this port is very similar to the one presented in 80x86 Port with Emulated FP Support and in some cases, I will only be presenting the differences.

This port assumes that you enabled code generation for OSTaskCreateExt (by setting OS_TASK_CREATE_EXT_EN to 1 in OS_CFG.H) and that you enabled µC/OS-IIís memory management services (by setting OS_MEM_EN to 1 in OS_CFG.H). Of course, you must set OS_MAX_MEM_PART to at least 1. Finally, tasks that will perform floating-point operations MUST be created using OSTaskCreateExt and set the OS_TASK_OPT_SAVE_FP option.

Figure 15.1 shows the programming model of an 80x86 processor running in real mode. The integer registers are identical to those presented in 80x86 Port with Emulated FP Support. In fact, they are saved and restored using the same technique. The only difference between this port and the one presented in that section is that we also need to save and restore the FPU registers which is done by using the context switch hook functions.

Figure - Figure 15.1 80x86 real-mode register model

Development Tools

As in the section 80x86 Port with Emulated FP Support, I used the Borland C/C++ V4.51 compiler along with the Borland Turbo Assembler for porting and testing. This compiler generates reentrant code and provides in-line assembly language instructions that can be inserted in C code. The compiler can be directed to generate code specifically to make use of the FPU. I tested the code on a 300 MHz Pentium-II-based computer running the Microsoft Windows 2000 operating system. In fact, I configured the compiler to generate a DOS executable which was run in a DOS window.

Finally, you can also adapt the port provided in this section to other 80x86 compiler as long as they generate real-mode code. You will most likely have to change some of the compiler options and assembler directives if you use a different development environment.

Table 15.1 shows the Borland C/C++ compiler V4.51 options (i.e., flags) supplied on the command line. These settings were used to compile the port as well as example 4 provided in Getting Started with µC/OS-II.

Table - Table 15.1, Compiler options used to compile port and examples

Option (i.e., setting)	Description
`-1`	Generate 80186 code
`-B`	Compile and call assembler
`-c`	Compiler to .OBJ
`-d`	Merge duplicate strings
`-f287`	Use FPU hardware instructions
`-G`	Select code for speed
`-I`	Path to compiler include files is `C:\BC45\INCLUDE`
`-k-`	Standard stack frame
`-L`	Path to compiler libraries is `C:\BC45\LIB`
`-ml`	Large memory model
`-N-`	Do not check for stack overflow
`-n..\obj`	Path where to place object files is `..\OBJ`
`-O`	Optimize jumps
`-Ob`	Dead code elimination
`-Oe`	Global register allocation
`-Og`	Optimize globally
`-Oi`	Expand common intrinsic functions inline
`-Ol`	Loop optimization
`-Om`	Invariant code motion
`-Op`	Copy propagation
`-Ov`	Induction variable
`-v`	Source debugging ON
`-vi`	Turn inline expansion ON
`-wpro`	Error reporting: call to functions with no prototype
`-Z`	Suppress redundant loads

Table 15.2 shows the Borland Turbo Assembler V4.0 options (i.e., flags) supplied on the command line. These settings were used to assemble OS_CPU_A.ASM.

Table - Table 15.2, Assembler options used to assemble .ASM files

Option (i.e., setting)	Description
`/MX`	Case sensitive on globals
`/ZI`	Full debug info
`/O`	Generate overlay code

Directories and Files

The installation program provided on the companion CD installs the port for the Intel 80x86 (real mode, large model with FPU support) on your hard disk. The port is found under the:

\SOFTWARE\uCOS-II\Ix86L-FP\BC45

directory. The directory name stands for Intel 80x86 real mode, Large model with hardware Floating-Point instructions and is placed in the Borland C++ V4.5x directory. The source code for the port is found in the following files: OS_CPU.H, OS_CPU_C.C, and OS_CPU_A.ASM.

INCLUDES.H

Listing 15.1 shows the contents of INCLUDES.H for this 80x86 port. It is identical to the one used in 80x86 Port with Emulated FP Support.

INCLUDES.H is not really part of the port but is described here because it is needed to compile the port files.

Listing - Listing 15.1 INCLUDES.H

#include    <stdio.h>
#include    <string.h>
#include    <ctype.h>
#include    <stdlib.h>
#include    <conio.h>
#include    <dos.h>
#include    <math.h>
#include    <setjmp.h>
 
#include    "os_cpu.h"
#include    "os_cfg.h"
#include    "ucos_ii.h"
#include    "pc.h"

OS_CPU.H

OS_CPU.H contains processor- and implementation-specific #defines constants, macros, and typedefs. OS_CPU.H for the 80x86 port is shown in Listing 15.2. Most of OS_CPU.H is identical to the OS_CPU.H of the section 80x86 Port with Emulated FP Support.

Listing - Listing 15.2 OS_CPU.H

#ifdef  OS_CPU_GLOBALS
#define OS_CPU_EXT
#else
#define OS_CPU_EXT  extern
#endif
 
typedef unsigned char  BOOLEAN;                  (1)
typedef unsigned char  INT8U;                    
typedef signed   char  INT8S;                    
typedef unsigned int   INT16U;                   
typedef signed   int   INT16S;                   
typedef unsigned long  INT32U;                   
typedef signed   long  INT32S;                   
typedef float          FP32;                     (2)
typedef double         FP64;                     
 
typedef unsigned int   OS_STK;                   (3)
typedef unsigned short OS_CPU_SR;                (4)

(1) If you were to consult the Borland compiler documentation, you would find that an int and a short are 16 bits and a long is 32 bits.

(2) Floating-point data types are included because itís assumed that you will be performing floating-point operations in your tasks. However, µC/OS-II itself doesnít make use of floating-point numbers.

(3) A stack entry for the 80x86 processor running in real mode is 16 bits wide; thus, OS_STK is declared accordingly. The stack width doesnít change because of this port. All task stacks must be declared using OS_STK as its data type.

(4) The status register (also called the processor flags) on the 80x86 processor running in real mode is 16 bits wide. The OS_CPU_SR data type is used only if OS_CRITICAL_METHOD is set to 3 which it isnít for this port. I included the OS_CPU_SR data type anyway, in case you use a different compiler and need to used OS_CRITICAL_METHOD #3.