Release notes for embOS V3.60d2 for Fujitsu FR series

  1. Tool chain used for build
  2. Performance
  3. New features
  4. Improvements
  5. Program corrections
  6. Known problems
  7. Release history
  8. Miscellaneous

Tool chain used for build

The following tools have been used:

Fujitsu Softune Workbench V60L03
Compiler: Fujitsu FCC911s V60L03 Assembler: Fujitsu FASM911s V60L03 Librarian: Fujitsu FLIBs V60L01

Performance

  1. Task switch time
    Release Library: 20.5 us = 984 CPU clock cycles
  2. Interrupt latency of fast interrupts
    Zero
  3. Interrupt latency of low priority interrupts
    Release Library: 9.25 us = 444 CPU clock cycles

Absolute timings are measured on an MB91F362 running at 48 MHz CPU clock

New features

Version 3.60d2

  1. OS dynamic memory management support added
    Because the standard system libraries for FR Softune compiler come without a lowlevel sbrk() function which is required for dynamic memory management, the embOS heap functions were not enabled in previous versions of embOS for FR CPUs.
    Now embOS comes with a simple sbrk() function which is delivered in source code and can be used and modified in a project if dynamic memory allocation is needed.
    The OS heapmanagement is enabled for all embOS libraries and can be used.

Version 3.60d1

  1. Support for embOSView added to BSP for MB9146x
    The BSP for the MB91469G now contains code to communicate to embOSView via UART 1.
    The initial version came without embOSView support.
  2. Update to embOS sources V3.60d
    embOS comes with several new functions which are described in the generic manual.

Version 3.60d

  1. BSP for MB9146x series added
    embOS now contains a sample start project which runs on the SK-91469G starter kit. It is prepared to be used with incircuit emulator or simulator.
  2. Update to embOS sources V3.60d
    embOS comes with several new functions which are described in the generic manual.

Version 3.32f

  1. Functions for thread safe usage of system libraries defined
    embOS now contains hook functions which may be called by the system library to ensure thread safe handling of dynamic memory handling and other system functions which are normally not thread safe.
    By now, these new functions are not supported by any compiler or system libraries.

Version 3.32d

  1. OS_Q_GetPtrTimed() implemented
    New queue retrieval function which waits for a message with specified timeout.

Version 3.32c

  1. OS_EVENT_WaitTimed() implemented
    New event object function to wait for an event with a timeout limit.

Version 3.32b

  1. Task context modified for debug builds
    The number of task activations is now part of the task context in debug builds.
    The number of activations are therefore displayed in the task list window of embOS plugin, when an embOS debug library is used.
    Previous versions of embOS showed this information in profiling builds only.

Version 3.32a

  1. A parameter may be passed to a task function
    Using the new embOS functions OS_CREATETASK_EX() or OS_CreateTasEx() allows to pass a void pointer as parameter to a task.

Version 3.32

  1. Event objects introduced
    Event objects are standalone objects which are not assigned to a specific task.
    Event objects may be used to synchronize one or multiple task to a specific event.
    Events can be triggered from a task, a timer, or an interrupt handler.

Version 3.30a

  1. embOS internal time handling modified to allow long delays
    For 8- and 16-bit CPUs the maximum range for delays and timer periods is limited to 32767 embOS timer ticks, because time comparison ist done by integer calculation.
    By recompiling sources with datatype OS_TIME defined as signed long, longer delays and timer periods up to 2147483647 ticks can be realized.
    The embOS libraries of object version are still delivered with the limitation to 32767 timer ticks.

Version 3.28p

  1. New error handling for version without round robin scheduling
    In debug versions of embOS, OS_Error() is called with error code OS_ERR_TASK_PRIORITY, if a task is created with a priority which is already assigned to an other task.
    OS_Error() is also called with the same errorcode, if a task priority is assigned by call of OS_SetPriority() and the new pririty is already assigned to an other task.
    Round robin switching can be disabled by recompiling sources with OS_RR_SUPPORTED defined as 0.

Version 3.28l

  1. OS_SignalCSemaMax()
    New counting semaphore handling function which specifies a maximum count value.
    This allows counting semaphores used as binary semaphores.

Version 3.28i

  1. OS_DeleteRSema()
    New resource semaphore handling function allows to delete resource semaphores during runtime.

Version 3.28h

  1. Additional error checks in debug builds of embOS
    OS_CreateRSema() now generates an error, when the addressed resource semaphore was already created before.
    OS_CreateCSema() now generates an error, when the addressed counting semaphore was already created before.
    OS_CreateMB() now generates an error, when the mailbox was already created before.
    OS_CreateTimer() now generates an error, when the software timer was already created before.
    OS_MEMF_Create() now generates an error, when the addressed fixed size memory pool was already created before.

Version 3.28g

  1. OS_GetSuspendCnt()
    New info function to examine suspension state and count of a task.

Version 3.26

  1. OS_Terminate() modified
    Tasks may be terminated anytime, regardless of task state.
    All resources claimed by the terminated task are automatically released.

Version 3.22a

  1. Zero Latency, Fast interrupts
    Since version 3.22a, embOS for FR series supports zero latency for interrupts running with high priority.
  2. OS_PutMailFront() / OS_PutMailFront1
    New mailbox functions to enable LIFO behavior of mailboxes.
  3. OS_PutMailFrontCond() / OS_PutMailFrontCond1()
    New conditional mailbox functions to enable LIFO behavior of mailboxes.

Version 3.20

  1. OS_Suspend() / OS_Resume() implemented
    New functions to suspend and resume tasks unconditionally.
  2. Fixed size memory blocks inplemeted
    New functions to allocate fixed size memory blocks from embOS.

Version 3.10k

NONE. Initial release

Improvements

Version 3.28n

  1. embOS round-robin scheduling may be disabled.
    Round-robin scheduling may be disabled by recompiling sources with OS_RR_SUPPORTED defined as 0.
    This will save some bytes of RAM and ROM and may make sense for small CPUs.

Version 3.28g

  1. embOS scheduling simplified
    Task activation and deactivation on "waitable objects" as mailboxes, semaphores, events, fixed size memory blocks now all use the same scheduling method.
    This modification saves ROM and RAM and makes scheduler easier to understand and to maintain.
    Applications which accessed internal data structures of waitable objects directly have to be modified.

Version 3.10k

NONE. Initial release

Program corrections

Version 3.32e

  1. OS_GetMessageCnt() corrected.
    The type of the retun value of OS_GetMessageCnt() was an unsigned integer in release builds, but an integer in debubg builds.
    This was corrected to return an unsigned integer in all builds.
    The problem existed in all previous versions of embOS end is fixed with version 3.32e.

Version 3.32a

  1. embOSView corrected.
    embOSView sometimes showed wrong task state "Terminated" for tasks which were not terminated.
    This bug existed in all previous versions of emBOSView and is fixed with version 3.32a.

Version 3.30d

  1. OS_MEMF_Create() corrected.
    Alignment check of buffers for fixed size memory blocks did not work correctly in debug libraries of embOS.
    OS_Error() was called during OS_MEMF_Create(), even though the memory pool buffers start address was correctly aligned.
    This problem existed since embOS version 3.28m in all debug build libraries and is fixed with version 3.30d.

Version 3.30b

  1. OS_Suspend() corrected.
    OS_Suspend() did not work correctly, when an activated task with higher priority than the running task was suspended.
    When the task with highest priority was suspended during system initialization before embOS was started, embOS crashed during the call of OS_Start(), or called the embOS error handler OS_Error() with error code OS_ERR_INV_TASK (128).
    The same crash occurred, when the application was running in a critical region and a task with higher priority was activated, but not started because of the critical region, and was then suspended by a call of OS_Suspend().
    This problem existed in all previous embOS versions and is fixed with version 3.30b.

Version 3.28q

  1. Problem with suspended tasks which were on delay fixed.
    If a task which was on delay was suspended, the delay timer for that task was not handled.
    This might have resulted in additional longer delay when the task was resumed later.
    This problem existed in all previous embOS versions and is fixed with version 3.28q.

Version 3.28p

  1. OS_Suspend() corrected.
    OS_Suspend() did not work corretly, when the current task was suspended from within an interrupt handler, or from a critical region.
    The application crashed, or called the embOS error handler OS_Error() with error code OS_ERR_INV_TASK (128).
    As OS_Suspend() automatically enters a critical region in debug-trace builds, OS_Suspend() also failed, when it was called to suspend the current task in debug-trace builds of embOS.
    This problem existed in all previous embOS versions and is fixed with version 3.28p.

Version 3.28m

  1. Alignment problems fixed for fixed size memeory blocks
    Some CPUs, mainly the 32bit RISC types, require aligned buffer start addresses for fixed size memory pools.
    The debug version of embOS now checks alignment of buffer start address and data blocks in the buffer. If data blocks and biffer start address is not aligned, an error is generated and embOS error handler is called during creation of a fixed size memory pool.
    This problem existed in all previous embOS versions and is fixed with version 3.28m.

Version 3.28l

  1. OS_MEMF_Free() added
    The function OS_MEMF_Free() was not included in embOS libraries, but was documented in embOS users manual and was also declared in RTOS.h.
    This problem existed in all previous embOS versions and is fixed with version 3.28l.

Version 3.28k

  1. OS_MEMF_IsInPool() corrected
    OS_MEMF_IsInPool() failed, if a pointer was checked which pointed to the first address after the memory pool. This pointer was reported as belonging to the pool.
    This problem existed in all previous embOS versions and is fixed with version 3.28g.

Version 3.28g

  1. OS_WakeTask() for trace build corrected
    OS_WakeTask() in trace build disabled task switches.
    This problem existed since version 3.24 and is fixed with version 3.28g.
  2. OS_WaitCSemaTimed() corrected
    Semaphore handling was changed with embOS sources version 3.26.
    Unfortunately,during call of OS_WaitCSemaTimed() an internal control counter was decremented twice, which resulted in wrong control state of semaphore. Overflow of this counter caused, that the calling task remained suspended until the timeout expired, even though, the semaphore was signaled.
    This problem existed in version 3.26 only and is fixed with version 3.28g.
  3. OS_GetMailTimed() / mailbox handling corrected
    During call of OS_GetMailTimed, interrupts were re-enabled too early. If a mail was just put into a mailbox and the timeout occurred at the same time, a mailbox internal control variables which managed waiting tasks was set to a wrong value.
    This resulted in wrong mailbox handling and caused task waiting for mail kept suspended, even though, mail was available. This problem existed in all previous versions of embOS and is fixed with version 3.28g.

Version 3.26a

  1. OS_MEMF_Release() corrected
    OS_MEMF_Release() might have failed according to absolute address of memory block.
    The problem occurred because address calculation was done with 16bit interger value.
    Calculation was modified to use 32bit values to fix the problem.

Version 3.24a

  1. embOS software timer corrected
    Due to a compiler bug in current Softune compiler, embOS timer could stop operating event though they were retriggered or started.
    This problem existed in previous versions of embOS for F16LX and is fixed with version 3.24a since December 2004.
  2. embOS counting semaphore function OS_WaitCSemaTimed() corrected
    Due to a compiler bug in current Softune compiler, OS_WaitCSemaTimed() could return with error result immediately without starting the timeout.
    This occurred when OS_WaitCSemaTimed was called when embOS internal time was a multiple of 32768 seconds.
    This problem existed in previous version of embOS for F16LX and is fixed with version 3.24a since December 2004.

Version 3.22a

  1. Task switch from interrupt corrected
    System might have crashed when an ISR with high priority interrupted a low priority ISR and both ISRs performed a task switch from interrupt.
    This problem existed in all previous versions of embOS for F16LX and is fixed with version 3.22 since September 2004.

Version 3.20c

  1. OS_GetMailTimed() corrected
    OS_GetMailTimed () did not retrieve a mail after 256 calls, the waiting task remained suspended. Corrected with version 3.20c of embOS.
    This problem exists in all previous embOS versions and is fixed with version 3.20c.

Version 3.10p

  1. GetMail functions corrected
    Internal functions for retrieving mail from a mailbox did not disable interrupts. This could cause message losses, when mail was written into mailboxes from within interrupt handlers.
    This problem exists in all previous embOS versions and is fixed with version 3.10p.

Version 3.10k

NONE. Initial release

Known problems

None

Release history

Version Release date Short explanation
V3.60d2 04. Aug 2008 OS heap management supported
V3.60d1 18. Jul 2008 BSP for MB91469G finalized
V3.60d 16. Jul 2008 new embOS sources 3.60d
V3.32f 14. Dec 2006 new embOS sources 3.32f
V3.22a 29. Sep 2004 new embOS sources 3.22a, support for Softune V6
V3.10k 03. Feb 2003 Version 3.10k released

Miscellaneous

This document was first released with version 3.10k of the software. Software released earlier is documented internally.
This information is available at request.


Copyright 2004-2008 SEGGER Microcontroller GmbH & Co. KG. All rights reserved.
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