Documentation for OEMs:
CoDeSys SP RTE
Realtime Runtime System for Windows NT/2000/XP
Document Version 2.2
tech_doc_e.doc / V1.1
3S - Smart Software Solutions GmbH |
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tech_doc_e.doc / V1.1
Realtime Runtime System for Windows NT/2000/XP
CONTENT |
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1. |
OVERVIEW |
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1.1 |
What does "real time extension" mean? |
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1.2 |
The System in Detail |
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2 OPERATION VIA THE SERVICE ICON |
6 |
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2.1 |
The System Menu |
7 |
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2.1.1 |
Diagnostic |
7 |
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2.1.2 |
Startup |
9 |
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2.1.3 |
Config |
10 |
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2.1.4 |
Ext. Config |
11 |
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2.1.5 |
Access |
12 |
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2.1.6 |
IO Drivers |
13 |
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2.2 |
License ... |
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3 THE 3S STANDARD IO DRIVERS |
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3.1 |
IO driver RTIOdrvHilscherDPM |
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3.1.1 |
The SysLibDpV1.lib |
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3.2 |
IO driver RTIOdrvFC310x.sys |
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3.2.1 |
The library SysLibFCDPV1.sys |
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3.2.2 |
The library FC_SlaveHandling.lib |
18 |
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3.2.3 The FC310x card in slave mode |
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3.3 |
IO driver RTIOdrvCP5613.sys |
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3.4 |
IO driver RTIOdrvDAMP |
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3.5 |
IO driver RTIOdrvApplicom |
20 |
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3.6 |
IO driver RTIOdrvIBS (IBS = Interbus, ibpcimpm.sys) |
20 |
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3.7 |
IO Drivers RTIOdrvSJA and RTIOwdmPCAN |
20 |
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3.8 |
IO Drivers RTIOdrvAutomata and RTIOwdmAutomata |
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3.9 |
IO drivers RTIOdrvHMS and RTIOwdmHMS |
21 |
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3.10 |
IO driver RTIOdrvAPIC |
21 |
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3.11 |
IO Driver RTIOwdmCANAutomata |
22 |
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3.12 |
IO Driver RTIOwdmSofting |
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4 |
COMMUNICATION |
23 |
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4.1 |
Shared Memory Driver |
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4.2 |
TCP/IP Level2 Route Driver |
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5 |
SYSTEM DIAGNOSIS |
24 |
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5.1 |
Bus diagnosis of the IO drivers |
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6 THE TASK CONFIGURATION TOGETHER WITH CODESYS V2.3 |
26 |
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3S - Smart Software Solutions GmbH |
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CoDeSys SP RTE_E.doc |
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Realtime Runtime System for Windows NT/2000/XP
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6.1 |
General |
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6.2 |
Task specific watchdog |
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6.3 |
Microseconds as time base |
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6.4 |
Freewheeling task |
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6.5 |
System events |
27 |
7 |
SYSTEM LIBRARIES |
28 |
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7.1 |
DllCall.lib together with SysLibSystemCall.lib |
28 |
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7.2 |
SysLibCallback.lib |
28 |
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7.3 |
SysLibCom.lib |
28 |
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7.4 |
SysLibFile.lib |
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7.5 |
SysLibPorts |
29 |
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7.6 |
SysLibTime |
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7.7 |
SysLibSockets |
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7.8 |
SysLibShm.lib |
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7.9 |
SysLibPciCards.lib |
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8 BEHAVIOUR IN CASE OF RUNTIMEERRORS |
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9 |
APPENDIX |
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9.1 |
The Registry Entries used by the Runtime System |
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CHANGE HISTORY |
35 |
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tech_doc_e.doc / V1.1
3S - Smart Software Solutions GmbH |
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CoDeSys SP RTE_E.doc |
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Realtime Runtime System for Windows NT/2000/XP
1. Overview
In this document it is assumed that the reader is familiar with the fundamental behaviour and functions of a CoDeSys runtime system. Therefore this brief manual only deals with the specific features of the runtime system for a real time extension of Windows NT.
The real time system is started by executing the command ‘Start CoDeSys SP Windows NT for Realtime’ in the CoDeSys menu in the Windows Start menu. When started the following service icon appears in the Windows task bar:
1.1What does "real time extension" mean?
A real time system is characterized by predictable (deterministic) time behaviour. If for example a real time system is given the task of executing specific routines (through configuration) within a predetermined time pattern this will happen within predetermined temporal ranges of tolerance. If this is not the case it is regarded as a failure of the whole system.
If this is applied to a controller such as CoDeSys this means that a task is called within predetermined (known) ranges of tolerance.
Figures drawn from past experience have shown that these ranges are not adhered to by Windows NT, which means that NT is not a genuine realtime operating system.
Yet the hardware in a PC is made in such a way that it is possible to create a reliable task scheduling by means of software.
The real time extension of Windows NT is an NT driver which installs an Interrupt-Service-Routine which is called-up cyclically by the timertick of the PC’s hardware.
This routine now takes over the job of calling-up defined tasks from CoDeSys and/or of authorizing the continued or renewed execution of the operating system.
tech_doc_e.doc / V1.1
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Realtime Runtime System for Windows NT/2000/XP
1.2The System in Detail
CoDeSys
Gateway |
RTService |
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gateway driver |
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(shared memory driver) |
applications |
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kernel driver |
shared memory communikation + device IO control
NT kernel
HAL
CPU |
IO driver
3S-RTE |
function calls |
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kernel driver |
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The kernel of the realtime extension (short RTE) consists of two parts: A system service, called RTService.exe and a kernelmode-driver (3SRTE.sys). In standard version the PC’s timertick is used to generate 2 hardware interrupts per millisecond, and so call the scheduler of the RTE. The scheduler uses every second tick to call his own tasks and the others to return to the interrupted OS. So all PLC-tasks are interrupted once per millisecond by a time slice of OS-execution. The percentage of time for PLC-tasks is configurable (see chapter 6).
The mentioned IO-drivers are added to a list and have to offer a special interface which is defined by the IO-DriverToolkit.
The whole system does not change the operating system’s kernel at runtime or installation.
tech_doc_e.doc / V1.1
3S - Smart Software Solutions GmbH |
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CoDeSys SP RTE_E.doc |
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