RTA-OSEK
Binding Manual: V850E/GreenHills
Contact Details
ETAS Group www.etasgroup.com
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1
the the prior written Devices. Devices. While the . in this document is d d trademarks of their of LiveDevices Ltd. Ltd. LiveDevices of ge ge without notice and Copyright Notice Copyright ate, LiveDevices assumes opied opied in accordance with
lost profits, fees or expenses ontractors ontractors or the authors of ct, ct, or consequential damage,
RTA-OSEK, RTA-TRACE and LiveDevices are trademarks trademarks are and LiveDevices RTA-TRACE RTA-OSEK, Corp Microsoft of trademarks are andMS-DOS Windows AG. of Siemens trademark a is OSEK/VDX All other product names are trademarks owners. respective or registere Version: M00080-001 M00080-001 Version: No part of this document may be reproduced without a license. such of terms the omissions. or errors any for no responsibility In no event shall LiveDevices, its employees, its c this document be liable for special, direct, indire Trademarks © 2001 - 2007 LiveDevices Ltd. All rights reserved. rights All Ltd. LiveDevices 2007 - © 2001 consent of LiveDevices Ltd. furnished under a license and may only The be used or c software described Disclaimer The information in this document is subject does to not chan represent a commitment on information contained any herein is assumed to part be accur of Live losses, costs, charges, claims, demands, claim for kind. or any ofnature Copyright Notice Copyright Issue M00080-001 Issue
Contents
3
Contents ...... 11 ...... 12 ...... 5 ...... 11 ...... 11 ...... 5 ...... 8 ...... 8 ...... 9 ...... 7 ...... 11 ...... 11 ...... 5 ...... 7 Interrupt Levels...... Interrupt Interrupt Vectors...... Handlers 1 Category ...... Handlers 2 Category ......
Debugger ...... Interrupts ...... 3.1.1 3.1.2 3.1.3 3.1.4 Who Should Read this Guide?...... Read Who Should Conventions ...... Compiler ...... Assembler ...... Linker/Locator......
2.4 Issues Target Hardware ...... 3.1 About this Guide About this ...... 1.1 1.2 Issues...... Toolchain 2.1 2.2 2.3
3 1 2 Contents Issue M00080-001 Issue
Contents
4
Contents 5 4
5.3 5.2 5.1 ...... Compatibility with Pre-v5 Kernels 4.4 4.3 4.2 4.1 ParametersofImplementation...... 3.3 3.2
3.1.5 etrTbe...... Table Vector 32TimerDrivers...... Bit UpdatingtheApplication Version...... ConfigurationofRun-time Context 4.3.4 4.3.3 4.3.2 4.3.1 Performance...... 4.2.4 4.2.3 4.2.2 4.2.1 ...... HardwareResources Functionality...... 3.3.2 3.3.1 Usage...... Stack ...... RegisterSettings 3.1.8 3.1.7 3.1.6
Task Task SwitchingTimes...... Interrupt Latencies ...... Start-upOSTime ...... ExecutionTimes RTA-OSEKfor APICalls HardwareReserved Resources...... ofSizeLinkable Modules...... ROM RAMand OSEKfor Objects OS ...... ROM RAMand Overheads ...... UsageStack APIwithinCalls ...... NumberofStacks SecurityFlash ID...... Interrupt...... Default Traps...... TableVector Issues ...... 19...... 58...... 17...... 40...... 16...... 58...... 19...... 58...... 14...... 20...... 15...... 15...... 58...... 50...... 50...... 12...... 54...... 17...... 51...... 26...... 17...... 40...... 20...... 40...... 21...... Issue Issue M00080-001
1.1
5 . .
typeface, typeface, Task1 mation mation that e embedded u u will need to the RTA-OSEK in the RTA-OSEK courier OSEK OSEK on your target on on are also provided, is is guide if you want to general general information in hem hem carefully and that y y processor running the About this Guide About RTA-OSEK RTA-OSEK API call names n n the sk handle called called sk handle your target toolchain and he he RTA-OSEK Component the V850E/GreenHills port ler/target ler/target toolchain pairing.
typeface. When the name of an object is made
. courier
Notes Notes that appear like this describe things that yo Notes that appear like this contain important infor is Guide is RTA-OSEK User Guide User RTA-OSEK
so, for example, a task named Task1 appears as aasta appears Task1 a task named for so,example, A A port is defined as a specific target microcontrol This guide tells you about integration issues with issues that you need to be aware of when using RTA- hardware. hardware. Port specific parameters giving of the implementati RAM and ROM requirements Component for each and object execution Component. times for each API call to programming programming in an OSEK context. You should read th know low-level technical information to integrate t Important: you need to be aware of. Make sure that you read t given. are you that any instructions you follow Portability: know if you want to write code that will work on an Component. RTA-OSEK Program code, file C names, types and and symbols, The The reader should have an understanding application. into your of real tim all appear in the This This guide provides target-specific information for the of LiveDevices’ RTA-OSEK. It supplements the more available available to the the also appearsname programmer i Conventions Who Should Read this this Guide? Read Should Who About th About
Issue M00080-001 Issue 1.2 1.1 1
2.1
7 n in n in
he he RTA-OSEK
e are shown in the are shown in the h h the target hardware g compiler: g compiler:
nfiguration nfiguration file is called Toolchain Issues Toolchain
SEK SEK and your toolchain. You You must make sure that hain. hain. is is possible.
are shown in the following
of the same toolchain, please
osekdefs.c
Green Hills Software, Inc. Software, Green Hills C-V850E 1) patch 4.2.3 (MULTI 4.2.1
osekdefs.c
ription
Description addition to the Green Hills .dbo format .dbo Hills Green the to addition Use Use optimizations generation code binary Turn off 65535 contains always r21 255, contains always r20 r17-r22 notDo use on information Turn debug informatio debugging DWARF) (e.g. 'native' Generate information debugging DWARF Generate Desc r20 always contains 255, r21 always contains 65535 contains always r21 255, contains always r20 Use Use optimizations generation code binary Turn off . This file defines configuration parameters for t
table: The The prohibited compiler options for following table: table: following The C file that RTA-OSEK generates from your OIL co osekdefs.c The The compulsory compiler options for application cod This This chapter contains important details about RTA-O and a specific version of the compiler toolchain. followin the using was built Component The RTA-OSEK table: following A A port of the RTA-OSEK Component is specific to bot toolc supported the with application your you build If you are interested in using a different version this not or whether confirm to LiveDevices contact Component when running your application. application. your running when Component The compulsory compiler options for -r21has65535 -r21has65535 -registermode=26 -g -dual_debug -dwarf -r21has65535 -r21has65535 Option -O -noobj Vendor Compiler Version Option -O -noobj Compiler Toolchain Issues Toolchain
Issue M00080-001 Issue 2.1 2
2.2
2.2 8 2.3
Assembler Linker/Locator os_pir os_text os_wrappers os_intvec os_pird os_pid Sections Version Assembler Vendor -sda -zda Option os_trace_ram os_pirf os_pur section should be given the given be should section ToolchainIssues performed.be linkerdir suppliedapplication’s exampleThe file. sectionsmust be located: cod application by used sections the to addition In called your from generates RTA-OSEK that file assembly The RTA-OSEKThe Component builtwasusing thefollowin In order to avoid the cost of the C-startup unnecesC-startup the of cost the avoid to order In OSEKComponent whenrunning your application.
osgen.850
Ti fl dfns ofgrto prmtr fr t for parameters configuration defines file This . RAM RAM RAM RAM ROM ROM ROM ROM ROM ROM/RAM NOCLEAR
4.0 4.0 (MULTI4.2.3patch 1) AS-V850 HillsGreen Software, Inc.
attribute in the linker directive (directive linker the in attribute
Use SDAUse ZDAUse Description ective file shows how this canhow this shows file ective Must beMust zeroedduring C-startup. RTA-TRACEuninitialized data. initializedbe duringC-startup. RTA-OSEKinitialized data. Must zeroedduringbe C-startup. RTA-OSEKuninitialized data. Must Initializedfrom RTA-OSEKinitialized data. RTA-OSEKcode section. RTA-OSEKinterrupt wrappers. OSEK). tableVector (ifgenerated RTA- by StartOS() onlyis duringaccessed RTA-OSEKinitialization data. This RTA-OSEK read-onlydata. Description StartOS() sarily clearingsarily e, the following RTA-OSEK following the e,
OIL configuration file is file configuration OIL g assembler:
. .
os_pird os_pir e RTA- he Issue Issue M00080-001 *.ld
, this , during
)
2.4
9
. must be values additional the object file. The Toolchain Issues Toolchain osekdefs.c e. e. Further information GUI. GUI. ed ed by RTA-OSEK. Support generate the required debug RTA-OSEK ORTI Guide ORTI RTA-OSEK . If these values are not required iSYSTEM winIDEA winIDEA iSYSTEM CURRENTAPPMODE and should be defined when the file is compiled, osekdefs.c
g g -dual_debug -dwarf OS_NO_ORTI CURRENTSERVICE
also no debugger should be selected in the RTA-OSEK the in be selected should also no debugger then the macro about ORTI for RTA-OSEK can be found in the the found in be can for RTA-OSEK about ORTI ORTI ORTI is the OSEK Run-Time Interface that is support is provided for the debuggers in the following tabl To resolve the ORTI data in the debugger the file ROM ROM pointers are added into compiled compiled with DWARF debug information generated in compiler options - information. information. To resolve the ORTI compatible debuggers compatible ORTI Debugger
Issue M00080-001 Issue 2.4
3.1
11
ctor. RTA-OSEK RTA-OSEK appropriate appropriate
n n the errupt errupt handlers to
guring guring interrupts for
t IPLs in the K’s interrupt model for ing ing system. The Green to to interrupt priorities on priorities priorities that are available riority Level (IPL). This is a orrectly orrectly handle the interrupt owing restrictions apply: apply: restrictions owing User level and interrupts 2 1 Category (can and TRAPs exceptions NMIs, interrupts). maskable preempt Description
Target Hardware Issues Target Hardware
. Category 1 or 2, IPL 1 2, or 1 Category Legality Category 1, IPL 2 IPL 1, Category
ID Bit PSW Register ID PSW Bit
Notes The vector table must start just above the reset ve reset the above just must start table The vector
RTA-OSEK User Guide User RTA-OSEK . .
. The hardware interrupt controller is explained i
0x0070 0x0070
to for CPU vector maximum to
The valid base addresses for the vector table are: are: table vector for the addresses The base valid Category1 Handlers Category 1 interrupt service routines (ISRs) must c context themselves, without support from the operat User Guide Interrupt Vectors For the allocation of foll the target hardware, your on vectors interrupt Category 1 and Category 2 int on on the target hardware. You can find out more abou This This section explains the implementation of RTA-OSE V850E/GreenHills. You can find out more the in RTA-OSEK about confi Interrupt Levels In RTA-OSEK interrupts are allocated an Interrupt P processor independent abstraction of the interrupt NEC manuals NEC The following table shows how RTA-OSEK IPLs relate hardware: target the
Base Base Address 0x0010 Vector 0x0010 0x0080 variant IPL Value 0 1 2 0 1 1 Interrupts Target Hardware Issues Hardware Target 3.1.3 3.1.2 3.1.1
Issue M00080-001 Issue 3 3.1
3.1
12
3.1.5 3.1.4
hte o nt h file the not or whether generat is table vector a not or whether choose can with application your configure you when that Note the of contentsofeach ofthe files followsbelow. Target HardwareTarget Issues added flexibility of flexibility added xlsv: ny n o te he sol b compiled be should ISRs. three supporting application. the to of one approach only different exclusive: a with each interrupt-handli different three generates RTA-OSEK vector tables. varia chip with efficiently cope to RTA-OSEK the allows to up 0x0010 addresses for f data table emits vector interrupt an generates RTA-OSEK When contactingLiveDevices. va Further variant. V850E’ ‘Generic the to addition S SG3, SG2, RS1, PH3, PH2, FK3, FJ3, FJ2, FG3, FG2, support directly variants The RTA-OSEK. in selected sp the upon depends available vectors of number The Issues Table Vector instruc interruptreturn The is handled automatically by theRTA-OSEK from return a insert not must You OS OSEK the using written are handlers The itself. the handles Component cont RTA-OSEK function the C since Component, a with provided are ISRs 2 Category Handlers 2 Category osvec2.850 osvec3.850 e asd ln t te mdwapr’ h mid-wrapp The ‘mid-wrapper.’ the to along passed be I that for context sufficient up sets which ISR, an is wrapper’ ‘outer an discussion, following the In code for a C function decorated with the with decorated function C a for approp code generate can compiler C Inc. Software, Hills the user. As such, it is recommended that that recommended is it such, As user. the showninCode Example3:1. You canYouout find inmore your compilerdocumentatio } /* Handler routine */ ISR(MyISR) { #include “MyISR.h” osvec1.850 and and are always generated,regardless of thisoption. Code Example Example Code osvec2.850 osvec3.850
s h ol oe o nld a etr table; vector a include to one only the is osvec1.850 3 or or both require a vector table to be suppliedbe by vector to table require a both : 1
- Category 2 ISR Handler CategoryISR Interrupt 2 osvec3.850 s generated; is __interrupt osvec1.850 ihs dcae interrupt declared highest SR’s entry function pointer to pointer function entry SR’s
a small function, specific to specific function, small a is required. An explanationAn required. is riants can be supported by by supported be can riants ed are DJ3, FE2, FF2, FF3, FF2, FE2, DJ3, are ed ng assembler source files, source assembler ng Component. standard standard t ih ifrnl sized differently with nts in n uh function. a such in tion J2 and SJ3. These are in are These SJ3. and J2 n. n. d Ti pin dictates option This ed. it itrut handling interrupt riate ecific V850 chip variant variant chip V850 ecific the RTA-OSEK GUI you GUI RTA-OSEK the x b te RTA-OSEK the by ext n lne it an into linked and r h V5, t only it V850, the or er is common to all all to common is er hy r mutually are They s sd nes the unless used is osvec2.850 function qualifier. function nerp context interrupt ISR()
macro, Issue Issue M00080-001 This . and and
3.1
13
, , h h oes oes for nop
e outer e outer ) to the jr os_intvec osvec2.850 section. , which is placed in ntry ntry depends on its 0x10, and the mid- ses ses rather than jump ry ry is the address of the ry is a jump ( ry is a jump to the ISR’s interrupt, the entry is a d d in the jump table, and placed in the interrupt, the entry is the terrupt, terrupt, the entry is a context around the call to .e. without the jump table) follows: follows: ry is the address of the ISR’s the address is ry ofthe ISR’s terrupt, the entry is zero. is zero. entry the terrupt, Target Hardware Issues Target Hardware on the command line. line. command on the os_wrappers section. _os_vec2_table os_wrappers up to the highest bound vector. The content of eac OS_NO_JUMP_TABLE does not contain a traditional vector table, but d contains a jump table similar to that in contains the interrupt vector table (containing th table (containing vector the contains interrupt section. The table contains four-byte entries, one 0x10 osvec2.850 osvec3.850 osvec1.850
os_jumptable
If the vector is unbound and there is no default in default no and there is unbound is If vector the If If a Category 2 ISR is bound to the vector, the ent If toent athevector, 1 the is ISR bound Category If the vector is unbound and there exists a default If If the vector is unbound and there is no default in If If a Category 2 ISR is bound to the vector, the ent If a Category 1 ISR is bound to the vector, the ent If the vector is unbound and there exists a default jump to the default interrupt’s entry function. function. entry interrupt’s default the jump to outer interrupt wrapper for that ISR. for that wrapper interrupt outer entry function. entry function. address of the default interrupt’s entry function. function. entry interrupt’s the default address of outer interrupt wrapper for that ISR. for that wrapper interrupt outer entry function. entry function. instruction. instruction. Category 2 ISRs and saves and restores the register function. entry the ISR’s the The The file The The file The The file each vector from wrappers) wrappers) and the mid-wrapper. The vector table is section, which should be the in is placed wrapper linked starting at address contain a ‘jump table’ with the label table entry depends on its corresponding vector as vector corresponding its on depends table entry The The file also contains each outer wrapper reference the mid-wrapper. These are all placed in the in all placed are These mid-wrapper. the with the difference that instructions. the The entries contain content addres follows: as of vector corresponding each four-byte table e The The file can be assembled with only the wrappers (i symbol the by defining
osvec3.850 osvec2.850 osvec1.850 Issue M00080-001 Issue
3.1
14
3.1.6 xVV _os_wrapper_vvvv _os_wrapper_03a0 e.g. 0x03A0 0xVVVV Vector Location
Target HardwareTarget Issues not return from interrupt (interrupt from return not wrapper does not restore not does wrapper interrupt the handlershown in as thesamplecode p b not be must bit EP the used, are doescalls such If IPL. the RTA-OSEK ca API an if PSW the However, in bit progress) in (exception exception. the service interru 1 Category a used, is instruction trap a If Traps att labels zero-padded ofvalue location).the vector for the syntax represents (VVVV handlers the interrupt 2 Category shows table following The usage.stack Any stack. such additionalusagebestack must acco and stack, mus they then wrappers, outer the reaches execution only of implementation default The wrapper. preserve Important: rglr mdwapr sd in used mid-wrapper ‘regular’ differ fromdiffer thewrappers in reference wrappers outer the contains also file The osvec3.850 theonstack. rpoesr y eiig h symbol the defining line.command by preprocessor implementation default The provided. is interrupt, os_end_wrapper jump to to jump stsr PSW,r10; asm ByteType get_PSW(void) { } Macro has not expanded %error ldsr m, PSW ; %reg m ; asm void set_PSW(ByteType m) { r6
is preserved on the stack. If any other registers registers other any If stack. the on preserved is r6 os_end_wrapper n nerp-adig oe eoe xcto reache execution before code interrupt-handling in When using When lo otis seil om f i-rpe. Unlik mid-wrapper. of form special a contains also
os_end_wrapper wih restores which , osvec3.850
reti r6 osvec2.850 from the stack after the ISR has run, and does and run, has ISR the after stack the from overridden to restore them (and (and them restore to overridden ). The final instruction of the mid-wrapper is a is mid-wrapper the of instruction final The ). osvec1.850 A eal ipeetto of implementation default A . r6 Wrappe , it is the responsibility of the user to user the of responsibility the is it , rm h sak n rtrs from returns and stack the from by omitting by the preservecode to os_end_wrapper OS_NO_END_WRAPPER and rLabel (Osvec[23].850 Only) set back to 1 prior to leaving to prior 1 to back set pt handler can be set up to up set be can handler pt ll is made that manipulates that made is ll d in the jump table, which table, jump the in d unted for infortheidle unted task’s elow. osvec2.850 a b rmvd y the by removed be can 4 hex digit, upper-case, digit, hex 4 b peevd n the on preserved be t ce t RTA-OSEK to ached r ue before used are eev te EP the reserve a b ue if used be can r6 te outer the s ti mid- this , ) from the from ) n the on Issue Issue M00080-001 the e r6
3.1
15
with the command line line command the with g g code using the orrectly orrectly handle the atch all unexpected re are three available ariants such as the FE2 ddresses ddresses 0x0010 up to ds to make such calls, ISR. ISR. The Green Hills C upt upt and place it on the t memory address 0x70. can be defined on the on be defined can upt will then be used to fill upt upt vectors directed to the and and it is illegal for it to lower e range. If the user wishes to nused nused vectors with the default Target Hardware Issues Target Hardware ocessing will be needed. be will needed. ocessing osvec1.850 . To the fill entire vector table for osvec1.850 will insert the security number security thenumber insert will to be the file’s name. For example, assembling assembling example, For name. file’s the be to macro in macro in can alternatively be defined in a header file, andfile, a header in defined be alternatively can
can be made to include that file by defining defining that file by include to made can be function qualifier. qualifier. function DOS_SECURITY_ID=0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x55, 0x44, 0x33, 0x22, DOS_SECURITY_ID=0x11, up up to the highest declared interrupt OS_SECURITY_ID option - option osvec1.850 OS_SECURITY_ID_HEADER The The assembling example, For command line. 0x77, 0x88, 0x99, 0xAA 0x99, 0x88, 0x77, 0x112233445566778899AA at address 0x70. address 0x70. at 0x112233445566778899AA OS_SECURITY_ID { { get_PSW(); = psw_val ByteType register DisableAllInterrupts(); ... EnableAllInterrupts(); set_PSW(psw_val); } sync_isr(void) void __interrupt } }
1. 2. highest highest vector used by the chip. The default interr this. below vectors all unused your chip variant, create a dummy Category 1 interr Flash Security ID To protect the contents of internal ROM some V850 v and FF2 support a 10 byte security number located a Default Interrupt The ‘default interrupt’ is intended to be named used routine to that c you specify. This routine must c This address falls within the interrupt vector tabl enter a 10 byte security number at this address the Note that in reality an exception because it is already handler executing at the highest IPL never nee pr no special case, this In priority. the interrupt interrupts. All unused interrupts have their interr interrupt context, in the same way as a Category compiler 1 can generate __interrupt appropriate interrupt handlin Because RTA-OSEK only emits interrupt vectors for a the highest declared interrupt, it will only fill u interrupt methods:
3.1.8 3.1.7 Issue M00080-001 Issue
3.2
16 3.2
Register SettingsRegister PSW.ID Register r21 r20 Register
floating-pointwrappers bemay in found theRTA-OSE applicatio example the in demonstrated as GUI, OSEK Target HardwareTarget Issues n re t mk ue f hs wapr al ak an tasks all wrappers these of registers use make to order In freelybe modifiedtosuit differing registerusage of six all preserve wrappers provided The wrappers. h kre hs en opld ih h - the with compiled been has kernel The hardware following the shouldnotbe alteredby usercode. uses Component RTA-OSEK The callingbefore regis following the requires Component RTA-OSEK The means registersthatmeans neither by the interrupt wrappers nor by by nor wrappers interrupt the by neither which use these registers (e.g., by compiling with with compiling by (e.g., registers - these use which hm en crutd y h kre. However, kernel. the by corrupted being them registermode=32 3.
osvec1.850 0x44, 0x55, 0x66, 0x77, 0x88, 0x99, 0xAA ID0x112233445566778899AA address at 0x70. -DOS_SECURITY_ID_ASM=\"security_id.850\" the the file usingthepreprocessor symbol the the startof osvec1.850 securityThe IDcan bealso specified in an assembl =\"security_id.h\" osvec1.850
r17 security_id.850 – StartOS() r22 osvec1.850 withthe option can be can madetoinclude filethat at vector0x70. T withthe option - should be identified as ‘using floating-point’ in floating-point’ ‘using as identified be should
r17 ) must take care to preserve them in the floating-p the in them preserve to care take must ) 65535 255 Required ValueRequired –
Processorstatus interruptword enable bit Notes . . r22
will have the effectofincluding . .
are free for use by use forare free applicationswithout risk of
containing“ OS_SECURITY_ID_ASM DOS_SECURITY_ID_HEADER
setjmp registermode=26 .byte 0x11, 0x22, 0x33, . . Notes
r17 / longjmp these registers and may and registers these K UserGuide.K n. Further details on the on details Further n. er source er file, and
– – IR wih modify which ISRs d es o e initialized be to ters h dfut option default the r22 ” and ” assemblingand willinsert the security . Forexample, . creating , so applications so , eitr. They registers. security_id.h r preserved are pin This option.
his ishis achieved the RTA- the Issue Issue M00080-001 oint at
3.3
17 he he
is always 0.always is more about call stack excluding excluding calls to hooks use other library code, you Target Hardware Issues Target Hardware StackFaultHook .
is a scalar, representing the number of bytes on t
unsigned long unsigned
API max usage (bytes): 64 (bytes): 64 max usage API (bytes): 88 max usage API To determine the stackcorrect forusage tasks that may need to contact the library usage. vendor to find out The The maximum stack usage within RTA-OSEK API calls, (bytes): 64 max usage API Number of Stacks to argument first The is used. stack A single Stack Calls Usage API within follows: as is and callbacks, osStackOffsetType stack, with C type type C with stack,
Stack Stack Usage 3.3.2 3.3.1
Extended Timing Standard Issue M00080-001 Issue 3.3
4.1
19
32 64 64 64 64
255 255 255 Yes
32 64 64 64 64
255 255 255 Yes Yes
No 1 32 64 64 64 n/a
255 255 No
0
64 64 64 64
255 255 255 Yes ts supported per
0 Application Uses Application g g on whether your 64 64 64 64
ts ts of features. These No 255 255 255 Yes ments in this chapter: chapter: this ments in V850E/PH2 64 ROM FLASH On-chip ROM FLASH On-chip RAM On-chip not limited by RTA-OSEK by not limited not limited by RTA-OSEK by not limited sult, different figures will sult, will figures different
our conformance classes. unctionality, unctionality, performance
No the table. table. the 1 0 /or multiple (queued) task application application belongs to and 64 64 64 n/a 255 255 No
Events
Parameters of Implementation of Parameters
built with OSEK OS objects. The following
systems
Shared Task Priorities Task Shared
Multiple Task Activations Task Multiple
The following hardware was used to take the measure the take to was used hardware The following then use the figures from the appropriate column in column appropriate the from figures the then use feature-sets feature-sets give six application classes uses events, of shared task priorities RTA-OSEK, and activations. dependin You should identify which class your be be obtained when your application uses different se The OSEK Operating System Specification specifies f These attributes apply to This This chapter provides detailed information on the f Component. the RTA-OSEK of demands and memory The Component RTA-OSEK is highly scalable. As a re table table specifies the number of class. conformance OSEK OS and COM objec Number of tasks per priority (for BCC2 and ECC2) BCC2 (for priority per tasks of Number activations task basic of for number Upper limit task priority per task per events of Maximum number objects alarm of the number for Limits task) per / (per system resources standard of the number for Limits (per system) resources internal of the number for Limits (per system) resources nested of the number for Limits task) per / (per system Configuration tasks of Maximum number tasks suspended not of Maximum number priorities of Maximum number Clock speed (MHz) speed Clock memory Code memory Read-only data memory data Read-write Processor Functionality Parameters of Implementation of Parameters
Issue M00080-001 Issue 4.1 4
4.2
4.2 20
Standard Timing
4.2.1 HardwareResources COMoverhead overheadOS MultipleTask Activations Configuration Limitsfornumber the of applicationmodes Configuration COMoverhead overheadOS MultipleTask Activations Configuration
Parametersof Implementation the parts ofthe OSEK COM required implement to messagi not will application your messages, use not do you q are overheads COM OSEK The overheads bytes). (in RAM Component and ROM the give tables following The RAM Overheadsand ROM SharedTask Priorities SharedTask Priori
Events Events MultipleTask Activations ties SharedTask Priorities
ROM RAM ROM RAM ROM RAM ROM RAM
Events No No
284 208 16 78 16 58
8 8 No No
Yes Yes No No 284 208 No 16 78 16 58
8 8 ApplicationUses ApplicationUses No
include this overhead for overhead this include
Yes ng. ng. No
Yes Yes 288 212 ApplicationUses
uoted separately. If separately. uoted 16 78 16 58
o te RTA-OSEK the for
8 8 4294967295
Yes
No No 398 322
16 78 16 58
8 8 No No No
No
Yes Yes Yes Yes Issue Issue M00080-001 398 322
Yes Yes 16 78 16 58
8 8
Yes Yes Yes 402 326
16 78 16 58
8 8
4.2
8 21 16
108 468 Yes
8 16
108 464 Yes Yes
No
8
16 108 464 No
8 additional additional sub-task 16
108 354 ements ements (in bytes) for r r systems with events. Yes d), d), determined by the Arithmetic at class COM OSEK the
h h CCCA and CCCB. The Application Uses Application 8 ction ction 4.2.1, each OSEK OS
16 108 350 No
Yes
No 8
16 108 350 No Parameters of Implementation of Parameters
RAM ROM RAM ROM
Termination Events
Shared Task Priorities Task Shared
The The following tables give the ROM and/or RAM each OS thobject thein Component. RTA-OSEK (Note requir was set to CCCA for systems without events, CCCB fo A default message of size 10 bytes was used for bot messages.) queued size includes message CCCB ROM ROM andfor RAM OSEK Objects OS In addition to the base OS overhead, detailed in Se object object requires ROM and/or RAM. types RTA-OSEK for provides each task type in OSEK follows: asare They tools. offline configuration (basic and extende
BCC2 BCC2 ECC1 ECC1 ECC2 ECC2 Light Heavy or Heavyweight Heavyweight Heavyweight Floating-Point or Integer Heavyweight Integer Floating-Point Integer Floating-Point OSEK OSEK Class BCC1 BCC1 Lightweight Heavyweight Floating-Point or Integer Floating-Point or Integer Configuration Activations Task Multiple OS overhead overhead COM 4.2.2 Extended Issue M00080-001 Issue
4.2
22
Standard Alarm resourceLinked Internal resource Resource Category2 ISR, floating-point Category2 ISR ECC2,floating-point task ECC2, Integer task floating-pointECC1, task IntegerECC1, task BCC2task BCC1Heavyweight task BCC1Lightweight task Configuration Message resource Flag Message Counter
MultipleTask Activations Parametersof Implementation
SharedTask Priorities
Events
ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM
No 112 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 48 44 11 40 80 60 24 20 12 24 24 24
4 0 0 1 4 4 0 0 0 0 0 No
Y No 112 es n/a n/a n/a n/a n/a n/a n/a n/a 56 48 44 11 40 80 60 24 20 12 24 24 24
8 4 0 0 1 4 4 0 0 0 0 0
ApplicationUses
Yes 112
n/a n/a n/a n/a n/a n/a n/a n/a
64 10 48 44 11 40 80 60 24 20 12 24 24 24 4 0 0 1 4 4 0 0 0 0 0
No 112 n/a n/a n/a n/a n/a n/a 68 68 68 48 44 56 31 40 80 60 92 24 12 24 24 24
4 0 0 1 4 4 0 0 0 0 0 No
Issue Issue M00080-001
Yes Yes
112 n/a n/a n/a n/a 68 68 68 56 48 44 56 31 40 80 60 92 24 12 24 24 24 8 4 0 0 1 4 4 0 0 0 0 0
Yes 112
56 31 40 80 60 76 76 70 68 68 68 64 10 48 44 24 12 24 24 24 94 92 0 1 4 4 0 0 0 0 0 4 0
4.2
0 4 6 0 0 0 8 8 8 23 12 22 12 12 60 16 64 80 80 84 84 16 86 16 16 16 16 36
104 Yes Yes
0 8 8 8 0 4 6 0 0 12 20 72 12 12 80 84 84 16 36 60 16 64 16 86 16 16 16
104
Yes Yes Yes Yes
No No 0 8 8 8 0 4 0 0 0 0
12 12 80 84 84 16 36 60 16 64 16 86 16 16 16 n/a n/a 104 No No
0 8 8 8 0 4 6 0 0 12 22 12 12 16 36 60 16 64 80 16 86 16 16 16
n/a n/a n/a n/a
Yes Yes
Application Uses Application Application Uses Application
0 8 8 8 0 4 0 0 0 0
12 20 72 12 16 36 60 16 64 16 86 16 16 16 n/a n/a n/a n/a es No No Yes Y
No No 0 8 8 8 0 4 0 0 0 0
12 12 16 36 60 16 64 16 86 16 16 16 n/a n/a n/a n/a n/a n/a No No Parameters of Implementation of Parameters
RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM
Events Events
Task Priorities Task
Shared Shared Shared Task Priorities Task Shared
Multiple Task Activations Task Multiple Multiple Task Activations Task Multiple
task Heavyweight BCC1 task BCC2 task ECC1, Integer task ECC1, floating-point Configuration task Lightweight BCC1 Arrivalpoint (readonly) Arrivalpoint (writable) Arrivalpoint Schedule (readonly) Taskset (writable) Taskset Event level Priority ScheduleTable Expiry ScheduleTable Configuration Timing Issue M00080-001 Issue
4.2
24
Prioritylevel Event Message resource Flag Message Counter Alarm resourceLinked Internal resource Resource Category2 ISR, floating-point Category2 ISR ECC2,floating-point task ECC2, Integer task Configuration Arrivalpoint (writable) Arrivalpoint (readonly) ScheduleTableExpiry ScheduleTable
MultipleTask Activations Parametersof Implementation
Shared
TaskPriorities
Events
ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM
No 110 112 n/a n/a n/a n/a 36 16 16 16 86 16 11 40 24 94 12 12 24 20 12 24
0 0 0 0 0 0 0 4 0 0 1 4 4 0 No
Yes No 110 112 n/a n/a n/a n/a 36 16 16 16 86 16 11 40 24 94 12 12 24 20 12 24
0 0 0 0 0 0 0 4 0 0 1 4 4 0
ApplicationUses
Yes 110 112
n/a n/a n/a n/a
36 16 16 16 86 16 11 40 24 94 12 12 12 24 20 12 24 0 0 0 0 0 6 4 0 0 1 4 4 0
No 110 112 n/a n/a n/a n/a 36 16 16 16 86 16 56 31 40 24 94 12 12 24 12 24
0 0 0 0 0 0 0 4 0 0 1 4 4 0 No
Issue Issue M00080-001
Yes Yes
110 112 n/a n/a n/a n/a 36 16 16 16 86 16 56 31 40 24 94 12 12 12 24 12 24 0 0 0 0 0 6 4 0 0 1 4 4 0
Yes 110 106 112
16 16 16 86 16 56 31 40 36 12 12 24 12 24 24 94 12 92 92 82 0 0 6 4 0 0 1 4 4 0 0 0 0
4.2
0 0 0 8 8 8 25 92 72 20 72 26 92 86 16 40 16 36 16 36 16 88 84
122 108 100 110 100 106 Yes Yes
0 0 0 8 8 8 72 20 72 24 92 92 16 36 16 80 84 16 40 16 36 n/a n/a n/a n/a
122 108 106
Yes Yes Yes Yes
No No 0 0 0 8 8 8
72 20 72 92 92 16 36 16 84 16 40 16 36 n/a n/a n/a n/a n/a n/a 122 108 106 No No
0 0 0 8 8 8 72 20 72 26 16 36 16 88 16 40 16 36
n/a n/a n/a n/a n/a n/a n/a n/a
122 106 Yes Yes
Application Uses Application Uses Application
0 0 0 8 8 8
72 20 72 24 16 36 16 80 16 40 16 36 n/a n/a n/a n/a n/a n/a n/a n/a 122 106 No No Yes Yes
No No 0 0 0 8 8 8
72 20 72 16 36 16 16 40 16 36 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 122 106 No No Parameters of Implementation of Parameters
RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM
Events Events
Task Priorities Task
Shared Task Priorities Task Shared Shared Shared
Multiple Task Activations Task Multiple Multiple Task Activations Task Multiple
ISR 2 Category floating-point ISR, 2 Category Resource resource Internal task BCC2 task ECC1, Integer task ECC1, floating-point task Integer ECC2, task floating-point ECC2, Configuration task Lightweight BCC1 task Heavyweight BCC1 Schedule (readonly) Taskset (writable) Taskset Configuration Extended Issue M00080-001 Issue
4.2
26
4.2.3 Taskset (readonly) Schedule Arrivalpoint (writable) Arrivalpoint (readonly) ScheduleTableExpiry ScheduleTable Prioritylevel Event Message resource Flag Message Counter Alarm resourceLinked Configuration Taskset (writable)
MultipleTask Activations Parametersof Implementation oue ie (n ye) o ec AI al n h 3 the in call API each (standard, timing, extended). and for foll bytes) The (in sizes module. module linkable separately a into placed mean This linked.demand is ComponentRTA-OSEK The LinkableModules of Size
SharedTask Priorities
Events
ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM ROM RAM
No 116 36 16 11 44 36 16 44 86 16 24 12 20 28 28 28 12
1 4 4 8 8 8 0 0 0 0 0 4 0 No
Yes No 116 36 16 11 44 36 16 44 86 16 24 12 20 28 28 28 12
1 4 4 8 8 8 0 0 0 0 0 4 0
ApplicationUses
wn scin ls the list sections owing T-SK ul types build RTA-OSEK Yes s that each API call is call API each that s 116
36 16 11 44 36 16 44 86 16 24 12 20 28 28 28 12 12 1 4 4 8 8 8 0 0 0 6 4 0
No 116 36 16 60 31 44 36 16 44 86 16 12 20 28 28 28 12
1 4 4 8 8 8 0 0 0 0 0 4 0 No
Issue Issue M00080-001
Yes Yes
116 36 16 60 31 44 36 16 44 86 16 12 20 28 28 28 12 12 1 4 4 8 8 8 0 0 0 6 4 0
Yes 116
44 86 16 36 16 60 31 44 36 16 20 28 28 28 12 12 12 8 8 8 0 0 0 6 4 0 1 4 4
4.2
27
and rity. rity. rity. rity. tatus. tatus. etermine etermine when ly ECC task. ECC ly ECC task. ECC , but does not use ent for which the call is ular ular API calls. This is GetServiceID he he smallest and fastest call e given for each variant under under variant foreach e given . . GetServiceID Parameters of Implementation of Parameters uses uses
cription ErrorHook ErrorHook GetServiceParameters GetServiceParameters Des
In In some cases there are because multiple variants the of partic offline optimized versions of the API calls can be configuration used. T of ar modules sizes cases, thesebe will selected. In RTA-OSEK can the particular configuration of the RTA-OSEK Compon d valid. as follows: are The variants call NS2 NS2 NSH NSL task. BCC2 one has taskset Activated Shared prio higher to not task, from heavyweight Chain SW SW2 prio higher to not task, from lightweight Chain and ISRs. tasks by used is Resource if required. made is switch A context task. BCC2 one has taskset Activated LExt ServiceID Parameters S Extended in termination Used for lightweight NoHook NS NS1i are used. not hooks Task Post- and/or Pre- is possible. switch context No is on task idle is possible, switch context No CLEx fp H OS Status. Extended tests in Resource Hook KL floating-point. task uses ECC KL1i only. termination Used for heavyweight are used. hooks Task and Post- Pre- KL2 level. from OS is called API task is only idle level, from OS is called API task. BCC2 one has taskset Activated Variant 1i CCCA CCCB task. ECC task is only Idle class. COM OSEK class. COM OSEK Issue M00080-001 Issue
4.2
28
Standard ResumeOSInterrupts SuspendAllInterrupts ResumeAllInterrupts DisableAllInterrupts EnableAllInterrupts GetTaskState GetTaskID Schedule ChainTask TerminateTask ActivateTask Servicename MultipleTask Activations Configuration Resourceis used onlyby tasks. Chain lightweight from totaskpossibly higher Chain heavyweight from taskpossibly to higher Task SWL SWH Variant SetEvent ReleaseResource GetResource SuspendOSInterrupts
Parametersof Implementation SharedTask Priorities
Des
Events
cription
KL NS SW Variant NS1i NS SW CLEx Combined Task CLEx Combined Task NSH NSL SWH SWL H LExt
2 1 Notes 10 1 3 6 7 3 6 7 9 8 9 1, 8 1, 5 3
No 118 140 166 138 170 170 194 102 128 196 216 n/a n/a n/a n/a n/a n/a 86 30 48 30 14 34 42 22 94 22
No
Yes
No 138 310 214 234 262 194 102 128 290 266 266 n/a n/a n/a n/a n/a n/a 86 30 48 30 14 34 42 22 94 22 ApplicationUses
Yes
316 344 364 268 288 194 102 128 112 196 320 320 n/a n/a n/a n/a n/a n/a
30 48 30 14 34 42 22 94 22
priority.
priority.
No 138 160 186 148 176 138 194 102 128 122 216 194 236 194 n/a n/a n/a 50 86 30 48 30 14 34 42 22 22
No Issue Issue M00080-001
Yes Yes
148 176 138 306 238 258 290 194 102 128 122 290 326 290 n/a n/a n/a n/a 86 30 48 30 14 34 42 22 22
Yes
330 418 438 346 370 298 194 102 128 112 122 196 392 392 398 n/a n/a n/a n/a
30 48 30 14 34 42 22 22
4.2
4 4 4 29
20 42 28 26 24 90 62 94 12 46 50 68 40 14 48 16 63 68 54 14 10
n/a n/a n/a n/a 282 572 232 192 170 454 510 556 136 Yes
4 4 4
28 26 24 62 94 12 20 42 90 14 10 46 50 68 40 14 48 16 63 68 54 n/a n/a n/a n/a 232 192 132 230 258 572 136 170 556
Yes Yes
No
4 4 4 on 28 26 24 62 92 12 20 42 26 24 90 66 80 14 10 46 50 68 40 14 48 16 63 68 54 n/a n/a 126 132 230 258 572 170 556 No
4 4 4
28 26 24 62 94 12 20 42 90 10 46 50 68 40 14 63 68 54
n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 232 192 572 136 170 556 Yes
4 4 4 Application Uses Application 28 26 24 62 94 12 20 42 90 10 46 50 68 40 14 63 68 54 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 232 192 572 136 170 556 No Yes
No
4 4 4 28 26 24 62 92 12 20 42 90 66 80 10 46 50 68 40 14 63 68 54 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 126 572 170 556 No
13 34 34 34 34 4 32 33 2 30 12 2 10 2, 11 10
Parameters of Implementati of Parameters
Hook ActivateTask SetEvent Callback Tick counter Final Yielding Non-Yielding
Events
Shared Task Priorities Task Shared
StopCOM osek_incr_counter GetActiveApplicationMode StartOS ShutdownOS InitCOM CloseCOM StartCOM StopScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable GetISRID container Process container Process osek_tick_alarm GetAlarm SetRelAlarm SetAbsAlarm CancelAlarm InitCounter GetCounterValue GetScheduleTableStatus NextScheduleTable StartScheduleTable Multiple Task Activations Task Multiple ClearEvent GetEvent WaitEvent GetAlarmBase Configuration Issue M00080-001 Issue
4.2
30
ErrorHook support sub_dispatch main_dispatch SendMessage GetMessageStatus ReleaseMessageResource GetMessageResource ReceiveMessage ResetFlag ReadFlag MultipleTask Activations Configuration ChainTaskset ActivateTaskset Timing_termination Timing_dispatch validity_checks
Parametersof Implementation SharedTask Priorities
Events
KL CCCBKL CCCAKL CCCBNS CCCANS CCCB SW CCCA SW CCCB CCCA SWH SWL KL NS SW Parameters ServiceID E2 H F E2HI E1HF E1HI B2 H F B2HI B 2 LF B2LI B1HF B1HI B1LF Hook NoHook
2,15 2,14 15 14 15 1, 14 1, 15 14 30 30 1, 9 1, 8 1, 2 1 4 4 3 18 17 16 29 28 27 26 25 24 23 22 21 20 19 13 12
No 160 114 106 216 240 240 224 244 182 112 132 320 286 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 56 48 64 44 36 72 92 92 42 72 52
No
Yes No 304 106 114 106 216 240 240 224 494 392 324 352 256 248 320 286 n/a n/a n/a n/a n/a n/a n/a n/a n/a 56 48 64 44 36 72 92 92 42 72 52 98 ApplicationUses
Yes 560 466 364 386 316 138 130 114 106 384 216 240 240 224 426 324 392 n/a n/a n/a n/a n/a n/a n/a n/a n/a
56 48 64 44 36 72 92 92 42 72 52
No 156 386 114 106 232 232 256 256 256 256 224 224 264 202 190 208 394 320 286 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 56 48 44 36 42 72 52
No Issue Issue M00080-001
Yes Yes
440 434 386 106 114 106 232 232 256 256 256 256 224 224 532 362 402 394 256 248 320 286 n/a n/a n/a n/a n/a n/a n/a 56 48 44 36 42 72 52 98
Yes 640 540 486 556 316 138 130 114 106 384 526 498 482 498 482 324 392 232 232 256 256 256 256 224 224 n/a n/a n/a n/a n/a
44 36 56 48 72 52 42
4.2
8 8 4 8 4 8 31
12 32 26 12 96 12 12 58 46 64 74 66 81 56 68 16
620 206 190 122 540 154 138 138 Yes
8 8 8 4 8 4
96 12 12 12 32 26 12 81 56 68 16 58 46 64 74 66 122 512 206 190 440 154 138 138
Yes Yes
No
8 8 8 4 8 4 96 12 12 12 32 26 12 81 56 68 16 58 46 64 74 66 122 202 244 206 190 154 138 138 No
8 8 8 4 8 4
96 12 12 12 32 26 12 81 56 68 16 58 46 64 74 66
122 206 190 466 540 154 138 138 Yes
8 8 8 4 8 4 Application Uses Application 96 12 12 12 32 26 12 81 56 68 16 58 46 64 74 66 122 392 206 190 474 154 138 138 No Yes
No
8 8 8 4 8 4 96 12 12 12 32 26 12 81 56 68 16 58 46 64 74 66 190 182 224 254 218 202 242 206 No
2 8 9 1 2 1 Parameters of Implementation of Parameters
KL NSL NSH SW NS KL SW NS
Events
Shared Task Priorities Task Shared
GetLargestExecutionTime ResetLargestExecutionTime GetStackOffset GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay SetArrivalpointDelay GetArrivalpointTasksetRef GetArrivalpointNext SetArrivalpointNext TestArrivalpointWritable GetExecutionTime TickSchedule AdvanceSchedule StartSchedule StopSchedule GetScheduleStatus Multiple Task Activations Task Multiple GetTasksetRef MergeTaskset AssignTaskset RemoveTaskset TestSubTaskset TestEquivalentTaskset Configuration Issue M00080-001 Issue
4.2
32
Timing ReleaseResource GetResource SuspendOSInterrupts ResumeOSInterrupts SuspendAllInterrupts ResumeAllInterrupts DisableAllInterrupts EnableAllInterrupts GetTaskState GetTaskID Schedule ChainTask TerminateTask ActivateTask Servicename MultipleTask Activations Configuration WaitEvent GetEvent ClearEvent SetEvent
Parametersof Implementation SharedTask Priorities
Events
NSH NSL SWH SWL H LExt KL NS SW Variant fp
9 8 9 1, 8 1, 5 3 2 1 Notes 11 2,10 2 10 1 3 6 7 3 6 7
No 170 170 118 140 166 160 196 216 232 124 128 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 86 30 48 30 14 34 22 42 22 94
No
Yes
No 310 160 290 266 266 214 234 262 232 124 128 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 86 30 48 30 14 34 22 42 22 94 ApplicationUses
Yes
344 364 316 320 320 268 288 232 124 128 112 218 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a
30 48 30 14 34 22 42 22 94
No 138 160 186 148 176 160 216 194 236 194 322 294 132 232 124 128 122 n/a n/a n/a 16 48 50 86 30 48 30 14 34 22 26 42 22
No Issue Issue M00080-001
Yes Yes
306 148 176 160 290 326 290 238 258 290 322 294 132 232 124 128 122 n/a n/a n/a n/a n/a 16 48 86 30 48 30 14 34 22 42 22
Yes
516 330 418 438 346 370 572 282 298 232 124 128 112 122 218 392 392 398 n/a n/a n/a n/a n/a
16 48 30 48 30 14 34 42 22 22
4.2
4 4 4 33
28 26 24 42 90 62 94 12 20 42 40 14 48 63 68 54 14 10 46 36 50 68
n/a n/a n/a n/a 222 224 224 572 232 192 556 136 Yes
4 4 4
42 20 42 28 26 24 90 62 94 12 48 14 10 46 36 50 68 40 14 63 68 54 n/a n/a n/a n/a 224 224 222 572 232 192 556 136
Yes Yes
No
4 4 4 42 20 42 28 26 24 92 90 62 92 12 48 14 10 46 36 50 68 40 14 63 68 54 66 80 n/a n/a n/a 224 224 222 572 126 556 No
4 4 4
42 20 42 28 26 24 90 62 94 12 64 48 10 46 36 50 68 40 14 63 68 54
n/a n/a n/a n/a n/a 224 222 572 232 192 556 136 Yes
4 4 4 Application Uses Application 42 20 42 28 26 24 90 62 94 12 64 48 10 46 36 50 68 40 14 63 68 54 n/a n/a n/a n/a n/a 224 222 572 232 192 556 136 No Yes
No
4 4 4 42 20 42 28 26 24 90 62 92 12 64 48 10 46 36 50 68 40 14 63 68 54 66 80 n/a n/a n/a n/a n/a 224 222 572 126 556 No
30 14 15 4 32 33 2 30 12 13 30 10 34 34 34 34
Parameters of Implementation of Parameters
CCCA CCCB SetEvent Callback Tick counter Final Yielding Non-Yielding
Events
Shared Task Priorities Task Shared
ReleaseMessageResource InitCOM CloseCOM StartCOM StopCOM ReadFlag ResetFlag ReceiveMessage GetMessageResource GetISRID container Process container Process osek_tick_alarm osek_incr_counter GetActiveApplicationMode StartOS ShutdownOS GetScheduleTableStatus NextScheduleTable StartScheduleTable StopScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable Multiple Task Activations Task Multiple GetAlarmBase GetAlarm SetRelAlarm SetAbsAlarm CancelAlarm InitCounter GetCounterValue Configuration Issue M00080-001 Issue
4.2
34
ActivateTaskset Timing_termination Timing_dispatch validity_checks ErrorHook support sub_dispatch main_dispatch SendMessage GetMessageStatus MultipleTask Activations Configuration RemoveTaskset AssignTaskset MergeTaskset GetTasksetRef ChainTaskset
Parametersof Implementation SharedTask Priorities
Events
B2LI B1HF B1HI B1LF Hook NoHook CCCBKL CCCAKL CCCBNS CCCANS CCCB SW CCCA SW NSH NSL SWH SWL KL NS SW Parameters ServiceID E2 H F E2HI E1HF E1HI B2 H F B2HI B 2 LF
22 21 20 19 13 12 2,15 2,14 15 14 15 1, 14 1, 9 8 9 1, 8 1, 2 1 4 4 3 18 17 16 29 28 27 26 25 24 23
No 354 160 120 112 398 216 240 240 224 182 244 182 112 132 n/a n/a n/a n/a n/a n/a n/a n/a n/a 56 64 46 58 74 44 20 72 92 92 12 94 72 52
No
Yes No 354 474 304 120 112 398 216 240 240 392 494 392 324 352 260 252 n/a n/a n/a n/a n/a 78 56 64 46 58 74 44 86 20 72 92 92 12 94 72 52 ApplicationUses
Yes 110 540 466 560 466 364 386 118 120 112 472 428 216 240 240 426 328 320 n/a n/a n/a n/a n/a
56 64 46 58 74 44 20 72 92 92 12 94 72 52
No 354 156 440 120 112 398 232 232 256 256 256 256 244 202 264 202 190 208 432 n/a n/a n/a n/a n/a n/a n/a 56 64 46 58 74 44 20 12 94 72 52
No Issue Issue M00080-001
Yes Yes
354 440 440 434 440 120 112 398 232 232 256 256 256 256 512 532 362 402 432 260 252 n/a n/a n/a 78 56 64 46 58 74 44 86 20 12 94 72 52
Yes 540 640 540 486 556 540 540 118 110 620 526 524 524 328 320 120 112 472 428 232 232 256 256 256 256 n/a
64 46 58 74 44 56 12 94 72 52 20
4.2
8 8 8 35
26 96 12 12 12 32 96 20 16 74 66 81 56 68 16
562 120 206 190 122 476 434 154 138 138
Yes Yes
8 8 8
12 12 12 32 96 20 26 96 16 74 66 81 56 68 16 452 120 206 190 122 356 316 154 138 138
Yes Yes Yes Yes
No No
8 8 8 12 12 12 32 96 20 26 96 16 74 66 81 56 68 16 244 210 120 206 190 122 340 154 138 138 No No
8 8 8
12 12 12 32 96 20 26 96 16 74 66 81 56 68 16
332 120 206 190 122 374 468 154 138 138
Yes Yes
8 8 8 Application Uses Application Application Uses Application 12 12 12 32 96 20 26 96 16 74 66 81 56 68 16 326 424 286 120 206 190 122 154 138 138 No No
Yes Yes
No No
8 8 8 12 12 12 32 96 20 26 96 16 74 66 81 56 68 16 220 182 120 254 218 202 242 206 190 314 No No
Notes 1 2 3
1 2 1 2 Parameters of Implementation of Parameters
Variant SW NS KL LExt
SW NS KL SW NS KL
Events Events
Task Activations Task
Shared Task Priorities Task Shared Shared Task Priorities Task Shared
Configuration Multiple name Service ActivateTask TerminateTask GetArrivalpointNext SetArrivalpointNext TestArrivalpointWritable GetExecutionTime GetLargestExecutionTime ResetLargestExecutionTime GetStackOffset StartSchedule StopSchedule GetScheduleStatus GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay SetArrivalpointDelay GetArrivalpointTasksetRef Multiple Task Activations Task Multiple TestSubTaskset TestEquivalentTaskset TickSchedule AdvanceSchedule Configuration Extended Issue M00080-001 Issue
4.2
36
GetEvent ClearEvent SetEvent ReleaseResource GetResource SuspendOSInterrupts ResumeOSInterrupts SuspendAllInterrupts ResumeAllInterrupts DisableAllInterrupts EnableAllInterrupts GetTaskState GetTaskID Schedule ChainTask Multiple Configuration GetCounterValue InitCounter CancelAlarm SetAbsAlarm SetRelAlarm GetAlarm GetAlarmBase WaitEvent
Parametersof Implementation SharedTask Priorities
TaskActivations
Events
NSH NSL SWH SWL H 1i fp
9 8 9 1, 8 1, 5 10 11 2,10 2 10 1 3 6 7 3 6 7
No 438 156 136 640 644 131 430 338 348 204 248 392 326 270 172 112 132 268 332 312 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 46 34 54 66 92 72 92
No
Yes No 510 386 156 136 640 644 131 430 338 348 204 248 524 426 172 112 132 268 332 312 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 46 34 54 66 92 72 92 ApplicationUses
Yes 300 558 434 156 136 640 644 131 430 338 340 204 572 472 172 112 132 268 332 312 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a
46 34 54 66 92 72 92
No 454 414 156 136 640 644 131 414 136 156 164 314 430 338 348 224 248 352 296 172 112 132 214 442 200 272 390 268 332 312 46 34 54 66 92 72 92
No Issue Issue M00080-001
Yes Yes
556 456 408 156 136 640 644 131 414 136 314 430 338 348 224 248 528 172 112 132 442 200 272 390 268 332 312 n/a n/a n/a 46 34 54 66 92 72 92
Yes 136 640 644 131 676 136 410 558 464 430 338 340 300 676 634 564 156 172 112 132 620 200 268 332 312 224 512 n/a n/a n/a
66 46 34 54 92 72 92
4.2
4 4 4 37
12 20 42 26 58 38 40 14 10 46 60 50 68 40 40 50
n/a 288 288 324 324 324 324 428 256 216 246 100 108 110 316 316 118 160 Yes
4 4 4
42 26 12 20 40 40 50 58 38 40 14 10 46 60 50 68 n/a 324 324 246 288 288 324 324 256 216 316 316 354 100 108 110 118 160
Yes Yes
No
4 4 4 42 26 90 12 20 40 40 50 58 38 40 14 10 46 60 50 68 n/a 324 324 246 288 288 324 324 316 316 354 100 108 110 104 150 116 No
4 4 4
42 26 12 20 40 40 50 58 38 40 10 46 60 50 68
n/a n/a 298 428 246 132 288 256 216 164 308 158 100 108 110 164 308 118 160 Yes
4 4 4 Application Uses Application 42 26 12 20 40 40 50 58 38 40 10 46 60 50 68 n/a n/a 298 246 132 288 256 216 164 308 158 354 100 108 110 164 308 118 160 No Yes
No
4 4 4 42 26 90 12 20 40 40 50 58 38 40 10 46 60 50 68 n/a n/a 298 246 132 288 164 308 158 354 100 108 110 164 308 104 150 116 No
14 15 14 2, 15 2, 12 2 30 12 13 14 15 1, 14 1, 15 34 34 34 34 4 32 33
Parameters of Implementation of Parameters
NS NS CCCA NS CCCB KL CCCA KL CCCB NoHook KL NoHook Hook CCCA CCCB SW CCCA SW CCCB ActivateTask SetEvent Callback Tick counter Final Yielding Non-Yielding
Events
Task Activations Task
Shared Task Priorities Task Shared
main_dispatch GetMessageResource ReleaseMessageResource GetMessageStatus SendMessage ShutdownOS InitCOM CloseCOM StartCOM StopCOM ReadFlag ResetFlag ReceiveMessage ScheduleTable expiry point expiry ScheduleTable GetISRID container Process container Process osek_tick_alarm osek_incr_counter GetActiveApplicationMode StartOS Multiple Multiple GetScheduleTableStatus NextScheduleTable StartScheduleTable StopScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable Configuration Issue M00080-001 Issue
4.2
38
MergeTaskset GetTasksetRef ChainTaskset ActivateTaskset Timing_termination Timing_dispatch validity_checks ErrorHook support sub_dispatch Multiple Configuration AdvanceSchedule TickSchedule TestEquivalentTaskset TestSubTaskset RemoveTaskset AssignTaskset
Parametersof Implementation SharedTask Priorities TaskActivations
Events
E2 H F E2HI E1HF E1HI B2 H F B2HI B 2 LF B2LI B1HF B1HI B1LF Hook KL NS SW KL NS SW NSH NSL SWH SWL KL NS SW Parameters ServiceID
16 29 28 27 26 25 24 23 22 21 20 19 13 2 1 2 1 9 8 9 1, 8 1, 2 1 4 4 3 18 17
No 474 380 334 474 130 600 554 506 386 306 118 120 112 398 362 390 252 256 248 220 238 428 274 n/a n/a n/a n/a n/a n/a n/a n/a 78 82 20 94 23 92
No
Yes No 130 738 676 634 378 118 260 252 120 112 398 250 396 294 242 402 296 252 256 248 220 238 542 524 426 n/a n/a n/a n/a 86 78 78 82 20 94 23 92 ApplicationUses
Yes 118 110 130 738 606 440 584 488 118 328 320 120 112 472 250 396 294 242 402 296 252 256 248 220 238 802 692 n/a n/a n/a n/a
78 82 20 94 23 92
No 440 130 634 578 476 118 432 120 112 398 250 396 294 242 402 296 252 256 248 220 238 532 452 328 372 n/a n/a n/a n/a n/a n/a 78 82 20 94 23 92
No Issue Issue M00080-001
Yes Yes
440 130 804 676 470 118 432 260 252 120 112 398 250 396 294 242 402 296 252 256 248 220 238 728 598 632 532 n/a n/a 86 78 78 82 20 94 23 92
Yes 130 784 576 740 118 540 540 118 110 250 396 294 242 402 296 252 256 248 220 238 892 824 698 628 524 524 328 320 120 112 472
78 94 23 92 82 20
4.2
39
26
201 142 182 102 194 132 210 120 154 136 160 136 154 114 108 Yes
26 201 142 182 102 194 132 210 120 114 108 154 136 160 136 154
Yes Yes
No
26 201 142 182 102 194 132 210 120 114 108 154 136 160 136 154 No
26
201 142 182 102 194 132 210 120 114 108 154 136 160 136 154
Yes
ested. .
or message message or or message message or
ed SRs ystem point Application Uses Application 26 in the system the in 201 142 182 102 194 132 210 120 114 108 154 136 160 136 154 No Implementation Yes
No
26 201 142 182 102 194 132 210 120 114 108 154 136 160 136 154 No
Parameters of of Parameters
Events
resources in the system, and COM status is not requ is not status COM and system, the in resources requested is status COM or system, the in resources Linked only if Resource is used only by tasks by used only is Resource if Linked only Lightweight is task Chaining if Linked only Heavyweight is task Chaining if Linked only task extended only the is task Idle if Linked only floating- task uses Extended calling if Linked only us is Post-TaskHook nor Pre- neither if Linked only is used Post-TaskHook or Pre- if Linked only queues, message areflags, no there if Linked only queues, message any areflags, there if Linked only Note allowed are activations upward if Linked only ISR within called is API if Linked only OS status Extended in Present only status OS Extended or Timing in Present only s the tasks in are heavyweight there if Linked only and I tasks both used by is Resource if Linked only Task Activations Task
Shared Task Priorities Task Shared
7 8 9 1 2 3 4 5 6 12 10 11 13 14 15
Number GetArrivalpointTasksetRef GetArrivalpointNext SetArrivalpointNext TestArrivalpointWritable GetExecutionTime GetLargestExecutionTime ResetLargestExecutionTime GetStackOffset Multiple Multiple StartSchedule StopSchedule GetScheduleStatus GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay SetArrivalpointDelay Configuration Notes Issue M00080-001 Issue
4.3
40 4.3
4.3.1 4.2.4 Performance Number
Parametersof Implementation time up totime point the at which h CU lc sed Te iue i ti section, this in eightand cycles shorterthanthose figuresreported inthe a The The cycles. CPU eight to up of level uncertainty speed. clock CPU the runningtimer wase OSEK Component using a achieved V850E/Gr the for data performance of collection The Hardware Resources Reserved events and to CCCB for systems with events; (2) events; with systems for CCCA CCCB to to and set events was class COM OSEK the (1) that: (Note CP (in time execution the give tables following The RTA for Times Execution infinite loop; the execution time for for time execution the loop; infinite 16 34 33 31 30 18 17 32 29 28 27 26 25 24 23 22 21 20 19
code variescode withnumber schedule of exampletables; Container 2for process functions, highest orAPPMO Container 2for process functions, nothighest prio requiredNot on some targets Implemented macro,as a no is so code linked onlyLinked extended,for sharedpriority, floating onlyLinked extended,for sharedpriority, integer onlyLinked extended,for uniquepriority, floating onlyLinked extended,for uniquepriority, integer onlyLinked basic,for multiple-activation,heavywe onlyLinked basic,for multiple-activation,heavywe onlyLinked basic,for multiple-activation,lightwe onlyLinked basic,for multiple-activation,lightwe onlyLinked basic,for single-activation,heavyweig onlyLinked basic,for single-activation,heavyweig onlyLinked basic,for single-activation,lightweig onlyLinkedif onlyLinkedif onlyLinkedif Note and and and USEPARAMETERACCESS = TRUE USEPARAMETERACCESS = FALSE USEPARAMETERACCESS = FALSE
USEGETSERVICEID = TRUE USEGETSERVICEID = TRUE USEGETSERVICEID = FALSE - ShutdownOS() OSEK API Calls OSEK
ShutdownOS() calls
remainder ofthis section. ShutdownOS() ctual times are between 0 between are times ctual U cycles) for each API call. API each for cycles) U ShutdownHook()
eenHills port of the RTA- the of port eenHills
reported below is the the is below reported ight times slower thanslower times ight ht, floating-pointtasks ight,floating-point tasks ight,integer tasks -pointtasks tasks -pointtasks tasks ht, floating-pointtasks ht,integer tasks o sses without systems for ight,floating-point tasks ight,integer tasks hrfr, ae an have therefore, rity uses2 schedule tables DE orDEISR
enters an enters
Issue Issue M00080-001 ).
4.3
0 41 95 39 79 95 23 23 23 23 71 63 47 63 47 31 31
n/a n/a
119 527 287 271 271 623 623 103 103 535 143 663 655 143 103 Yes
0 39 39 23 79 95 71 71 87 15 15 31 31 31 63 63 55 n/a n/a
119 199 479 431 463 111 103 103 183 175 143 463 487 463 Yes Yes
No 0
39 95 23 23 23 79 95 95 71 71 47 31 31 31 63 63 47 n/a n/a 127 119 391 399 439 431 455 111 111 103 103 143 447 No
0 79 79 39 79 23 23 95 95 15 31 31 31 63 63
n/a n/a n/a n/a n/a n/a n/a n/a n/a
255 231 223 143 151 543 567 535 567 Yes
Application Uses Application
0
23 23 95 71 87 47 87 15 31 31 31 71 71 63 n/a n/a n/a n/a n/a n/a n/a n/a n/a 119 199 439 175 175 135 415 447 415 No Yes
No 0
79 39 23 23 23 79 95 71 87 31 31 31 63 63 n/a n/a n/a n/a n/a n/a n/a n/a n/a 119 127 327 319 103 103 143 367 367 No
Parameters of Implementation of Parameters
Events
Shared Task Priorities Task Shared
SetEvent ClearEvent GetEvent WaitEvent GetAlarmBase GetAlarm ResumeAllInterrupts SuspendAllInterrupts ResumeOSInterrupts SuspendOSInterrupts GetResource ReleaseResource ChainTask Schedule GetTaskID GetTaskState EnableAllInterrupts DisableAllInterrupts Configuration Activations Task Multiple Service ActivateTask TerminateTask Standard Issue M00080-001 Issue
4.3
42
ActivateTaskset SendMessage GetMessageStatus ReleaseMessageResource GetMessageResource ReceiveMessage ResetFlag ReadFlag StopCOM StartCOM CloseCOM InitCOM ShutdownOS StartOS GetActiveApplicationMode osek_incr_counter osek_tick_alarm GetCounterValue InitCounter CancelAlarm SetAbsAlarm SetRelAlarm MultipleTask Activations Configuration GetTasksetRef ChainTaskset
Parametersof Implementation SharedTask Priorities
Events
Hook NoHook KL
1919 No 103 103 335 303 351 303 167 175 191 n/a n/a n/a n/a n/a n/a 15 55 63 55 63 55 31 47 55 55 71 55 31 15 15 23 23 79 39 39
No
1735 1807 1503 1367 1335 1367 1367 1335 2039 1559 1359 Yes No 111 103 239 255 271 n/a n/a n/a n/a n/a n/a 31 15 55 55 63 63 55 31 63 55 15 23 23 23
ApplicationUses
1807 1815 1871 1767 1367 1367 2039 1359 1391 1359 1391 Yes 111 111 287 295 319
n/a n/a n/a n/a n/a n/a
31 15 55 63 63 55 55 31 55 47 15 23 23 7
1935 No 103 103 407 367 151 151 359 423 391 423 439 127 279 n/a 15 15 47 55 55 55 47 31 55 71 87 63 31 39 79 79 79 23 39 23 23
No
1663 1631 1663 1383 1335 1383 1335 2047 1623 1327 1319 Yes Yes Issue Issue M00080-001 103 463 503 151 143 495 127 287 n/a 31 15 31 47 63 55 55 47 31 63 15 31 95 23 23 23
1855 1855 1551 1487 1543 1631 1919 2015 2031 1639 1479 Yes 575 575 583 151 135 127 279
n/a
31 63 15 55 71 63 63 55 23 23 39 23 23 39 23 95 95
4.3
43 39 23 23 23 23 23 31 31 31 31 31 47 31 47 55 47 87 71 71 71 31
Yes 1639 1639 1679 1679 1647 1663 1647 1687 1671 1663 1663 1655
23 23 79 79 79 39 23 23 71 31 31 31 31 31 31 31 47 31 47 55 47
Yes Yes 1439 1423 1439 1423 1479 1439 1415 1455 1447 1455 1431 1463
No
23 79 79 79 23 23 23 39 31 71 31 31 31 31 31 31 31 47 47 55 47 191 215 207 191 175 167 167 151 183 175 183 183 No
23 79 79 79 39 39 23 23 39 23 23 15 71 31 15 15 55 47 63 71 55
Yes 1479 1479 1479 1471 1455 1463 1455 1511 1487 1471 1511 1487
Application Uses Application
23 79 39 23 23 39 23 15 71 71 71 31 31 15 15 15 63 47 55 63 55 No Yes 1479 1519 1479 1479 1479 1471 1455 1463 1463 1503 1487 1471
No
23 79 79 23 39 39 23 23 31 71 71 31 15 15 15 15 55 47 55 63 55 127 159 127 111 111 143 111 135 135 151 143 143 No Parameters of Implementation of Parameters
NS KL SW2 NS2 KL2 SW NS KL SW2 NS2 KL2 SW
Events
Shared Task Priorities Task Shared
SetArrivalpointNext TestArrivalpointWritable GetExecutionTime GetLargestExecutionTime ResetLargestExecutionTime GetStackOffset StartSchedule StopSchedule GetScheduleStatus GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay SetArrivalpointDelay GetArrivalpointTasksetRef GetArrivalpointNext AdvanceSchedule Multiple Task Activations Task Multiple MergeTaskset AssignTaskset RemoveTaskset TestSubTaskset TestEquivalentTaskset TickSchedule Configuration Issue M00080-001 Issue
4.3
44
Timing ReleaseResource GetResource SuspendOSInterrupts ResumeOSInterrupts SuspendAllInterrupts ResumeAllInterrupts DisableAllInterrupts EnableAllInterrupts GetTaskState GetTaskID Schedule ChainTask TerminateTask ActivateTask Service MultipleTask Activations Configuration GetAlarm GetAlarmBase WaitEvent GetEvent ClearEvent SetEvent
Parametersof Implementation SharedTask Priorities
Events
NSH NSL SWH SWL H LExt KL NS SW Variant fp
No 631 383 103 599 639 591 127 119 n/a n/a n/a n/a n/a n/a n/a n/a n/a 71 71 63 63 31 31 31 47 95 95 79 23 23 23 79
0 No
Yes No 703 351 175 679 719 695 191 199 127 n/a n/a n/a n/a n/a n/a n/a n/a n/a 63 63 71 31 31 87 79 95 79 23 23 23 23 39
0
ApplicationUses
Yes 831 807 831 815 383 215 223 255 127
n/a n/a n/a n/a n/a n/a n/a n/a n/a
71 71 87 63 63 87 31 31 31 87 23 23 23 39 0
No 703 671 703 671 367 111 111 703 103 103 111 127 679 127 n/a n/a 71 71 31 47 63 71 71 31 31 31 15 95 23 23 95 39
0 No
Yes Yes Issue Issue M00080-001 751 751 767 751 383 175 183 703 671 103 111 111 191 127 n/a n/a 71 63 47 63 63 71 31 31 31 15 47 39 95 23 23 95 0
Yes 783 103 111 111 103 375 759 127 919 911 919 903 263 271 287
n/a n/a
87 71 31 55 63 71 87 31 31 31 15 95 23 23 39 0
4.3
45 23 23 39 23 23 55 63 55 63 55 15 31 15 15 71
n/a
591 559 559 279 127 103 103 151 143 Yes 2119 2303 2119 2287 1495 1631 1487 1543 1631 1543 5103
23 23 23 95 23 31 31 15 63 47 55 63 55 47 15 31 n/a
279 127 495 143 151 503 463 111 Yes Yes 1903 1935 1911 1927 1391 1327 1335 1311 1343 1383 4815
No
23 23 23 23 79 95 31 15 63 71 63 63 71 47 55 63 63 47 31 15 31 n/a 695 639 679 279 119 439 423 399 647 143 151 111 103 No 5087
95 23 23 23 31 15 15 47 31 55 47 55 63 71 47
n/a n/a n/a n/a n/a n/a
319 295 279 103 Yes 2095 2079 2031 2135 1327 1295 1319 5095 1311 1311 1303
Application Uses Application
23 23 95 31 55 31 55 55 63 55 63 55 15 15 31 n/a n/a n/a n/a n/a n/a 263 263 247 103 No Yes 1839 1999 1759 2055 1391 1295 1383 1303 1311 1311 5103
No
39 23 31 15 15 55 55 71 63 47 71 55 47 47 55 63 63 47 15 31 n/a n/a n/a n/a n/a n/a 191 159 583 615 583 615 167 103 103 No 4823 Parameters of Implementation of Parameters
SWL SWH NSL NSH SW NS KL SW NS KL SW2 NS2 KL2
Events
Shared Task Priorities Task Shared
ChainTaskset GetTasksetRef ResetFlag ReceiveMessage GetMessageResource ReleaseMessageResource GetMessageStatus SendMessage ActivateTaskset GetActiveApplicationMode StartOS ShutdownOS InitCOM CloseCOM StartCOM StopCOM ReadFlag Multiple Task Activations Task Multiple SetRelAlarm SetAbsAlarm CancelAlarm InitCounter GetCounterValue osek_tick_alarm osek_incr_counter Configuration Issue M00080-001 Issue
4.3
46
GetArrivalpointNext GetArrivalpointTasksetRef SetArrivalpointDelay GetArrivalpointDelay SetScheduleNext GetScheduleNext GetScheduleValue GetScheduleStatus StopSchedule StartSchedule AdvanceSchedule TickSchedule TestEquivalentTaskset TestSubTaskset RemoveTaskset AssignTaskset MergeTaskset MultipleTask Activations Configuration GetStackOffset ResetLargestExecutionTime GetLargestExecutionTime GetExecutionTime TestArrivalpointWritable SetArrivalpointNext
Parametersof Implementation SharedTask Priorities
Events
SW KL2 NS2 SW2 KL NS SW KL2 NS2 SW2 KL NS
No 143 143 143 167 111 143 127 159 127 127 119 119 119 55 63 55 55 31 31 71 71 71 39 39 39 39 23 23 23 23 23 39 79
No
1415 1407 1415 1415 1423 1423 1439 1423 1423 1439 1391 1391 Yes No 119 55 63 55 47 55 31 15 15 31 71 39 39 39 23 23 39 39 79 79 79
ApplicationUses
1415 1431 1455 1407 1447 1407 1423 1423 1399 1423 1399 1399 Yes 127
55 63 55 47 55 31 15 15 31 31 71 71 71 39 39 39 23 23 39 79
No 183 175 183 175 175 135 167 183 175 207 199 159 159 47 55 47 31 31 31 31 31 31 31 31 31 71 39 39 39 23 79 79 79
No
1455 1431 1455 1447 1455 1471 1439 1423 1423 1439 1439 1439 Yes Yes Issue Issue M00080-001 119 47 55 47 47 47 31 31 31 31 31 71 71 71 87 39 23 39 23 23 39
1663 1663 1687 1671 1703 1631 1671 1647 1679 1679 1639 1639 Yes 135
31 31 31 31 31 31 31 71 47 55 47 31 23 39 39 23 79 79 79 39
4.3
47 79 23 23 47 47 31 47 31
391 391 423 839 263 255 639 559 351 431 351 455 471 455 855 583 431 471 175 415 455 Yes 1271 1271 1359 1367
23 39 39 39 47 31 31 87
423 791 239 247 359 391 359 391 495 439 775 151 415 815 447 455 471 455 503 575 455 Yes Yes 1207 1207 1135 1143
No
23 23 39 95 55 47 31 31 423 791 239 239 159 359 439 391 391 423 423 807 415 815 351 455 463 455 487 407 463 No 1015 1055 1111 1135
39 23 23 39 39 39 39
n/a n/a n/a n/a n/a n/a n/a
255 263 287 327 287 439 175 415 383 367 335 551 607 543 463 Yes 1263 1255 1183 1175
Application Uses Application
23 23 39 47 47 31 31 n/a n/a n/a n/a n/a n/a n/a 239 239 295 327 287 327 495 423 143 415 751 383 511 583 455 No Yes 1079 1063 1143 1143
No
23 39 39 39 39 55 31 n/a n/a n/a n/a n/a n/a n/a 239 247 159 295 287 327 423 479 399 423 927 991 415 767 367 335 447 No 1015 1071
Parameters of Implementation of Parameters
Events
Shared Task Priorities Task Shared
SetEvent ClearEvent GetEvent WaitEvent GetAlarmBase GetAlarm ResumeAllInterrupts SuspendAllInterrupts ResumeOSInterrupts SuspendOSInterrupts GetResource ReleaseResource ChainTask Schedule GetTaskID GetTaskState EnableAllInterrupts DisableAllInterrupts Configuration Activations Task Multiple Service ActivateTask TerminateTask Extended Issue M00080-001 Issue
4.3
48
ActivateTaskset SendMessage GetMessageStatus ReleaseMessageResource GetMessageResource ReceiveMessage ResetFlag ReadFlag StopCOM StartCOM Clos COM e InitCOM ShutdownOS StartOS GetActiveApplicationMode osek_incr_counter osek_tick_alarm GetCounterValue InitCounter CancelAlarm SetAbsAlarm SetRelAlarm MultipleTask Activations Configuration GetTasksetRef ChainTaskset
Parametersof Implementation SharedTask Priorities
Events
Hook NoHook KL
5391 2055 1879 2063 1823 1231 1359 1239 1223 1359 1239 No 415 575 671 607 175 199 215 287 295 359 n/a n/a n/a n/a n/a n/a 15 47 63 63 15 39 23 39 23
No
3407 5391 3359 3319 3127 2567 2695 2519 2583 2687 2511 Yes No 415 367 687 767 167 215 215 279 295 695 n/a n/a n/a n/a n/a n/a 31 55 71 47 31 23 23 39 23
ApplicationUses
3743 3487 3375 5095 3439 2511 2631 2567 2503 2631 2583 Yes 447 311 199 239 319 359 719 791 727 159
n/a n/a n/a n/a n/a n/a
55 71 47 55 15 15 39 23 7
1447 1383 1431 1383 5391 2079 1975 2087 1927 1439 1439 No 415 303 831 175 535 575 151 207 223 287 359 911 839 399 n/a 31 15 31 47 63 31 31 15 15 39
No
3671 3343 3311 5391 3191 2575 2639 2655 2591 2639 2647 Yes Yes Issue Issue M00080-001 431 303 367 887 175 207 215 279 983 903 527 591 399 159 n/a 15 47 63 39 23 39 39 39 23 23
3575 3367 1063 5095 3591 3727 2951 2871 2879 2951 2871 2879 Yes 367 175 535 583 151 311 311 983 999 391 207 439 239
n/a
31 31 47 15 15 15 15 47 63 39
4.3
49 95 79 23 95 95 87 63 63 71
119 119 119 111 343 335 135 135 135 135 143 103 Yes 3207 3127 3119 3231 3127 3207 3183 3103 3151 3135 3103 3135
95 95 79 95 79 31 63 55 55
119 127 127 127 335 143 103 111 343 135 135 135 Yes Yes 2855 2759 2743 2823 2735 2783 2863 2775 2759 2831 2751 2767
No
23 95 95 79 95 79 63 55 55 119 119 127 335 143 103 111 135 343 135 135 135 No 1591 1599 1591 1599 1663 1671 1583 1607 1687 1615 1687 1583
23 95 79 55 71 71 71
127 127 119 119 127 127 127 335 143 103 103 103 343 111 Yes 2735 2663 2671 2735 2663 2695 2767 2663 2687 2759 2663 2671
Application Uses Application
23 95 95 63 71 63 71 63 127 119 127 127 119 127 127 335 143 103 103 343 111 No Yes 2807 2719 2735 2815 2727 2743 2823 2735 2751 2823 2743 2743
No
23 95 79 55 71 63 71 295 231 239 295 231 127 127 127 127 127 119 247 319 223 247 319 223 239 343 143 103 103 103 135 343 111 No Parameters of Implementation of Parameters
NS KL SW2 NS2 KL2 SW NS KL SW2 NS2 KL2 SW
Events
Shared Task Priorities Task Shared
SetArrivalpointNext TestArrivalpointWritable GetExecutionTime GetLargestExecutionTime ResetLargestExecutionTime GetStackOffset StartSchedule StopSchedule GetScheduleStatus GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay SetArrivalpointDelay GetArrivalpointTasksetRef GetArrivalpointNext AdvanceSchedule Multiple Task Activations Task Multiple MergeTaskset AssignTaskset RemoveTaskset TestSubTaskset TestEquivalentTaskset TickSchedule Configuration Issue M00080-001 Issue
4.3
50
Standard Timing 4.3.3 4.3.2 MultipleTask Activations Configuration ISRLatency Operation MultipleTask Activations Configuration ISRLatency Operation
Parametersof Implementation CPU cycles). CPUcycles). first the of handlerprovided The function. gi following tables execution the and hardware target the interrupt time between the isan latency Interrupt Latencies Interrupt the to entry the time from the is time start-up OS Start OS n ho ruie big ald Ti tm i alway since is time This called. being routines hook any ( usertask a instructionin first the of execution user-specified alarms. SharedTask Priorities SharedTask
StartOS()
- up Timeup
Priorities Events Events may activate any number of tasks and start any num any start and tasks of number any activate may
Cat 2 Cat 1 Cat ISRCategory 2 Cat 1 Cat ISRCategory
No
No 295 71 79 71
No No
Yes including the idle task) without task) idleincluding the
Yes 111
No No 327 71 StartOS() request beingrequestrecognized by ve the interruptve the latencies (in 71
ApplicationUses ApplicationUses apiain dependent, application s
Yes ntuto o te user the of instruction
Yes 111
303
71
71
function to the the to function
No No 111 327 71 71
No No
Yes Yes
Yes Issue Issue M00080-001 Yes
111 327 ber of ber 71 71
Yes Yes 111 327
71 71
4.3
P G
51 71
303 Yes
71
303
H F Yes Yes
ActivateTask(T1); versus a Alarm activates T2 activates Alarm
No
71 327 No
71
327 RTA- OSEK RTA- OSEK Yes Task T1 : Activation Task IdleTask from : Activation Task an from Alarm IdleTask Task T2 Task T1
r all system classes for
3 4 ime. The tables in this measured. measured.
struction struction of the previous Application Uses Application
he he switching time differs, heavyweight tasks. tasks. heavyweight 71 327 ActivateTask() No
Figure Figure Yes
No
71 295 No
Parameters of Implementation of Parameters
Category ISR Cat 1 Cat 2
TerminateTask(); D J ChainTask(T1);
Events ).
C : Chaining Task
2 ActivateTask(T2);
Figure
RTA- OSEK Shared Task Priorities Task Shared
RTA- OSEK TaskT2 TaskT1 Task T2 Task T1 Task Task switching time is the time between the last in Task Times Switching task and the first instruction of the depending next on task. the switching T contexts (e.g. an Figures 1 to 8 show the RTA-OSEK switching contexts switching the RTA-OSEK toshow 1 8 Figures ChainTask() RTA-OSEK sub-task types also affect the switching t section show the switching times (in and extended and for basic tasks CPU lightweight basic, cycles) fo : Activates Task a Priority Higher 1
Configuration Activations Task Multiple Operation Latency ISR TaskTerminates which Normally 4.3.4 Figure Extended Issue M00080-001 Issue
4.3
52
S tandard Figure Figure Figure Figure Pre-emption ChainTask Normal termination MultipleTask Activa Configuration SetEvent Release resource Schedule Triggeredby alarm idleFrom task Parametersof Implementation premptive Task T1Task T2Task Task T1 Task Task T2 Task Non- SharedTask Priorities OSEK RTA- OSEK RTA-
6 5 : : : Non : ReleaseResource() Blocked Task Activated by TaskActivated Blocked by
Schedule() ActivateTask(T2); -
Premptive Task Calls PremptiveTaskCalls
Figure 6:Figure M
Figure 5:QFigure Figure 1:DFigure Figure 3:HFigure 1:CFigure Figure 4:Figure F Figure 2:Figure J
Events ReleaseResource(R1); tions M Schedule();
Q TerminateTask();
Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic AttributesTask
R
183 543 135 255 255 191 359 295 279 215 295 231 271 No
79 Figure Figure Figure Figure No
Category TaskT1 TaskT2 Task T1Task T2Task
2 ISR Yes
OSEK RTA- OSEK RTA- 447 383 383 335 655 383 111 263 215 271 215 399 319 159 No
ApplicationUses
7 8
Higher Priority Priority Task Higher : Waiting Task Activated by by TaskWaitingActivated : : Category 2 ISR Activates 2 a Category ISR :
WaitEvent(E1);
Yes
351 303 375 575 535 503 447 511 463 503 143 319 791 191 SetEvent()
Interrupt Asserted Interrupt Task T2 ready to run ready T2 Task
ActivateTask(T2); A
367 575 183 327 199 319 191 423 295 359 223 231 271 No
79 Issue Issue M00080-001 No
SetEvent(T2,E1);
Yes Yes
487 407 431 335 671 111 327 223 327 223 423 327 391 191
E
Yes
415 431 663 575 607 503 607 511 871 143 295 319 559 223
TerminateTask(); Y
S
4.3
623 479 599 919 727 791 759 495 847 383 455 831 687 687 807 863
Yes 1359
53
775 311 415 Yes
527 527 591 519 519 727 759 359 671 631 615 687 407 407 655 415
Yes Yes
1151
223 327 575 No Yes
Yes
No 559 439 623 399 551 431 567 503 407 535 535 743 655 783 311 415 No
1087
No 559 207 335
n/a
719 391 767 663 711 647 703 767 503 551 487 535 735 767 431
Yes n/a 1279
303 351 Yes
Application Uses Application n/a 527 391 655 535 583 583 615 663 415 471 415 463 655 711 343 Application Uses Application No
n/a
Yes
No 1135 223 271 Yes
No
No n/a 423 559 391 399 679 319 543 431 487 487 503 447 455 631 375 n/a No
No 239 175 1031
Parameters of Implementation of Parameters
Light, Basic Light, Basic/Extended Heavy, Basic Light, Basic/Extended Heavy, Basic Light, Basic/Extended Heavy, Basic Light, Basic/Extended Heavy, Basic Light, Basic/Extended Heavy, Basic Light, Basic/Extended Heavy, Extended Heavy, Basic Light, Basic/Extended Heavy, Task Attributes Extended Heavy, Basic Light, Basic/Extended Heavy, Task Attributes Basic Light, Basic/Extended Heavy,
tions Events Events
Figure 2: J Figure 2: Figure 4: F Figure 4: Figure 8: Figure E 8: Figure 7: Figure S 7: Figure 7: Figure S 7: Figure E 8: Figure 3: Figure H 3: Figure 1: Figure D 1: Figure C 1: Figure 5: Figure Q 5:
Figure 6: M Figure 6:
Shared Task Priorities Task Shared Shared Task Priorities Task Shared
From category 2 ISR 2 From category From idle task From idle alarm by Triggered Schedule resource Release SetEvent Multiple Task Activations Task Multiple termination Normal ChainTask Pre-emption Multiple Task Activa Task Multiple ISR 2 From category Configuration Configuration Timing Issue M00080-001 Issue
4.4
54 4.4
Exten
ConfigurationofRun From categoryFrom 2 ISR SetEvent Release resource Schedule Triggeredby alarm idleFrom task Pre-emption ChainTask Normal termination MultipleTask Activations Configuration ded Parametersof Implementation ytm ofgrto. h floig als ie th give tables following OSdifferent status configurations:and The configuration. system depends task a of context run-time the of size The usage,stack thepriorities theandresource occupa i GUI RTA-OSEK entireapplica the requirementfor stack worst-case The overlaid. effectively are tasks co run-time result, a As terminates. task the when sa the on reside tasks all of contexts run-time The SharedTask Priorities
Figure 6:Figure M
Figure 5:QFigure Figure 3:HFigure 1:CFigure 1:DFigure Figure 8:EFigure 7:SFigure Figure 4:Figure F Figure 2:Figure J
Events
- Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic AttributesTask Heavy,Basic/Extended Light,Basic Heavy,Extended Heavy,Basic/Extended Light,Basic Heavy,Basic/Extended Light,Basic
time Context time
1471
me stack and are recovered are and stack me tion oftionindividual tasks.
tion, based on the declared the on based tion, ntexts of mutually exclusive mutually of ntexts No 831 807 751 711 767 455 663 687 727 911 423 623 639 479 439 n/a on the task type and the and type task the on
No s able to calculate the the calculate to able s
szs i bts for bytes) (in sizes e 1575
1039 Yes
No 815 655 703 431 951 903 879 823 879 479 439 719 639 495 n/a ApplicationUses
1063 1007 1735
1127 Yes
511 487 751 703 575 991 943 983 927 799 759 527 n/a
1535 1103
No 855 855 503 431 783 655 431 911 791 727 727 927 823 695 559 Issue Issue M00080-001
No
1031
1623 1095 Yes Yes
831 831 455 775 815 703 535 999 919 927 919 527 679 439
1063 1087 1775 1183 1287 1159 1079 Yes
863 767 655 543 543 487 759 879 983 983
4.4
55
132 132 208 208 208 208 128 196 196 204 204 224 224 224 224 112 120 180 188 188 136 148 148 180
Yes
n/a n/a n/a n/a 216 216 112 120 132 132 208 208 120 128 196 196 180 180 188 188 188 188 140 140
Yes
Yes
No
on n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 216 216 112 120 208 208 120 128 180 180 188 188 No
n/a n/a n/a n/a n/a n/a n/a n/a 112 120 132 132 128 196 196 204 204 180 180 188 188 136 148 148
Yes
plication Uses
Ap n/a n/a n/a n/a n/a n/a n/a n/a 112 120 132 132 120 128 196 196 180 180 188 188 188 188 140 140 No
Yes
No
n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 112 120 120 128 180 180 188 188 No
Parameters of Implementati of Parameters
Events
Task hooks used hooks Task -
Task hooks not used not hooks Task - Shared Task Priorities Task Shared Multiple Task Activations Task Multiple
and/or Post and/or and Post and
- -
ECC1 heavyweight, integer heavyweight, ECC1 floating-point heavyweight, ECC1 heavyweight, integer ECC2 floating-point heavyweight, ECC2 Pre type Task integer lightweight, BCC1 floating-point lightweight, BCC1 integer heavyweight, BCC1 floating-point heavyweight, BCC1 lightweight, integer BCC2 floating-point lightweight, BCC2 heavyweight, integer BCC2 floating-point heavyweight, BCC2 BCC1 heavyweight, floating-point heavyweight, BCC1 lightweight, integer BCC2 floating-point lightweight, BCC2 heavyweight, integer BCC2 floating-point heavyweight, BCC2 integer heavyweight, ECC1 floating-point heavyweight, ECC1 heavyweight, integer ECC2 floating-point heavyweight, ECC2 Configuration Pre type Task integer lightweight, BCC1 floating-point lightweight, BCC1 integer heavyweight, BCC1 Standard Issue M00080-001 Issue
4.4
56
Timing BCC2heavyweight, floating-point BCC2integerheavyweight, BCC2lightweight, floating-point BCC2integerlightweight, BCC1heavyweight, floating-point BCC1heavyweight, integer BCC1lightweight, floating-point BCC1lightweight, integer Task type Pre ECC2heavyweight, floating-point ECC2integerheavyweight, ECC1heavyweight, floating-point ECC1heavyweight, integer BCC2heavyweight, floating-point BCC2integerheavyweight, BCC2lightweight, floating-point BCC2integerlightweight, BCC1heavyweight, floating-point BCC1heavyweight, integer BCC1lightweight, floating-point BCC1lightweight, integer Task type Pre Configuration ECC2heavyweight, floating-point ECC2integerheavyweight, ECC1heavyweight, floating-point ECC1heavyweight, integer
Parametersof Implementation - - and/or Post and Post
MultipleTask Activations SharedTask Priorities - Taskhooks not used
- Taskhooks used
Events
No 136 136 200 200 132 200 200 132 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a
No
Yes
No 136 136 208 208 152 152 200 200 132 208 208 152 152 200 200 132 n/a n/a n/a n/a n/a n/a n/a n/a ApplicationUses
Yes
156 156 140 136 156 156 140 136 212 212 204 204 212 212 204 204 n/a n/a n/a n/a n/a n/a n/a n/a
No 136 136 200 200 132 228 228 200 200 132 228 228 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a
No Issue Issue M00080-001
Yes
Yes
136 136 208 208 152 152 200 200 132 228 228 208 208 152 152 200 200 132 228 228 n/a n/a n/a n/a
Yes
156 156 140 136 156 156 140 136 232 232 232 232 212 212 204 204 232 232 232 232 212 212 204 204
4.4
57
204 212 212 240 240 240 240 204 204 212 212 240 240 240 240 204 156 156 136 140 156 156 136 140
Yes
n/a n/a n/a n/a 236 236 132 200 200 152 152 208 208 236 236 132 200 200 152 152 208 208 136 136
Yes
Yes
No
n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 236 236 132 200 200 236 236 132 200 200 136 136 No
n/a n/a n/a n/a n/a n/a n/a n/a 204 204 212 212 204 204 212 212 136 140 156 156 136 140 156 156
Yes
Application Uses Application n/a n/a n/a n/a n/a n/a n/a n/a 132 200 200 152 152 208 208 132 200 200 152 152 208 208 136 136 No
Yes
No
n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 132 200 200 132 200 200 136 136 No
Parameters of Implementation of Parameters
Events
Task hooks used hooks Task -
Task hooks not used not hooks Task - Shared Task Priorities Task Shared ion Multiple Task Activations Task Multiple
and/or Post and/or and Post and
- -
ECC1 heavyweight, integer heavyweight, ECC1 floating-point heavyweight, ECC1 heavyweight, integer ECC2 floating-point heavyweight, ECC2 Pre type Task integer lightweight, BCC1 floating-point lightweight, BCC1 integer heavyweight, BCC1 floating-point heavyweight, BCC1 lightweight, integer BCC2 floating-point lightweight, BCC2 heavyweight, integer BCC2 floating-point heavyweight, BCC2 BCC1 heavyweight, floating-point heavyweight, BCC1 lightweight, integer BCC2 floating-point lightweight, BCC2 heavyweight, integer BCC2 floating-point heavyweight, BCC2 integer heavyweight, ECC1 floating-point heavyweight, ECC1 heavyweight, integer ECC2 floating-point heavyweight, ECC2 Configurat Pre type Task integer lightweight, BCC1 floating-point lightweight, BCC1 integer heavyweight, BCC1 Extended Issue M00080-001 Issue
5.1
5.1 5 58 5.3 5.2
Compatibilitywith Pre UpdatingtheApplication Version Vector TableVector TimerBit 32 Drivers Compatibilitywith Pre The vector table generated in the file the in generated table vector The hardware. P emu be achi of method one demonstrates application to example need will bits sixteen upper the example, supportshardware thetimer If modifying. need will existing any Therefore values. timer bit wher thirty-two values, timer bit sixteen uses kernel v3.x The canprocess be reversed tomoveback to earlierker and format v5.0 the use then will it saved is file When v5.0. to Version’ ‘Kernel the change and menu opti Configuration’ ‘OS the select GUI, RTA-OSEK v5 file configuration OIL v3.x existing an convert To al ta ws rvosy eeae in generated previously was that table linking applications’ISRs to continueworking. osvec1.850
in addition to to addition in
- v5 Kernelsv5 - v5 v5 Kernels
osvec1.850 osgen.850 osgen.850
to v5.0, load the file into the into file the load v5.0, to the v5.0 kernel libraries. This libraries. kernel v5.0 the nelversions. plctos tmr drivers timer applications’ only sixteen-bit timers, for sixteen-bittimers, only is the same as the vector the as same the is a te 50 enl uses kernel v5.0 the eas Sml asmln and assembling Simply .
eving this for the Timer the for this eving n n h ‘Application’ the in on ae i sfwr. The software. in lated il lo existing allow will the OIL configuration OIL the Issue Issue M00080-001
Support
59
Support t the front of this manual representative. representative.
For product support, please contact your local ETAS local your contact please support, For product www.etasgroup.com. website ETAS Group the and on Support Office locations and contact details can be found a Issue M00080-001 Issue