Keil C166 V4 Product Brochure · EasyCASE Right-click to open context sensitive menus in local windows. In the Editor Window, you can access browser information or debugger commands.

TM

Keil C166 unlocks the features and the performance of the

Infineon 166 and ST Microelectronics ST10 microcontroller

families. C166 is fully integrated into the µVision2 IDE that

combines Compiler, Assembler, Real-Time OS, project manager,

and debugger in a single, intelligent environment. Extensions

incorporated into the C166 compiler give you full access to all

CPU resources.

C166 Version 4 is the most efficient and flexible 166/ST10

development tool set available today. With support for all

derivatives and full compatibility with emulators and other third

party development tools, C166 Version 4 is clearly the best choice

for your 166 and ST10 projects.

True Integration

This Brochure Contains Information About:

µVision2 Integrated Development Environment...................Page 2

C166 Optimizing ANSI C Compiler ......................................Page 4

RTX166 Real-Time Kernel.....................................................Page 6

Program Debugging and MCB167/NET CPU Board.............Page 7

Versatile

Debugger Interfaces

Global Code Optimization

and MAC support

The µVision2 IDE truly integrates project management and debugging.

www.keil.com

166 & ST10 Development Tools

Project Management

Build Project

Integrated Utilities

Targets

File Groups

Device Database

Tool Options Target

Group

Find in Files

DAvE

let you create several programs

from a single project. Each target has its

own tool settings. With you

organize source files into functional blocks.

Select the microcontroller you use from the

and µVision2 sets all

necessary options automatically. Set

memory parameters in the Target Tab and

µVision2 configures the basic tool options

including the linker/locater settings and the

debugger simulation driver.

You may set for a ,

of files, or a single source module.

During the make process, include file and

source file dependencies are analyzed and

only those files that have changed are built.

Incremental re-translations are performed

when global register optimization is enabled.

µVision2 contains powerful features that

help you complete your projects on time:

performs a global text

search in all specified files.

Infineon’s assists you with CPU

and peripheral programming. DAvE

projects can be directly imported into

µVision2.

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The integrated uses a

symbol database for quick navigation

through your source files. Use the

detailed symbol information to optimize

the memory types of your variables.

The allows you to start user

utilities within the µVision2 IDE.

A configurable interface provides

access to Version Control Systems.

The interface gives you

advanced syntax analysis of your

application code.

The Infineon interface

integrates block level code generation.

Source Browser

Tools Menu

SVCS

PC-Lint

EasyCASE

Right-click to open context

sensitive menus in local windows.

In the Editor Window, you can

access browser information or

debugger commands.

The simplifies tool configuration and

provides options that are relevant for the selected CPU.

Device Database

The Edit, Build, and Debug toolbar gives you quick access to

important editor, IDE, and debugger commands.

2 166 & ST10 Development Tools

µVision2 IDE

Use the Source Browser for fast navigation to definitions and references.

Source Code Editor

Breakpoints

Debug Function Language

Variables and Memory

The µVision2 editor includes all the editing

features to which you are accustomed.

Color syntax highlighting and text

indentation are optimized for C source

code. The editor is available while

debugging your program. This gives you a

natural debugging environment that lets you

quickly test and correct your application.

µVision2 lets you set program breakpoints

while editing (even before the source code

is compiled or assembled). Breakpoints are

activated when you start the µVision2

Debugger and may be set on conditional

expressions or variable and memory

accesses. Debugger commands or debug

functions may be executed when

breakpoints are triggered.

The column provides a quick

overview of the current breakpoint settings

and the source line status. Code coverage

information lets you distinguish between

executed and unexecuted program sections.

µVision2 incorporates a C-like function

language that lets you generate and use:

You can point to a variable in the editor to

show its value. Two docking windows

display and allow the modification of:

Attributes

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Built-in functions like printf, memset,

rand, and other useful routines.

Signal functions to simulate analog and

digital inputs to the CPU.

User functions to extend the command

scope and combine repetitive actions.

Local variables of the current function.

User-specified variables in two different

pages of the Watch Window.

Program call tree in the Call Stack page.

Up to four memory areas each in a

different format.

Workbook bar for quick document selection

Bookmark

Code already executed

No Executable Code

Enabled Breakpoint

Attributes

Current PC, next statement

Disabled Breakpoint

Selected line from Output Window

Code is not executed

Debug functions are created with the built-in editor and invoked

by breakpoints, by toolbox buttons, or from the command line.

Watch and Memory Windows allow review and modification of variables.

The Call Stack Window shows the function invocation in the editor.

Editor & Debugger

3

The C166 compiler conforms to the ANSI

standard and is designed specifically for the

166 and ST10 microcontroller families.

Extensions incorporated into the compiler

give you full access to all resources in your

embedded hardware.

Warning Messages

Memory and SFR Access

Interrupt Functions

PEC, FLASH, and More

Keil C166 performs extensive program flow

and syntax checking and generates detailed

warning messages that indicate:

Mismatches in data types, pointers, and

function arguments;

Use of uninitialized variables;

Dead code and dead assignments;

Unused variables, labels, and functions;

Constant expressions in conditions;

and Missing return values.

Your program variables may be assigned to

any address space supported by your target.

The memory model determines the default

memory selector used for variables. Note

that you may always explicitly specify the

memory selector for a particular variable.

Even though the 166 is a 16-bit architecture,

compiler options support byte-aligned

access to int or long variables (even in C

structures).

Access to special function registers is

provided by the and keywords.

C166 lets you create interrupt service

routines in C. Up to 128 interrupt functions

may be included in each source module.

Fast entry/exit code and register bank

switching make C interrupt functions

extremely efficient.

The PEC may be directly accessed in your C

programs. Detailed examples for each

166/ST10 peripheral can be found in the

documentation. Application Notes describe

the extensions for in-system FLASH

programming and the on-chip CAN.

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C166 Highlights�

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Ten basic data types including single and double precision IEEE

floating-point numbers

Flexible variable allocation with memory selectors

Fully reentrant code (including floating-point math) and library

routines

Access to registers including bit parameters and bit-addressable

variables

Sophisticated syntax checking and detailed warning messages

Direct C support for interrupts, register banks, and PEC

C-level access to all special function registers

Register parameters and variables with global optimization

64KB near data area available in all memory models

Support for the MAC unit

Optimum bit-field access with 166 bit and BFLD instructions

C support for byte-aligned int, long, float, and struct variables

Built-in interface for the RTX166 real-time operating system

Extremely efficient use of the extended instruction set

Supports all variants of the 166 and ST10 family

Complete debugging information included in object modules

Supported by all emulator vendors

bit

Selector Address Space

near

idata

bdata

sdata

far

huge

xhuge

. . . . . . . 16-bit address, up to 64KB DATA and CONST space

. . . . . . . On-chip RAM, fastest variable access.

. . . . . . Bit-addressable RAM.

. . . . . . System page (0xC000 to 0xFFFF) for XRAM objects.

. . . . . . . . . 32-bit pointer with 14-bit address calculation.

. . . . . . . 32-bit pointer with 16-bit address calculation, generates optimalcode on current devices with extended instruction set.

. . . . . . 32-bit pointer/address calculation, unlimited object size.

Memory Variable FunctionModel Selector Selector

TINYSMALLCOMPACTHCOMPACTMEDIUMLARGEHLARGE

near nearnear nearfar near

huge nearnear farfar far

huge far

In every memory model the L166

linker allows flexible assignment of

the four DPP registers to the NEAR

DATA and NEAR CONST areas.

This provides up to 64KB for fast near

variable access.

In the HLARGE and HCOMPACT

memory models, the memory appears

as a linear 16MB address space.

4 166 & ST10 Development Tools

C166 Compiler

Memory Selectors

Memory Models

The C166 compiler optimizes your C code

with the expertise of an experienced

assembly programmer and uses the

following optimizations:

Constant Folding

Common Subexpression Elimination

Strength Reduction

Control Flow Optimization

Global Constant Propagation

Register Variable Usage

Parameter Passing in Registers

Loop Rotation

Dead Code Elimination

Common Tail Merging

Peephole Optimization

Switch-Case Optimization

NOP/DPP Load Optimization

Bit-field Access Optimization

The Multiply/Accumulate Co-processor that

is available in some 166/ST10 variants is fully

supported by the Keil tool chain (using the

MAC compiler and assembler directive).

The C166 compiler improves execution

speed of DSP algorithms by replacing the

MUL and MUL/ADD instruction

combinations as well as structure copy

operations with MAC co-processor

instructions.

You may use C166 intrinsic functions to

write DSP algorithms that use the MAC

instruction set at the C program level.

The C166 run-time libraries consist of over

100 functions all of which are reentrant.

The libraries support all of the ANSI C

routines that are consistent with the

limitations of embedded applications.

Intrinsic routines are provided for the

following 166-specific instructions: ,

, , , , , ,

, , , , , and .

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diswdt idle nop prior pwrdn srvwdt

trap bfld testbit testclear ror rol

General Code Optimizations

166-Specific Code Optimizations

MAC Unit Support

C Run-Time Library

Arithmetic Long Execution Float Execution Double ExecutionOperation Max. Avg. Max. Avg. Max.

addition..........................0.41 .............................8.77.......29.60 ...............16.49 .......30.40subtract .........................0.41 .............................8.89.......30.40 ...............17.99 .......29.60multiply ..........................2.81 ...........................10.99.......12.80 ...............24.04 .......27.20divide.............................7.34 ...........................14.08.......16.80 ...............42.10 .......49.60unsigned divide .............5.03square root .......................................................11.19.......15.20 ...............65.84 .......76.80exponential ........................... .........................180.58.....304.80 .............506.77 .....802.40logarithm .............................. .........................174.20.....213.60 .............351.90 .....419.20sine....................................... .........................144.43.....184.40 .............448.17 .....509.60cosine................................... .........................142.68.....206.00 .............449.14 .....491.20tangent ................................. .........................255.62.....303.20 .............465.14 .....516.80arc sine................................. .........................237.14.....298.40 .............561.32 .....658.40arc cosine............................. .........................257.01.....294.80 .............602.40 .....673.60arc tangent ........................... .........................176.05.....244.00 .............376.24 .....480.80

The C166 Tab shows compiler options and lets you select

the level of optimization. Global register coloring performs

incremental re-translations that enhance register usage.

Timing is in µsec. Code was executed on

C167 20MHz CPU clock, 16-bit non-mux BUS.

A166 Macro AssemblerThe A166 assembler supports all 166 / ST10 and MAC

instructions and provides the following functions:

Standard and MPL macros with conditional assembly.

64-bit arithmetic; jmp & call instruction optimization.

Extensive section directives and use of DPP registers.

With the directive, the C166 compiler generates assembly

source files. Inline assembly may be included using the and

pragmas.

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asm

endasm

Code Optimization

5

Arithmetic Execution Timings

The RTX166 multitasking real-time kernel

makes implementing complex, time-critical

software projects easy. RTX166 is royalty

free and is fully integrated into the C166

tool chain using the standard 166 stacks.

RTX166 adds no overhead to your C code

and requires no run-time libraries.

supports fast tasks, standard

tasks, and includes CAN support. Flexible

mailboxes may be used with memory pools

for inter-task communication.

is a reduced functionality

kernel that fits on single-chip systems.

Both let you create and delete tasks, send

and receive signals and messages, and

perform other management operations.

RTX166 Full

RTX166 Tiny

Task (Context) Switching

Events and Interrupts

CAN Interface

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Round-Robin:

Preemptive :

Timeouts:

Intervals:

Signals:

Messages :

Interrupts :

Semaphores :

Each task runs for a

defined time slice. When a task’s time

slice is up, the next task starts.

The task with the highest

priority runs until it is preempted by a

higher priority task or until it delays

waiting for an event.

RTX166 supports the following events:

Interrupt functions are supported and may

send signals and messages to and from tasks.

Since RTX166 Full never disables interrupts,

there is no impact on the response time of

interrupt service routines.

A CAN Library supports the on-chip CAN

controller of the 166 devices and allows you

to send and receive messages via a CAN

network. Using the CAN interface, you can

easily implement multiprocessor designs.

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Delay for specified timer ticks.

Delay for an interval of time.

Coordinate inter-task operations.

Pass messages between tasks.

Handle hardware interrupts.

Share limited resources.

Overview of RTX166 Routines�

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Task Management Routines

Interrupt Management Routines

Signal Functions

Semaphore Functions

Mailbox Functions

Memory Management Functions

System Clock Routines

CAN Communication Routines

:

:

:

:

:

:

:

:

create-task, delete-task, change-

priority , pass-task , running-task-id, and running-task-priority .

attach-interrupt, detach-

interrupt, enable-interrupt, disable-interrupt, and wait-interrupt.

send-signal, clear-signal, wait-signal, and isr-send-

signal.

create-semaphore, delete-semaphore, send-

token, and wait-token.

create-mailbox, delete-mailbox, check-mailbox,

send-message, wait-message, isr-send-message, and isr-recv-message.

create-pool, check-pool, get-

block, and free-block.

set-slice , delay-task, set-timeout , and

check-timeout .

task-create, hw-init, def-obj, def-

obj-extd, undef-obj, stop, start, write, receive, def-buf-size, bind-obj,

unbind-obj, wait, request, read, get-status, and get-errors.

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† † †

†

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†

† †

†

Technical Data RTX166 Full RTX166 Tiny

Number of tasks . . . . . . . . . 256 max. . . . . . . . . . . . . . 32 max.Number of mailboxes. . . . . . 256 max. . . . . . . . . . . . . . Not supportedNumber of semaphores. . . . 256 max. . . . . . . . . . . . . . Not supportedNumber of signals . . . . . . . . 256 max. . . . . . . . . . . . . . 32 max.

RAM Requirements . . . . . . . Min. 2-3 KBytes. . . . . . . . 8 + 4 * BytesCode requirements . . . . . . . 6-35 KBytes. . . . . . . . . . . Less than 1.5 KBytesHardware Requirements . . . One on-chip timer . . . . . . One on-chip timer

User task priorities. . . . . . . . 0-127 . . . . . . . . . . . . . . . . Not supportedContext switch time . . . . . . . Less than 40 µsec. . . . . . 40-100 µsec.Interrupt lockout time. . . . . . 0 usec.. . . . . . . . . . . . . . . Less than 4 µsec.

tasks

†Available only in RTX166 Full.

The µVision2 Debugger supports Kernel-Aware debugging and

displays detailed status information for RTX166 resources such as

task lists, timers, memory pools, mailboxes, and stack usage.

Breakpoints may include the TaskRunning function to halt

program execution when a specific task is running.

6 166 & ST10 Development Tools

RTX166 Real-Time Kernel

The µVision2 Debugger provides all the

usual source-level, symbolic debugging

features and includes trace history, code

coverage, and complex breakpoints. The

DDE interface and script language support

automated test batches.

µVision2 integrates high-speed CPU

simulation with on-chip peripheral

simulation for the 166 and its derivatives.

Even the MAC unit is fully simulated. I/O

values may be reviewed and modified

directly in peripheral dialogs. Dynamic input

values may be generated with user signal

functions that you write using the built-in C-

like macro language.

µVision2 comes with a configurable Monitor

that lets you test your software in hardware.

The Monitor operates in different modes:

The Monitor downloads into

RAM of the target system. The best mode

to start with (baud rate is auto-adjusted).

Two un-used I/O pins

are used for PC communication. Requires

that the Monitor is loaded into ROM.

This new, high-speed

interface uses the On-Chip Debugging

System available in new 166 variants. The

Monitor is only 50 Bytes!

The µVision2 debugger interfaces directly to

the Hitex DProbe emulator. All emulator

features are available in the IDE. You do not

need to learn any other environment.

Bootstrap:

Simulated UART:

OCDS/JTAG:

CPU & Peripheral Simulator

Target Monitor

Emulator Interface

µVision2 gives you the choice between Simulator, Monitor, and Emulator.

MCB167/NET is a high-speed single-board

computer that supports all C167 variants

while providing both a dual CAN interface

and an Ethernet controller for TCP/IP

applications. The board is in-system

programmable with 167 Flash versions or

off-chip Flash ROMs.

A Performance Analyzer provides detailed timing statistics of your code.

Serial communication, A/D converter, and Port I/O are all fully simulated.

The Monitor Setup Dialog provides a number of monitor

variants and configurations for popular evaluation boards.

Monitor Requirements inthe Target Hardware

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5KB code space.

256 bytes data space.

10 bytes of stack spacein the user program.

Serial port for PC interface.

NMI trap for breakpoints.

Technical Information

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Supports all 167/168 variantsup to 50 MHz CPU clock

1 MByte high-speed RAM(access time < 25 ns)

1 MByte Flash ROM (opt.)

Ethernet controller CS8900A

Dual CAN interface

Prototyping area 3.75” x 2”(95mm x 50mm)

MCB167/NET CPU Board with Ethernet and CANMCB167/NET is designed with high-speed

parts and allows you to use future 167

versions at up to 50 MHz. A large 1 MByte

RAM may be used in bootstrap mode to

download the µVision2 Monitor and your

program. This allows you to test even the

largest applications.

Testing Your Programs

7

8 166 & ST10 Development ToolsCopyright © 1992-2000 Keil Elektronik GmbH & Keil Software, Inc. All rights reserved.

Information in this data sheet is subject to change without notice and does not represent a commitment on the part of Keil Software, Inc.

Europe:

Support ++49 89 / 45 60 40 - 24

FAX ++49 89 / 46 81 62

Email [email protected]

[email protected]

United States:

972-312-1107

FAX 972-312-1159

Email [email protected]

[email protected]

Keil Elektronik GmbH

Bretonischer Ring 15

85630 Grasbrunn

Germany

Keil Software, Inc.

1501 10th Street, Suite 110

Plano, TX 75074

USA

Phone ++49 89 / 45 60 40 - 0 Phone 800-348-8051

TM

www.keil.com

Keil Elektronik GmbH Keil Software, Inc.and , have representatives in the following countries:

Contact Keil Elektronik GmbH or Keil Software, Inc., for the distributor nearest you.

Australia, Austria, Belgium, Brazil, Canada, Czech Republic, China, Denmark, Finland, France, Germany, Hong Kong, India, Ireland, Israel, Italy, Japan, Korea, Mexico, Netherlands,

Norway, Poland, Portugal, Russia, Singapore, Slovenia, South Africa, Sweden, Switzerland, Taiwan, United Kingdom, and United States.Spain,

Evaluation software and detailed technical information are available from your distributor and our World Wide Web site (www.keil.com).

Advantages of C166 and Tools

Advantages of µVision2

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C166 offers flexible use of DPP registers in all

memory models and allows 64KB NEAR DATA and

NEAR CONST areas.

C166 and L166 provide fast compile-link-locate

cycles. The compiler generates object files directly.

Linking and locating are performed in a single step.

Very fast interrupt code may be created with or

without register bank context switching.

and memory models enable

optimum use of extended instructions.

Detailed warning messages are generated by all tools.

C166 automatically assigns register variables and can

perform global register optimization over an entire

application.

Support is provided for true preemptive, real-time

operating systems. C166 generates fully reentrant

code (including floating-point operations).

High-speed CPU and peripheral simulator supports

drivers for the various 166 and 167 derivatives.

Provides C-style user and signal functions, integrated

performance analyzer, and code coverage features.

Interfaces to Target Monitor and Emulators.

HLARGE HCOMPACT

Memory selectors and enable optimum

code efficiency with extended instructions.

Easy-to-use Integrated Development Environment

intelligently configures tool options.

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Technical Support

At Keil Software, we are dedicated to providing you with

the best development tools and the best technical support.

In addition to extensive user guides, we make Application

Notes available on our web site at .www.keil.com

No. Keil Application Notes for 166 / ST10 Microcontrollers

Programming the C167CR CAN Interface:

Definitions for the C16x:

C16x Memory Models:

C16x Classes and Sections:

Using DPPs:

Stacks in C16x:

In-System Flash Programming:

Using the MAC Unit:

Bypassing Chip Problems:

Accessing Classes and Sections:

115 Sample CANroutines; allow CAN connection of two Keil MCB167 boards.

120 Terms used with Keil C166.

121 Code segments and classes.

122 Detailed description of NDATA,NCODE, NDATA0, and other classes.

123 Teaches how to use the four DPP registers of the166 architecture to maximize code efficiency.

124 Discusses the two stacks (user and system)and how to best use them in your applications.

138 Shows flash programmingtechniques and provides sample code for C167CS.

140 Discusses the tool extensions for theST10 MAC unit and provides programming examples.

141 Techniques and directives tobypass problems in the silicon.

142 Allows you to accesssection and class addresses from your C Code.

CAN Library

CANLIB is an embedded API that supports the on-chip

CAN controller in the C167 and ST10. The library

structure and

functionality of your embedded application.

handles

all interfacing and communication with the CAN controller

leaving you free to concentrate on the

Benefits & Support