Micriμm. For the way Engineers work

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1 μc/os-iii The Real-Time Kernel CYPRESS PSoC 5 processors AN-1227 Micriμm For the way Engineers work

2 Disclaimer Specifications written in this application note are believed to be accurate, but are not guaranteed to be entirely free of error. Specifications in this application note may be changed for functional or performance improvements without notice. Please make sure your application note is the latest edition. While the information herein is assumed to be accurate, Micrium assumes no responsibility for any errors or omissions and makes no warranties. Micrium specifically disclaims any implied warranty of fitness for a particular purpose. Copyright notice You may not extract portions of this application note or modify the PDF file in any way without the prior written permission of Micrium. The software described in this document is furnished under a license and may only be used or copied in accordance with the terms of such a license Micrium, Weston, Florida , U.S.A. Trademarks Names mentioned in this application note may be trademarks of their respective companies. Brand and product names are trademarks or registered trademarks of their respective holders. Registration Please register the software via . This way we can make sure you will receive updates or notifications of updates as soon as they become available. For registration please provide the following information: Your full name and the name of your supervisor Your company name Your job title Your address and telephone number Company name and address Your company's main phone number Your company's web site address Name and version of the product Please send this information to: licensing@micrium.com Contact address Micriμm 949 Crestview Circle, Weston, FL , U.S.A FAX: support@micrium.com

3 Application note revisions If you find any errors in this document, please inform us and we will make the appropriate corrections for future releases. Revision Date By Description V /06/21 FT Initial document revision. V1.01

4 Introduction 5 I.1... About Micriμm... 5 I.2... About μc/os-ii... 5 I.3... About μc/os-iii... 6 I.4... Licensing... 6 I.5... About μc/probe... 6 Chapter 1 Getting Started Required Hardware Required Software Software version Development Kit and Processor Module connection Installing the Micrium Software Using the PSoC Creator example project Opening the project Building the project Programming the example project Running the example project Running the example project with μc/probe Chapter 2 How the example project works Application Code app.c Board Support package bsp.c bsp.h Using the PSoC creator Component catalog Working with interrupts in μc/os-iii and PSoC creator Appendix A References 28

5 Introduction This application note AN-1227 describes how to run a μc/os-iii and μc/os-probe based application in the Cypress s PSoC 5 devices. PSoC 5 is a true programmable embedded system-on-chip integrating configurable analog and digital peripheral functions, memory and a microcontroller on a single chip. I.1 About Micriμm Micriμm provides high-quality embedded software components in the industry by way of engineer-friendly source code, unsurpassed documentation, and customer support. The company s world-renowned real-time operating system, the Micriμm μc/os-ii and newest RTOS μc/os-iii features the highest-quality source code available for today's embedded market. Micriμm delivers to the embedded marketplace a full portfolio of embedded software components that complement μc/os-iii. A TCP/IP stack (μc/tcp-ip), USB stack (μc/usb), CAN stack (μc/can), File System (μc/fs), Graphical User Interface (μc/gui), as well as many other high quality embedded components. Micriμm s products consistently shorten time-to-market throughout all product development cycles. For additional information on Micriμm, please visit I.2 About μc/os-ii μc/os-ii is a portable, ROMable, scalable, preemptive, real-time multitasking kernel for microprocessors, microcontrollers and DSPs. μc/os-ii manage up to 250 application tasks. μc/os-ii includes: Semaphores. Event Flags. Mutual-exclusion semaphores. Message mailboxes and queues.

6 Task management. Time management. Timer management. Fixed sized memory block management I.3 About μc/os-iii μc/os-iii is Micrium s newest RTOS, designed to save time on embedded system projects. In addition to the features inherent in μc/os-ii, μc/os-iii also manages an unlimited number of application tasks, and kernel objects and features an interrupt disable time near zero. μc/os-iii also allows multiple tasks to run at the same priority level. μc/os-ii and μc/os-iii has been ported over 45 different CPU architecture including the ARM Cortex M3. I.4 Licensing μc/os-ii is provided in source form and μc/os-iii as linkable library for FREE evaluation, for educational use or for peaceful research. If you plan on using μc/os-ii or μc/os-iii in a commercial product you need to contact Micriμm to properly license its use in your product. We provide ALL the source code and libraries with this application note for your convenience and to help you experience μc/os-ii and μc/os- III. The fact that the source and the library are provided DOES NOT mean that you can use it without paying a licensing fee. Please help us continue to provide the Embedded community with the finest software available. Your honesty is greatly appreciated. I.5 About μc/probe μc/probe is a Windows application that allows a user to display the value (at run-time) of virtually any variable or memory location on a connected embedded target. The user simply populates μc/probe s graphical environment with gauges, tables, graphs, and other components, and associates each of these with a variable or memory location. Once the application is loaded onto the target, the user can begin μc/probe s data collection, which will update the screen with variable values fetched from the target. μc/probe retrieves the values of global variables from a connected embedded target and displays the values in an engineer-friendly format. The supported data-types are: booleans, integers, floats and ASCII strings. μc/probe can have any number of data screens where these variables are displayed. This allows logicall grouping different views into a product. μc/probe is available on the Micriμm website:

7 There are actually two different versions of μc/probe available from the above URL. One of the versions is full featured but limits developers to a 30 day evaluation period. The other version has no time limit but does not facilitate monitoring more than 5 symbols. Either version is appropriate for the μc/os-iii example projects (Developers should not download both.

8 Chapter 1 Chapter 1 Getting Started The following sections step through the pre-requisites for using the demonstration application described in this document. First the setup of the hardware will be outlined. Second, the use and setup of Cypress PSoC Creator project will be described. Lastly, instructions will be provided for using the example application Required Hardware Cypress s CY8CKIT-01 PSoC Development kit is needed in order to run the examples described herein. The CY8CKIT-001 provide you a common development platform where you can prototype and evaluate different solutions using any one of the PSoC1, PSoC3, or PSoC 5 architectures. This guide and kit gives you a practical understanding of PSoC technology. PSoC Development Board test PSoC CY8C28 Family Processor Module PSoC CY8C38 Family Processor Module (Engineering Sample) PSoC CY8C55 Family Processor Module (Engineering Sample) MiniProg3 Debug and Evaluation Device Prototyping Cable Kit USB Cable 12V AC Power Adapter Quick Start Guide Kit CDs, which includes: PSoC Creator, PSoC Designer, PSoC Programmer, Projects, and Documentation This full featured board incorporates three onboard linear regulators that power peripherals and PSoC processor modules at voltages between 1.7V and 5.0V. These

9 regulators include a fixed 5V 1A linear regulator, a fixed 3.3V 300 ma linear regulator, and a 1.5V to 5.5V 300 ma adjustable regulator. The board also provides the ability to separate the PSoC core VDD rail into two separate rails, analog and digital. In addition, the board is able to separate the I/O VDD rails, giving the flexibility to power the I/O ports at different voltages. The board is equipped with a 2x16 alphanumeric LCD module capable of 1.8V to 5.0V I/O. In addition, there is a mini-b full speed USB interface and a female DB9 serial communications interface. Also included is a 12-pin wireless radio module interface which can be used to develop CyFi Low-Power RF or other embedded RF solutions with this kit. The board also has a prototyping area containing a small breadboard complete with I/O port sockets nearby, multipurpose LEDs, mechanical push buttons, and a multipurpose variable resistor. In addition, three capacitive sensing elements (two buttons and a five segment slider) are included on the board to allow the evaluation of CapSense applications. The board has four GPIO expansion slots, allowing the I/O to expand to external boards. The board was designed with modularity in mind and, as a result, supports removable processor modules. This allows you to plug different PSoC processor modules into the board based upon the desired features of both 8-bit and 32-bit PSoC devices. Figure 1-1 shows the components on the Cypress s CY8CKIT-01 PSoC Development kit. The processor modules that can be used with the development kit are shown in Figure 1-2. Figure 1-1, PSoC Development Board

10 Figure 1-2, PSoC processor module For more information please review the following documents available in Cypress website ( : CY8CKIT-001 Quick Start guide. CY8CKIT-001 Release notes. CY8CKIT-001 User guide Required Software Cypress PSoC Creator IDE is needed to build and run the example project that this document covers. PSoC Creator is a state-of-the-art software development IDE combined with a revolutionary graphical design editor to form a uniquely powerful hardware/software co-design environment. PSoC Creator can be installed from the CD accompanying the development kit or from the website if a new version is available. The examples projects described in this application note assumes the following compilers installed. Keil MDK compiler GCC for ARM compiler. μc/probe can be downloaded from the following link: Software version The example projects currently available on the Micrium web site were tested using PSoC Creator 1.0 Beta 4.1. Micrium s engineers will attempt to keep the projects up-to-

11 date, so that the software is always compatible with the newest version of PSoC Creator. It is possible, though, that the engineers may not be able to provided updated code for every tool release. Visitors to the web site who are unable to build and run the projects using the latest version of PSoC Creator should contact Micrium; relevant phone numbers and addresses are provided at the beginning of this document Development Kit and Processor Module connection. Before running the example project make sure that the following connections are made in the Development Kit: RS232 for μc/probe Figure 1-3, PSoC Development Kit componnects connections LEDs are connected to pins P0[0..3] UART Tx is connected to pin P0[5] UART Rx is connected to pin P0[4] LCD Display is connected to port P2[0:6] Push Buttons SW1 and SW2 are connected to pins P0[6:7]

12 1.05 Installing the Micrium Software. All the source code is contained in the installation file Cypress-uCOS-III-CY8CKIT-001.exe Please install the software in the C:\ folder. Figure 1-4 shows the directory structure after installing the software. Micrium Software EvalBoards CY8CKIT-001 PSoC BSP CY8CKIT Board Support Package (BSP). PSoC Creator example project uc-cpu uc-lib ucos-iii OS-Probe μc/cpu CPU s data types. μc/lib Run-Time Libraries Lib Cfg μc/os-iii Linkable Library Ports Source uc-probe Target Communication Generic OS RS-232 μc/os-iii Ports μc/os-iii Source Code (Header files only) μc/probe Target Communication μc/probe RS232 Communication Source Figure 1-4, Micrium Example project Directory Structure.

13 1.06 Using the PSoC Creator example project Opening the project After the software is installed please open the PSoC Creator example project workspace OS-Probe.cywrk located in the following directory \Micrium\Software\EvalBoards\Cypress\CY8CKIT-001\PSoC\OS-Probe To do this, open a new instance of PSoC Creator, click on File, then in Open and click on Project/Workspace after that select the workspace file after navigating to the project directory. After opening the project the project tree should appear as shown in Figure 1-5. Figure 1-5, PSoC Creator example project tree Building the project The example project can be compiled with the following compilers

14 ARM CM3-GCC ARM CM3-MDK Generic Before you build the project make sure you select the right compiler, the compiler can be selected as shown in Figure 1-6. Figure 1-6. PSoC Creator Compilers list After selecting the compiler, click on Build menu and click on Build OS-Probe. PSoC Creator builds the project and displays the comments in the Output window as shown in Figure 1-7. When you see the message Build Succeeded or Rebuild Succeeded you are ready to program the device. Figure 1-7, Output Window If you are using the Keil MDK compiler you might get the following error: ERROR: L6047U: The size of this image (xxxx bytes) exceeds the maximum allowed for this version of the linker This is because the evaluation version of the compiler is limited to 32K (including code and data) and the resulting example project image is bigger than 32K.

15 Programming the example project. In order to program the example project please follow the next instructions. Connect MiniProg3 to J5 on the CY8C55 Family processor. Figure 1-8, MiniProg3 connection

16 1. If this is your first time running PSoC Creator, follow these steps to configure the MiniProg3 device for these PSoC Development Kit projects. If these configurations are set, skip to the next step below and begin programming. Note VTARG of the MiniProg3 is wired exclusively to VDDI01 of the chip on the PSoC CY8C55 Family Processor Module. Because of this, you cannot perform power cycle mode programming. From the Tools menu in PSoC Creator, click Options. In the options window, select Programmer/Debugging->MiniProg3 from the list o Set Applied Voltage to 3.3V o Set Transfer Mode to SWD o Set Active Port to 10 pin o Set Acquire Mode to Reset o Set Debug Clock Speed to 3.2 MHz o Click OK. From the Debug Menu, Select Debug Target Expand the tree under MiniProg3 and click Port Acquire 2. In PSoC Creator, from the Debug menu, Click Program. 3. The PSoC Creator Status bar indicates that the device is programming 4. Wait until programming is complete before continuing Running the example project. After starting the debug session and executing the code, the LEDs should blink approximately at 10 Hz (100ms). In addition to that the LCD display is used to output status information as shown in Figure 1-9. The two push buttons (SW1 and SW2) can be used to control the LCD output. Successive presses of the push button will advance the output through several sets of information.

17 === Micrium === uc/os-iii uc/os-iii V3.012 TickRate: 1000 CPU Usage: 02% CPU Speed: 060Mhz #Ticks: #CtxSw: Figure 1-9, Example project LCD output

18 Running the example project with μc/probe μc/probe interface the PSoC 5 device via RS-232 interface. Please connect a serial cable between the board and the PC. To start μc/probe, you should now select All Programs->Micriμm->uC-Probe from your PC s Start menu. If you are using the 30-day evaluation version of the software, you will see a screen similar to the one shown below. You should click the Evaluate button. Figure 1-10, Starting uc/probe Click on the Program Option Circle as shown in Figure 1-11 click on New. You need to load the elf file (Os-Probe.elf), to do that right click on the symbol browser and click on Add symbols as shown in Figure The elf files are located under the project output folders \OS-Probe\OS-Probe.cydsn\ARM_CM3-GCC_421\Debug (for GCC compiler) \OS-Probe\OS-Probe.cydsn\ARM_CM3-MDK_Generic\Debug (for Keil MDK compiler)

19 Program Options Circle Program Options Figure 1-11 uc/probe Main Menu Figure 1-12 uc/probe Symbol Browser Once the symbol file has been specified, you should click on Program Options circle and then click Options button in the resulting menu. On the left-hand side of the Options

20 dialog box that subsequently appears, you should see several different categories. You should select Communications. In the Settings section of the Communications page you should choose RS-232. In the Update section, you should specify a Wait Time of 1ms. You should now click on the RS-232 heading on the left side of the Options dialog box. On the RS-232 page, you should select the COM port associated with you PC port. You should then specify a baud rate of An example RS-232 option page, for a PC using COM1, is shown in Figure After specifying the RS-232 options, you should click the OK button. Figure 1-13 uc/probe RS-232 Options Now you can associate μc/probe controls to any variable located in the elf file. In addition to that you can add the μc/os-iii kernel awareness. To do that, just click on the Sigma icon in the Workspace Explorer. You should then switch to μc/probe s Run-time view by clicking the Start button located in the upper left-hand corner of the main program window. μc/probe should begin updating the components in the different data screens that comprise the workspace.

21 Chapter 2 Chapter 2 How the example project works This section discusses several aspects of the example project and μc/os-iii on the PSoC 5 devices using the PSOC Creator IDE. First, the μc/os-iii initialization code will be explained,. Second, the implementation of the board support package (BSP) will be described. Lastly, managing interrupts on μc/os-iii using the interrupt component will be explained. This example project should serve as a beginning template for further use of μc/os-iii base application Application Code app.c Three functions of interest are located in app.c : Main() is the entry point for the application, as it is with most C programs. This function initializes the operating system, creates the primary application task, App_TaskStart(), begins multitasking, and exits. App_TaskStart() initializes several modules and creates all the application tasks and kernel objects. After that it enters in an infinite loop in which it blinks all LEDS on the board. App_TaskUserIF() This task is responsible for updating the output on the LCD, based on the push button events. This example code should serve as a beginning template for further use of μc/os-iii Listing 2-1 shows the initialization of μc/os-iii.

22 Listing 2-1 app.c, OS Initialization int main (void) { OS_ERR os_err; BSP_PreInit(); (1) CPU_Init(); (2) OSInit(&os_err); (3) OSTaskCreate((OS_TCB *)&App_TaskStartTCB, (4) (CPU_CHAR *)"Start", (OS_TASK_PTR )App_TaskStart, (void *)0, (OS_PRIO )APP_CFG_TASK_START_PRIO, (CPU_STK *)&App_TaskStartStk[0], (CPU_STK_SIZE )APP_CFG_TASK_START_STK_SIZE_LIMIT, (CPU_STK_SIZE )APP_CFG_TASK_START_STK_SIZE, (OS_MSG_QTY )0u, (OS_TICK )0u, (void *)0, (OS_OPT )(OS_OPT_TASK_STK_CHK OS_OPT_TASK_STK_CLR), (OS_ERR *)&os_err); } OSStart(&os_err); (5) Listing 2-1, Note 1: The Board support package pre-initialization BSP_PreInit() function is called. This function will perform all the hardware initialization required before the OS is initialized. Most of the time this function will disable all interrupts to make sure the application does not get interrupted until it is fully initialized. Listing 2-1, Note 2: CPU_Init() initialize μc/cpu. μc/cpu contains CPU related code to enable/disable interrupts, enter/exit to/from critical sections among other functions. Listing 2-1, Note 3: OSInit() must be created before creating a task or any other kernel object, as this must be done with all μc/os-iii applications. Listing 2-1, Note 4: At least one task must be created. OSTaskCreate() will create the startup task. Listing 2-1, Note 5: Finally multitasking under μc/os-iii is started by calling OSStart()

23 Listing 2-2 app.c, Startup Task static void App_TaskStart (void *p_arg) { CPU_INT32U cpu_clk_freq; CPU_INT32U cnts; OS_ERR err; (void)p_arg; BSP_PostInit(); (1) cpu_clk_freq = BSP_CPU_ClkFreq(); (2) cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; OS_CPU_SysTickInit(cnts); #if OS_CFG_STAT_TASK_EN > 0u OSStatTaskCPUUsageInit(&err); (3) #endif #ifdef CPU_CFG_INT_DIS_MEAS_EN CPU_IntDisMeasMaxCurReset(); #endif App_TaskCreate(); (4) App_ObjCreate(); App_ProbeInit(); (5) BSP_LED_Off(0); } while (DEF_TRUE) { (6) BSP_LED_Toggle(0); OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &err); } Listing 2-2, Note 1: The Board support package post-initialization BSP_PostInit() function is called. This function will initialize all the hardware drivers that require OS services such semaphores, queues, mutexes, etc. Listing 2-2, Note 2: The Cortex-M3 Systick timer is used to generate the μc/os-iii tick interrupt. The Systick reload value is calculated by dividing the CPU frequency by the number of ticks per second

24 (OSCfg_TickRate_Hz). OS_CPU_SysTickInit() will configure the Systick interrupt for the Cortex M3 processors. Listing 2-2, Note 3: OSStatTaskCPUUsageInit() Initialize the μc/os-iii statistics task. The statistics task calculates the CPU usage and the stack usage if the option is enabled in the os_cfg.h file. Listing 2-2, Note 4: App_TaskCreate() and App_ObCreate() creates the application s task and the application s kernel objects(e.g. semaphores, queues, mutexes, etc). Listing 2-2, Note 5: App_ProbeInit() initialize μc/probe. It calls ProbeCom_Init() that initializes the μc/probe generic communication layer and ProbeRS232_Init() that initializes the RS-232 communication module. Listing 2-2, Note 6: Any task managed by μc/os-iii must either enter an infinite loop waiting for event to occur or terminate itself. This task enters in an infinite loop where the LEDs are toggled every 100ms Board Support package bsp.c bsp.h The board support package (BSP) provides functions to encapsulate common I/O access functions and make porting your application code easier. Essentially, these files are the interface between the application and the development board. The file bsp.c implements several global functions, each providing some important service: BSP_PreInit() initializes peripherals that are required before the OS is initialized. For example this function can be responsible for initializing all the CPU clocks and external memory controllers. BSP_PostInit() initializes peripherals after the OS is initialized. Peripheral drivers that require OS kernel objects (queues, semaphore and mutexes) should be initialize in this functions. BSP_LED_On(), BSP_LED_Off(), BSP_LED_Toggle() will turn on, turn off and toggle (respectively) the LED corresponding to the value passed as an argument. BSP_PB_StatusGet() This function retrieves the status of the board s push buttons (SW1 and SW2). BSP_CPU_ClkFreq() This functions returns the current CPU frequency in Hertz. The ARM Cortex-M3 μc/os-iii uses two interrupts:

25 PendSV: This interrupt trigger a context switch. SysTick : Provides the μc/os-iii time tick. Since PSoC Creator setup the cortex s NVIC vector table in SRAM space, these two interrupt handlers need to be registered before the OS is initialized. This process is done in the BSP_PreInit() function. Listing 2-3 shows the implementation of BSP_PreInit() function, note that the CPU clock initialization is not present since PSoC Creator generates all the initialization code which is executed before entering to main(). void BSP_PreInit (void) { CPU_INT32U reg_val; CPU_INT32U *p_vect_tbl; Listing 2-3 bsp.c, BSP_PreInit() reg_val = CPU_REG_NVIC_VTOR; (1) DEF_BIT_CLR(reg_val, DEF_BIT_29); } p_vect_tbl = (CPU_INT32U *)reg_val; (2) p_vect_tbl[cpu_int_pendsv] = (CPU_INT32U )OS_CPU_PendSVHandler; p_vect_tbl[cpu_int_systick] = (CPU_INT32U )OS_CPU_SysTickHandler; Listing 2-3 Note 1: The vector table offset register is read. This register contains the offset of the vector table from the bottom of the SRAM or Code space. Listing 2-3 Note 2: The PendSV and SysTick interrupts handlers (OS_CPU_PendSVHandler and OS_CPU_SysTickHandler) are installed in the NVIC vector table Using the PSoC Creator Component catalog. PSoC Creator allows you to choose peripherals from a catalog of predefined and pretested components. These components can be dragged into your design schematic. All components are parameterized so that the details for the implementation are abstracted away. In this example project, several components from the catalog are used. Figure 2-1 shows the example project schematics.

26 (2) UART (1) Digital Output Pin. LEDs (3) Interrupts (1) Digital Input Pin. SW1 & SW2 (4) Character LCD. Figure 2-1 PSoC Creator, Example project schematic Figure 2-1 Note 1: The digital input/output components are used to interface the board s LEDs and push buttons. Figure 2-1 Note 2: The UART component is used to communicate with μc/probe. Figure 2-1 Note 3: The UARTs interrupts are managed by the interrupt component. Interrupts are covered in the section Figure 2-1 Note 4: The character LCD component provides all the API needed to interface the board s character LCD component. The file bsp_psoc.h is intended to provide an interface between the BSP and the code generated by PSoC Creator for the components. The file include all the header files needed from the BSP, it also implements a set of macro s and #defines so that if the API of code generated by PSOC creator changes only one file need to be modified Working with interrupts in μc/os-iii and PSoC Creator Interrupts are managed by the Interrupt component in the PSoC Creator. In this example the ProbeUART_TxISR.c/h and ProbeUART_RxISR.c/h are generated by PSoC creator to install, enable and disable interrupts in the Cortex M3 s NVIC. The API implemented in these two files is used in the μc/probe RS-232 driver. In order to integrate thess interrupts with μc/os-iii the following code was added in the ProbeUART_TxISR.c and ProbeUART_RxISR.c files.

27 void ProbeUART_TxISR_Interrupt(void) { /* Place your Interrupt code here. */ (1) /* `#START ProbeUART_TxISR_Interrupt` */ CPU_SR_ALLOC(); Listing 2-4 ProbeUART_TxISR.c, ProbeUART_TxISR_Interrupt() CPU_CRITICAL_ENTER(); (2) OSIntEnter(); CPU_CRITICAL_EXIT(); ProbeRS232_TxISRHandler(); (3) } OSIntExit(); (4) /* `#END` */ Listing 2-4 Note 1: The #START/#END tags are used by PSoC Creator so that when the code is re-generated the code between these tags is kept in the generated file. Listing 2-4, Note 2: OSIntEnter() notifies μc/os-iii that an ISR is being processed, which allows μc/os-iii to keep track of interrupt nesting. Listing 2-4, Note 3: ProbeRS232_TxISRHandler() is the RS-232 Probe driver interrupt service routine. Listing 2-4, Note 4: OSIntExit() notifies μc/os-iii that an ISR is complete, which allows μc/os-iii to keep track of interrupt nesting. When the last nested interrupt completes OSIntExit() determines if a higher priority task is ready to run. If so, the interrupt return to the higher priority task instead of the interrupt task. All the interrupts handlers in PSoC Creator should be written as described in Listing 2-4 where the ProbeRS232_TxISRHandler() is replaced with the specific interrupt handler functionality.

28 Appendix A Appendix A References μc/os-ii, The Real-Time Kernel, 2 nd edition. Jean J. Labrosse R&D Technical Books, 2002 μc/os-iii, The Real-Time Kernel, 2 nd edition. Jean J. Labrosse Micriμm Press, 2009 CY9CKIT-001 PSoC Development Kit User Guide Cypress Semiconductor. CY9CKIT-001 PSoC Development Kit Quick Start Guide Cypress Semiconductor.