RTA-OSEK
Binding Manual: TMS470/TI
Contact Details
ETAS Group www.etasgroup.com
Germany USA ETAS GmbH ETAS Inc. Borsigstraße 14 3021 Miller Road 70469 Stuttgart Ann Arbor, MI 48103 Tel.:+49 (711) 8 96 61-102 Tel.: +1 (888) ETAS INC Fax:+49 (711) 8 96 61-106 Fax: +1 (734) 997-94 49 www.etas.de www.etasinc.com
Japan France ETAS K.K. ETAS S.A.S. Queen's Tower C-17F, 1, place des États-Unis 2-3-5, Minatomirai, Nishi-ku, SILIC 307 Yokohama, Kanagawa 94588 Rungis Cedex 220-6217 Japan Tel.: +33 (1) 56 70 00 50 Tel.: +81 (45) 222-0900 Fax: +33 (1) 56 70 00 51 Fax: +81 (45) 222-0956 www.etas.fr www.etas.co.jp
Korea Great Britain ETAS Korea Co. Ltd. ETAS UK Ltd. 4F, 705 Bldg. 70-5 Studio 3, Waterside Court Yangjae-dong, Seocho-gu Third Avenue, Centrum 100 Seoul 137-889, Korea Burton-upon-Trent Tel.: +82 (2) 57 47-016 Staffordshire DE14 2WQ Fax: +82 (2) 57 47-120 Tel.: +44 (0) 1283 - 54 65 12 www.etas.co.kr Fax: +44 (0) 1283 - 54 87 67 www.etas-uk.net
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: M00088-001 M00088-001 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 M00088-001 Issue
Contents
3
...... 1 ...... 1 Contents ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 Stack Initialization for Different CPU Modes...... CPU for Different Stack Initialization FileLinker Command ...... Levels...... Interrupt Using the 16-Bit/32-Bit Assembler Instruction Set.. Instruction Assembler 16-Bit/32-Bit the Using
Linker/Locator...... 2.3.1 2.3.2 Debugger ...... Interrupts ...... 3.1.1 Who Should Read this Guide?...... Read Who Should Conventions ...... Compiler ...... 2.1.1 Assembler ......
2.3 2.4 Issues Target Hardware ...... 3.1 About this Guide About this ...... 1.1 1.2 Issues...... Toolchain 2.1 2.2
3 1 2 Contents Issue M00088-001 Issue
Contents
4
Contents 4 5
5.2 5.1 ...... Compatibility with Pre-v5.00Kernels 4.4 4.3 4.2 4.1 ParametersofImplementation...... 3.4 3.3 3.2
3.1.2 hne ewe esos31ad50 ...... betweenChanges versions3.1 5.00 and 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...... 3.4.4 3.4.3 3.4.2 3.4.1 Usage...... Stack ...... RegisterSettings ...... CPUOperating Modes 3.1.10 3.1.9 3.1.8 3.1.7 3.1.6 3.1.5 3.1.4 3.1.3
xcto ie o T-SKAICls...... ExecutionTimes RTA-OSEKfor APICalls HardwareReserved Resources...... ofSizeLinkable Modules...... ROM RAMand OSEKfor Objects OS ...... ROM RAMand Overheads UsageStack inTick_
hno nerp upr ...... Phantominterrupt support ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... 1 ...... Issue Issue M00088-001
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 hem hem carefully and that eral information in the y y processor running the About this Guide About RTA-OSEK RTA-OSEK API call names the TMS470/TI port of n n the sk handle called called sk handle your target toolchain and he RTA-OSEK Component 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
so, for example, a task named Task1 appears as aasta appears Task1 a task named for so,example, 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, LiveDevices’ LiveDevices’ RTA-OSEK. It supplements the more gen This guide tells you about integration issues with issues that you need to be aware of when using RTA- The reader should have an understanding application. into your of real tim all appear in the This This guide provides target-specific information for Guide User RTA-OSEK A port is defined as a specific target microcontrol 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 available available to the the also appearsname programmer i Conventions Who Should Read this this Guide? Read Should Who About this Guide this About
Issue M00088-001 Issue 1.2 1.1 1
2.1
7
he he RTA-OSEK
e are shown in the are shown in the e 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
Texas Instruments Inc. Instruments Texas Compiler TMS470 C/C++ v4.4.1 osekdefs.c No debug output debug No Description use TI ABI Description ABI use ARM Description use TI ABI code 16-bit Generate Compile only, do not link do not only, Compile Compile only, do not link do not only, Compile
. This file defines configuration parameters for t
table: The The prohibited compiler options for following table: table: following The prohibited compiler options table: following for application cod 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 Option -c --abi=tiabi -mt/--code_state=16 --symdebug:none Option --abi=eabi Vendor Compiler Version Option -c --abi=tiabi Compiler Toolchain Issues Toolchain
Issue M00088-001 Issue 2.1 2
2.2
8 2.2
2.1.1 Assemble Version Assembler Vendor --abi=eabi Option --abi=eabi Option --abi=tiabi -c Option
ToolchainIssues a for documentation compiler 16/32-bitinter-working howandto TI employ it inyou the consult Please se 3.1.8for furtherdetails. instruction 16-bit the using compiled handlers if veneers interrupt 1 Category triggers interrupt an 32- the to switches automatically CPU TMS470 the As b 32 the or set instruction inter-workingsupport. bit 16 the either using followingtable: followingtable: standard The RTA-OSEKThe Component builtwasusing thefollowin TASK() deco functions (i.e. tasks contain that files C All the either using applicationsinstructionset haveand been fully testedwithbot support libraries The amou the reduce to set instruction 16-bit the using libra run-time RTA-OSEK The set. instruction 32-bit eith using code object generate can compiler TI The 16 Usingthe h poiie asmlr pin fr plcto co application for options assembler prohibited The co application for options assembler compulsory The
ar) Ctgr 2 Ss ie fntos decorated functions (i.e. ISRs 2 Category macro), ISR() r
- Bit/32 ar) fnto clbcs n hos ut e compi be must hooks and callbacks function macro),
- Bit Assembler Instruction SetInstructionBit Assembler Compileonly,not dolink use ARM use ABI Description use ARM use ABI Description ABITI use Description v4.4.1 AssemblerTMS470 TexasInstruments Inc.
rated with the OSEK standard OSEK the with rated
hoptions.
r r application. nt of code memory used. memory code of nt , lae ee t section to refer please t, is ae en compiled been have ries er the TMS470 16-bit or or 16-bit TMS470 the er eur ue generated user require
bit instruction set when set instruction bit using set instruction it 6bt r h 32-bit the or 16-bit g assembler: e r son n the in shown are de de are shown in the the in shown are de
ul xlnto of explanation full ih h OSEK the with Issue Issue M00088-001 led
2.3
9
he he RTA-
are shown in the Toolchain Issues Toolchain
OIL configuration file is re re required by the RTA- EK EK application are shown
EK EK application are shown e, the following RTA-OSEK are shown in the following
osgen.asm
Description data read-only RTA-OSEK data initialization RTA-OSEK GUI by RTA-OSEK generated if Vector table data initialized RTA-OSEK data uninitialized RTA-OSEK
osgen.asm Description Description use TI ABI Description ABI use ARM Description use TI ABI Description ABI use ARM Indirect function call function Indirect Compile only, do not link do not only, Compile
. This file defines configuration parameters for t
RAM RAM ROM ROM ROM ROM/RAM
osgen.asm
following table: table: following OSEK Component when running your application. your running when Component OSEK The compulsory assembler options for The The assembly file that RTA-OSEK generates from your called OSEK Component: Component: OSEK sections must be located: located: be must sections The following compiler run-time library functions a The The prohibited linker/locator options for an RTA-OS In addition to the sections used by application cod The The compulsory linker/locator options for an RTA-OS table: following thein table: following thein The The prohibited assembler options for table: os_intvec os_pir os_pur Functions C Library IND$CALL Option --abi=eabi Sections os_pid os_pird --abi=eabi Option --abi=tiabi Option -c --abi=tiabi Option Linker/Locator
Issue M00088-001 Issue 2.3
2.4
10 2.4
2.3.2 2.3.1 Debugger ORTIcompatible debuggers
at of at the top eachstack section, file, file, ToolchainIssues tc a b dfnd sn te - the using defined be can stack by defined lengths the odd no h dbge wt te command the with debugger the into loaded ihn the within The RAM sections that are dedicated to RTA-OSEKcon to dedicated are that sections RAM The Linker code, start-up The method. st suggested a demonstrates application example The match the ofaddress the symbol Important: your responsibilitytoensure eachthat stack lais use. before initialized be must pointers stack All the of scopeofRTA-OSEK. Categoryapplications use thatFIQinterrupts 1 and and FI application). an mode in occur interrupts 2 Category (SVC) supervisor modes, two uses RTA-OSEK stacks, different six to numberofoperating modesthat occurin applicatan up use can CPU TMS470 The Modes forCPU Initialization Different Stack The RTA-OSEK GUI outputs a file with theextension with file RTA-OSEKGUI The outputs a tabl following the ORTI about RTA-OSEKfor can be in found the in debuggers the for provided is support is that Interface Run-Time OSEK the is ORTI os_pir command file. contai application example The listing. map memory its and section the for space allocates linker The information number outputmodule line and information relocation marked be c start-up application the in initialized are which linktms.cmd CommandFile sections. These sections are initialized by the R the by initialized are sections These sections.
h iiil V sak one (1) au ms be must value (R13) pointer stack SVC initial The StartOS() NOLOAD
, locates the stack’s sections in memory and define and memory in sections stack’s the locates , in the linker command file. This prevents the con the prevents This file. command linker the in P cl (nie tnad RM aibe sections, variable RAM C standard (unlike call API STACK_LEN_
init.asm _os_stack_top_
.ort ion. ns an example of a linker a of example an ns . ute information Further e. ack pointer initialization pointer ack sist of the the of sist TA-OSEK ComponentTA-OSEK en pae i the in placed being eedn uo the upon depending .
.
This file shouldfileThisbe R md (when mode IRQ . . os_pur ntaie to initialized . . Issue Issue M00088-001 s labels s Note . tents, and
2.4
11
Toolchain Issues Toolchain ) file. Please refer to the upport for ORTI. upport .out the executable ( after
debugger documentation for further details on its s on its details for further debugger documentation that this must be loaded Issue M00088-001 Issue
3.1
13
RTA-OSEK RTA-OSEK
TMS470R1x TMS470R1x
n n the gality
errupt errupt handlers to Category 1 or 2 or 1 Category 2 or 1 Category 2 or 1 Category 2 or 1 Category Le 1 Category 1 Category 1 Category 1 Category 2 or 1 Category Single 1 Category Single t IPLs in the K’s interrupt model for interrupts for RTA-OSEK to to interrupt priorities on priorities priorities that are available riority Level (IPL). This is a owing restrictions apply: apply: restrictions owing Description Level User Prohibited 1 Category IRQ - OS Level level interrupt and 2 level interrupt 1 Category IRQ Non Target Hardware Issues Target Hardware
bit -
CPSR F CPSR 0 1 0 1
. Issues
SWI Abort Prefetch Data Abort (General Interrupt) IRQ Interrupt) (Fast FIQ 0 channel CIM to 1 30 channels CIM 31 channel CIM Interrupt Phantom Description instructions Undefined
bit - . . . . The hardware interrupt controller is explained i
1 CPSR I CPSR 0 0 1
RTA-OSEK User Guide User RTA-OSEK
User's User's Guide The following table shows how RTA-OSEK IPLs relate hardware: target the 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 TMS470/TI. You can find out more about configuring Interrupt Levels In RTA-OSEK interrupts are allocated an Interrupt P processor independent abstraction of the interrupt in thein
0x08 0x0C 0x10 0x18 0x1C 0x20 4 in to 0x98 0x24 steps byte 0x9C 0xA0 2 Vector 0x04 IPL Values 0 N/A 1 Interrupts Target Hardware Hardware Target 3.1.2 3.1.1
Issue M00088-001 Issue 3 3.1
3.1
14
3.1.5 3.1.4 3.1.3 0x0 AddressBase e.g. 0x24 0xVV Vector Location
Target HardwareTarget Issues whetherornot vectora tablegenerated is within RTA-OS the with application your configure you When Issues Table Vector instruc return interruptThe 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 the with decorated function C a for appropriat generate can compiler C Inc. Instruments operat the from support without themselves, context c must (ISRs) routines serviceinterrupt 1 Category Handlers 1 Category The validbaseThe addressesthefor vector table are: h floig al sos h sna fr aes att labels valuepadded ofthe vector location). for syntax the Category2 handlersinterrupt (VV represents2 the shows table following The handler,including theCategory 2 handlerinterrupt a contain must it table, vector own your provide to reset the omits table vectorgenerated a that Note outfindmore inyourcompiler documentation. showninCode Example3:1.
} /* Handler routine */ ISR(MyISR) { #include “MyISR.h”
Code Example Example Code
ARM CPUARM vectortable Notes _os_wrapper_24 _os_wrapper_VV Label 3 : 1
-
Cat interrupt egory 2 ISR Handler ISR Interrupt 2 egory
osgen.asm function qualifier. You can can You qualifier. function orrectly handle the interrupt the handle orrectly vector entry. If you chooseyou If entry. vector sinRTA-OSEK. hex digit, upper-case,digit, hex zero-
n entry for each interrupt each for entry n e interrupt handling code handling interrupt e Component. standard standard in n uh function. a such in tion n sse. h Texas The system. ing EK GUI you can choose can you GUI EK x b te RTA-OSEK the by ext ce t RTA-OSEK to ached nerp context interrupt . . ISR()
macro, Issue Issue M00088-001
3.1
15 and
this using the els els of the Central used in the OIL is provided in the , which contains the entry entry time. Single 2 2 CIM channels are n n of RTA-OSEK splits the interrupt source in be be bound to addresses se se vectors. The offset FIQ and IRQ interrupts 8 8 and 0x1C. If a user CPU IRQ (0x18) or FIQ os_irq_entry() Q Q or FIQ interrupt line. on, the entry functions of tions. They should not be cessed and by handled the ion ion file, these functions are on on with multiple interrupts 0x0 0x0 is always attached to a nd nd set-up the stack pointers rect rect mapping between each reference reference the CIM hardware
Target Hardware Issues Target Hardware macro. Extra context handling c_int00() functions. These functions are
ISR() modifier. Category 2 interrupts should still os_irq_fiq_vectors . This reset handler function should perform the
os_fiq_entry() interrupt and .
c_int00()
for the CPU modes used. An example of start-up operation start-up required foroperation the TI C a compiler be be decorated with the OSEK standard the multiple interrupt handler entry points. They source. interrupt the determine to registers If RTA-OSEK generates the vector table and multiple are contained within the application OIL configurat automatically automatically located on vector table addresses 0x1 generated vector table is provided for an applicati bound on FIQ/IRQ, the appropriate functions should 0x18 and and 0x1C. 0x18 When multiple interrupts occur within the applicati all Category 1 interrupts should be standard C func decorated with the Instead, the interrupt can be bound directly to the applications applications where single interrupts trigger the IR (0x1C) vector, consequently reducing the interrupt Handling single IRQ/FIQ interrupt sources The CIM does not need to be referenced to determine user function os_irq_entry() In In the generated vector table, the Reset Vector at Handling Multiple Interrupt Sources The CIM allows multiple interrupt sources to be pro CPU FIQ and IRQ interrupt lines. RTA-OSEK supports The The vector table used in the TMS470R1 implementatio the ARM CPU vector table Interrupt and Manager the (CIM) interrupt 32 (see chann anin characterized array integer Section 3.1.2). The 3 Reset Vector Software Table Vector required by interrupt functions is dealt with by example application. example os_fiq_entry() addresses addresses of the interrupt handlers for addresses shown in Section 3.1.2 illustrates the ISRs di on the array entry and file. configuration the interrupt source that should be
3.1.9 3.1.8 3.1.7 3.1.6 Issue M00088-001 Issue
3.2
16 3.2
3.1.10 CPUOperatingModes Target HTarget f h patm nerp sol b ete 1 o IRQ interrupts. for 1 either be should interrupt phantom the of be an of result a as entered be can This 0. of offset to handler interrupt phantom a supports RTA-OSEK interruptand request register(INTREQ) arezero. r offset interrupt CIM the of contents the but high tri is I the when interrupt occurs This source. an the identify cannot when occurs interrupt phantom A s te olwn CU prtn mds SC y using by Abort Undefined.and SVC modes; operating CPU following the use SVC in (i.e. stack inter 1 Category interrupts. SVC 1 Category processing the on run to expects always T stack. SVC the on runs processor the reset, From worst-casestack requirements. interru the f processing before switches mode (SVC) Component supervisor RTA-OSEK the occurs, interrupt Category insupervisorexecute 2and ISRs All tasks The entry function that occurs on the wrapper is wrapper the on occurs that function entry The vector to bound be should configurationfile interrupts IRQ 2 Category assembler inassembler CodeExample be3:2 can used implem to C single a with used is tablevector generated user
Phantom interrupt supportinterrupt Phantom o_r_dr .long _os_wrapper_018 _os_irq_addr: .long _c_int00 _os_reset_addr: $ _c_int00 .ref B pc,_os_irq_addr LDR $ NOP $ B $ B $ B B pc,_os_reset_addr LDR .align 4 .sect ".os_intvec" Code Example Example Code ardwareIssues 3 : 2
- Impleme
nting a Vector Table with a Category a ISR Table Vector Single 2 with a nting
FIQ or IRQ interrupt. The IPL The interrupt. IRQ FIQor _os_wrapper_018() mode. WhenCategory 2 mode. a ategory 2 IRQ interrupt, the interrupt, IRQ2 ategory rupts can be configured to configured be can rupts RQ or FIQ request signal is signal request FIQ or RQ he RTA-OSEK Component RTA-OSEK he egister (IRQIVEC/FIQIVEC) egister nerps r fr FIQ for 2 or interrupts t Ti mnmzs the minimizes This pt. entthis vector table. oe, xet when except mode), grd n te CPU the and ggered tahd o VIM a to attached h SI FQ IRQ, FIQ, SWI, the o IQ oe to mode IRQ rom x8 n h OIL the in 0x18 Issue Issue M00088-001 . If a a If .
3.3
17 he he
is always 0.always is registers. registers. They
ters to be initialized excluding excluding calls to hooks Target Hardware Issues Target Hardware
StackFaultHook .
Required Required Value with OS_FIRQPR_INIT Initialize Notes mode and CPU F bits and I the control Used to . is a scalar, representing the number of bytes on t
unsigned long unsigned StartOS()
API max usage (bytes): 24 (bytes): 24 max usage API (bytes): 24 max usage API Stack Calls Usage API within The maximum stack usage within RTA-OSEK API calls, follows: as is and callbacks, (bytes): 24 max usage API Number of Stacks to argument first The is used. stack A single The The RTA-OSEK Component requires the following regis before calling The RTA-OSEK Component uses code. user by altered be not should the following hardware osStackOffsetType stack, with C type type C with stack,
Register FIRQPR Register CPSR (CPU) Stack Stack Usage Register Register Settings 3.4.2 3.4.1
Extended Standard Timing Issue M00088-001 Issue 3.4 3.3
3.4
18
3.4.4 3.4.3
Target HardwareTarget Issues then the number of stack bytes used by by used bytes stack of number the then applicat an within used are alarms more If alarms. w function, this to attributed been has bytes 16 of implemented. alarms of number the and optimization u depends function this in used stack of amount The < In applications that use alarms, a function a alarms, use that applications In () Name> Usage Tick_
- Bit Instructions Bit Tick_
OIL file is the amount of stack of amount the is file OIL between functions compiled functions between hich is sufficient for up to 8to up for sufficient is hich use other library code, you code, library other use
ze stack usage. When the When usage. stack ze aries were compiled using compiled were aries e. If the task is compiled is task the If e. eer uses 4 bytes of stack, of bytes 4 uses eer e when applications use use applications when e o ta ue EC tasks, ECC uses that ion pon the level of compiler of level the pon e veneer to get into the into get to veneer e ions written in both the both in written ions stackcalculations. A nominal stack usage stack nominal A oe bu cl stack call about more to the idle task stack task idle the to t of stack used by the by used stack of t API call). ed to) is to) ed (where Issue Issue M00088-001 should
4.1
19
32 32 32 32 32
255 255 255 Yes
32 32 32 32 32
255 255 255
Yes Yes
No 1 32 32 32 32 n/a 255 255 No
0
32 32 32 32
TMS470R1 15 RAM Off-chip RAM Off-chip RAM On-chip 255 255 255 Yes ts supported per
0 Application Uses Application g g on whether your 32 32 32 32
No ts ts of features. These 255 255 255 Yes ments in this chapter: chapter: this ments in 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 32 32 32 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
tion
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 Configura 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 M00088-001 Issue 4.1 4
4.2
4.2 20
Standard Timing
4.2.1 HardwareResources COMoverhead overheadOS MultipleTask Activations Configuration Limitsfornumber the of applicationmodes Configura 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 Priorities
tion
Events Events MultipleTask Activations SharedTask Priorities
ROM RAM ROM RAM ROM RAM ROM RAM
Events No No
160 232 16 66 16 46
8 8 No No
Yes Yes No No 160 232 No 16 66 16 46
8 8 ApplicationUses ApplicationUses No
include this overhead for overhead this include
Yes ng. ng. No
Yes Yes 168 240 ApplicationUses
uoted separately. If separately. uoted 16 66 16 46
o te RTA-OSEK the for
8 8 4294967295
Yes
No No 278 206
16 66 16 46
8 8 No No No
No
Yes Yes Yes Yes Issue Issue M00088-001 278 206
Yes Yes 16 66 16 46
8 8
Yes Yes Yes 286 214
16 66 16 46
8 8
4.2
8 21 84 16
336 Yes
8 84 16
328 Yes Yes
No
8
84 16 328 No
8 additional additional sub-task 84 16
292 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
84 16 284 No
Yes
No 8
84 16 284 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 M00088-001 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 164 148 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 40 36 11 64 34 20 20 12 20 20
4 0 0 4 4 4 0 0 0 0 1 0 No
Yes No 164 148 n/a n/a n/a n/a n/a n/a n/a n/a 48 40 36 11 66 34 20 20 12 20 20
8 4 0 0 4 4 4 0 0 0 0 1 0
ApplicationUses
Yes 164 148
n/a n/a n/a n/a n/a n/a n/a n/a
56 10 40 36 11 66 34 20 20 12 20 20 4 0 0 4 4 4 0 0 0 0 1 0
No 164 148 n/a n/a n/a n/a n/a n/a 60 58 60 56 40 36 56 31 66 34 20 12 20 20
4 0 0 4 4 4 0 0 0 0 1 0 No
Issue Issue M00088-001
Yes Yes
164 148 n/a n/a n/a n/a 60 58 60 56 48 40 36 56 31 66 34 20 12 20 20 8 4 0 0 4 4 4 0 0 0 0 1 0
Yes 164 148
56 31 66 34 68 60 68 58 60 58 60 56 56 10 40 36 20 12 20 20 0 4 4 4 0 0 0 0 1 0 4 0
4.2
0 4 6 0 0 0 4 4 4 23 12 52 22 72 72 12 12 12 12 12 48 16 68 68 70 16 68 16 36
Yes Yes
0 4 4 4 0 4 6 0 0 72 72 12 52 20 12 12 12 12 12 68 70 16 36 48 16 60 16 68
Yes Yes Yes Yes
No No 0 4 4 4 0 4 0 0 0 0
72 72 12 52 12 12 12 12 68 70 16 36 48 16 16 68 n/a n/a No No
0 4 4 4 0 4 6 0 0 12 52 22 12 12 12 12 12 16 36 48 16 68 16 68
n/a n/a n/a n/a
Yes Yes
Application Uses Application Application Uses Application
0 4 4 4 0 4 0 0 0 0
12 52 20 12 12 12 12 16 36 48 16 60 16 68 n/a n/a n/a n/a No No Yes Yes
o
N No 0 4 4 4 0 4 0 0 0 0
12 52 12 12 12 12 16 36 48 16 16 68 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
Shared Task Priorities Task 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 M00088-001 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
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 ROM RAM
No 174 182 n/a n/a n/a n/a 14 68 16 11 66 34 20 12 12 12 12 12 20 20 12 20
0 0 0 0 0 0 0 4 0 0 4 4 4 0 N
o
Yes No 174 182 n/a n/a n/a n/a 14 68 16 11 66 34 20 12 12 12 12 12 20 20 12 20
0 0 0 0 0 0 0 4 0 0 4 4 4 0
ApplicationUses
Yes 174 182
n/a n/a n/a n/a
14 68 16 11 66 34 20 12 12 12 12 12 12 20 20 12 20 0 0 0 0 0 6 4 0 0 4 4 4 0
No 174 182 n/a n/a n/a n/a 14 68 16 56 31 66 34 20 12 12 12 12 12 20 12 20
0 0 0 0 0 0 0 4 0 0 4 4 4 0 No
Issue Issue M00088-001
Yes Yes
174 182 n/a n/a n/a n/a 14 68 16 56 31 66 34 20 12 12 12 12 12 12 20 12 20 0 0 0 0 0 6 4 0 0 4 4 4 0
Yes 174 182
68 16 56 31 66 34 14 80 80 70 12 12 12 12 12 20 12 20 20 12 72 0 0 6 4 0 0 4 4 4 0 0 0 0
4.2
8 0 0 0 4 4 4 25 28 20 26 72 74 80 74 88 76 88 16 18 16 36 16 60 60 76 80
194 186 Yes Yes
8 0 0 0 4 4 4 28 20 24 72 16 60 60 68 80 74 80 16 18 16 36 n/a n/a n/a n/a
194 186
Yes Yes Yes Yes
No No 8 0 0 0 4 4 4
28 20 72 16 60 60 80 74 80 16 18 16 36 n/a n/a n/a n/a n/a n/a 194 186 No No
8 0 0 0 4 4 4 28 20 26 16 60 60 76 16 18 16 36
n/a n/a n/a n/a n/a n/a n/a n/a
194 186 Yes Yes
Application Uses Application Uses Application
8 0 0 0 4 4 4
28 20 24 16 60 60 68 16 18 16 36 n/a n/a n/a n/a n/a n/a n/a n/a 194 186 No No Yes Yes
o
N No 8 0 0 0 4 4 4
28 20 16 60 60 16 18 16 36 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 194 186 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
Shared Task Priorities Task Shared Shared Task Priorities Task 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 M00088-001 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 Implementa 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 tion
No 11 70 38 44 68 16 28 24 12 28 20 20 20 20 12
8 4 4 4 8 4 4 4 0 0 0 0 0 4 0 No
Yes No 11 70 38 44 68 16 28 24 12 28 20 20 20 20 12
8 4 4 4 8 4 4 4 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
11 70 38 44 68 16 28 24 12 28 20 20 20 20 12 12 8 4 4 4 8 4 4 4 0 0 0 6 4 0
No 60 31 70 38 44 68 16 28 12 28 20 20 20 20 12
8 4 4 4 8 4 4 4 0 0 0 0 0 4 0 No
Issue Issue M00088-001
Yes Yes
60 31 70 38 44 68 16 28 12 28 20 20 20 20 12 12 8 4 4 4 8 4 4 4 0 0 0 6 4 0
Yes
44 68 16 60 31 70 38 20 20 20 20 12 12 28 12 28 4 4 4 0 0 0 6 4 0 8 4 4 4 8
4.2
27 nd nd
a 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
ErrorHook ErrorHook GetServiceParameters GetServiceParameters Description
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 M00088-001 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
Description
Ev
ent s
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 108 130 118 130 114 114 142 n/a n/a n/a n/a n/a n/a 86 76 70 50 74 54 64 54 46 40 40 46 82 90
No
Yes
No 148 170 118 170 124 152 182 152 n/a n/a n/a n/a n/a n/a 76 70 50 74 54 64 54 46 40 40 46 82 90 ApplicationUses
Yes
158 180 118 108 202 200 182 212 182 n/a n/a n/a n/a n/a n/a
76 70 54 74 54 64 54 46 40 40 46 82 priority.
priority.
No 118 140 116 118 140 124 152 124 n/a n/a n/a 56 76 70 50 74 54 64 54 46 40 40 46 96 90 98 90 Issue Issue M00088-001
No
Yes Yes
134 158 180 116 118 180 162 192 162 n/a n/a n/a n/a
76 70 50 74 54 64 54 46 40 40 46 90 98 90
Yes
160 186 118 108 184 232 210 244 210 208 232 n/a n/a n/a n/a
76 70 54 74 54 64 54 46 40 40 46 98
4.2
8
26 28 42 42 32 22 96 12 70 46 38 50 16 16 56 50 88 76 56 68 58 78 10 10
n/a n/a 29 362 134 148 314 364 400 150 Yes n/a 1588 n/a
8
42 32 96 12 26 28 42 22 50 16 16 68 58 78 10 10 70 46 38 78 56 50 88 76 56
n/a n/a 206 362 150 134 184 400
Yes Yes 1520 n/a n/a
No
8
42 32 12 26 28 42 32 22 50 16 16 68 44 58 80 64 10 10 70 46 38 78 56 30 50 88 76 56 n/a 206 362 134 184 400 No n/a 1408
8
42 32 94 26 28 42 50 16 16 68 58 78 10 10 70 46 38 50 88 76 56
n/a n/a n/a n/a n/a n/a 362 150 134 400 Yes n/a n/a 1380 n/a n/a
8
Application Uses Application 42 32 62 26 28 42 50 16 16 68 86 10 10 70 46 38 50 88 76 56 n/a n/a n/a n/a n/a n/a 362 154 108 134 400 No
Yes 1312 n/a n/a n/a n/a
No
8
42 32 62 26 28 42 50 16 16 68 48 80 66 10 10 70 46 38 50 88 76 56 n/a n/a n/a n/a n/a n/a 362 134 400 No 1192 n/a n/a n/a n/a
13 34 34 34 34 4 32 33 2 30 12 2 10 2, 11 10
Parameters of Implementation of Parameters
Hook ActivateTask SetEvent Callback Tick counter Final Yielding Non-Yielding
ents Ev
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 M00088-001 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
Ev
ent s
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 156 170 170 148 114 104 100 116 152 126 152 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 64 80 80 50 58 60 60 76 64 56 50 82 92
No
Yes
No 156 170 170 100 116 152 270 226 190 208 232 190 182 152 n/a n/a n/a n/a n/a n/a n/a n/a n/a 64 80 80 50 58 60 60 76 64 56 88 80 50 92 ApplicationUses
Yes 156 170 170 304 106 100 146 152 260 222 246 270 240 232 182 n/a n/a n/a n/a n/a n/a n/a n/a n/a
64 80 80 50 58 60 60 76 64 56 50 98 92
No 168 168 156 118 140 100 116 182 182 182 182 152 152 122 252 244 152 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 50 58 60 76 64 56 50 96 92 Issue Issue M00088-001
No
Yes Yes
168 168 100 116 182 182 182 182 152 152 296 254 216 234 258 252 244 190 182 152 n/a n/a n/a n/a n/a n/a n/a
50 58 60 76 64 56 88 80 50 92
Yes 356 316 300 300 106 100 146 168 168 288 302 328 292 292 240 232 182 182 182 182 182 152 152 n/a n/a n/a n/a n/a
76 64 56 50 50 58 60 98 92
4.2
20 42 20 20 62 90 22 20 20 18 18 16 18 16 50 50 60 58 78 68 18
n/a 31 120 122 316 344 168 136 154 110 Yes
62 90 22 20 20 20 42 20 20 78 68 18 18 18 16 18 16 50 50 60 58
n/a 254 286 120 122 110 168 136 154
Yes Yes
No
62 90 22 20 20 20 42 20 20 78 68 18 18 18 16 18 16 50 50 60 58 n/a 122 120 122 110 144 168 136 154 No
62 90 22 20 20 20 42 20 20 78 68 18 18 18 16 18 16 50 50 60 58
n/a 260 292 120 122 110 168 136 154 Yes
Application Uses Application 62 90 22 20 20 20 42 20 20 78 68 18 18 18 16 18 16 50 50 60 58 n/a 226 258 120 122 110 168 136 154 No
Yes
No
62 90 22 20 20 20 42 20 20 78 68 18 18 18 16 18 16 50 50 60 58 n/a 132 194 114 136 166 154 170 144 No
2 8 9 1 2 1 Parameters of Implementation of Parameters
KL NSL NSH SW NS KL SW NS
ents
Ev
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 M00088-001 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
n/a
No 130 114 114 108 130 154 110 142 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 46 86 70 50 74 54 64 54 46 40 40 96 82
No
n/a Yes
No 170 148 170 154 110 152 182 152 124 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 46 70 50 74 54 64 54 46 40 40 96 82 ApplicationUses
n/a Yes
158 180 154 200 182 212 182 202 128 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a
46 70 54 74 54 64 54 46 40 40 96 82
No 140 118 140 116 154 110 124 152 124 252 230 n/a n/a n/a 46 56 78 56 70 50 74 54 64 54 46 40 40 96 22 32 90 96 98 Issue Issue M00088-001
No
Yes Yes
180 134 158 180 116 154 110 162 192 162 252 230 n/a n/a n/a n/a n/a
46 56 78 70 50 74 54 64 54 46 40 40 22 90 96 98
Yes
410 360 148 160 186 154 184 128 232 210 244 210 208 232 n/a n/a n/a n/a n/a
56 70 54 74 54 64 54 46 40 40 46 22 96 98
4.2
8
42 42 32 96 12 26 24 28 38 50 16 16 60 58 50 88 76 56 68 58 78 10 10 70 46
n/a n/a n/a 33 152 152 362 180 400 150 Yes n/a 1588
8
12 26 24 28 42 42 32 96 60 58 10 70 46 38 50 16 16 50 88 76 56 68 58 78 10
n/a n/a n/a 152 152 362 180 400 150
Yes Yes 1520 n/a
No
8 12 26 24 28 42 42 32 60 58 10 70 46 38 50 16 16 88 50 88 76 56 68 44 58 80 64 10 n/a n/a n/a 152 152 362 180 400 No 1408
8
26 24 28 42 42 32 94 60 60 58 10 70 46 38 50 16 16 50 88 76 56 68 58 78 10
n/a n/a n/a 152 362 180 400 150 Yes n/a 1380 n/a
8
Application Uses Application 26 24 28 42 42 32 94 60 60 58 10 70 46 38 50 16 16 50 88 76 56 68 58 78 10 n/a n/a n/a 152 362 180 400 150 No
Yes 1312 n/a n/a
No
8
26 24 28 42 42 32 60 60 58 10 70 46 38 50 16 16 50 88 76 56 68 44 58 78 64 10 n/a n/a n/a rs of Implementation rs of 152 362 180 400 No 1192 n/a n/a
30 14 15 4 32 33 2 30 12 13 30 10 34 34 34 34
Paramete
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 M00088-001 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 110 176 156 170 170 136 114 148 114 104 102 214 126 n/a n/a n/a n/a n/a n/a n/a n/a n/a 40 64 80 80 50 50 50 84 76 64 56 20 20 82 82
No
Yes
No 110 176 156 170 170 186 102 214 258 226 270 226 190 208 232 194 n/a n/a n/a n/a n/a 40 64 80 80 50 50 50 84 76 64 56 80 72 20 20 82 ApplicationUses
Yes 110 156 170 170 304 102 246 208 292 260 260 222 246 270 244 236 n/a n/a n/a n/a n/a
40 64 80 80 50 50 50 84 76 64 56 90 20 20 82 98
No 110 176 168 168 144 156 118 140 102 214 182 182 182 182 122 122 288 280 n/a n/a n/a n/a n/a n/a n/a 40 50 50 50 84 76 64 56 20 20 96 82 Issue Issue M00088-001
No
Yes Yes
110 176 168 168 186 102 214 182 182 182 182 286 254 296 254 216 234 258 288 280 194 n/a n/a n/a
40 50 50 50 84 76 64 56 80 72 20 20 82
Yes 344 316 356 316 110 168 168 288 302 328 332 324 332 324 244 236 102 246 208 182 182 182 182 n/a
50 50 84 76 64 56 40 50 20 20 82 98 90
4.2
24 62 90 22 20 20 20 42 24 60 58 78 68 18 18 18
n/a 35 290 324 244 126 120 122 102 168 136 154 110
Yes Yes
20 20 20 42 24 24 62 90 22 18 18 18 60 58 78 68
n/a 238 272 192 126 102 120 122 168 136 154 110
Yes Yes Yes Yes
No No
20 20 20 42 24 24 62 90 22 18 18 18 60 58 78 68 n/a 200 234 126 102 120 122 156 168 136 154 110 No No
20 20 20 42 24 24 62 90 22 18 18 18 60 58 78 68
n/a 258 292 212 126 102 120 122 168 136 154 110
Yes Yes
Application Uses Application Application Uses Application 20 20 20 42 24 24 62 90 22 18 18 18 60 58 78 68 n/a 228 262 182 126 102 120 122 168 136 154 110 No No
Yes Yes
No No
20 20 20 42 24 24 62 90 22 18 18 18 60 58 78 68 n/a 220 142 126 102 194 132 186 166 154 170 144 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
Shared Task Priorities Task Shared Shared Task Priorities Task Shared
Configuration Activations Task 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 M00088-001 Issue
4.2
36
GetEvent ClearEvent SetEvent ReleaseResource GetResource SuspendOSInterrupts ResumeOSInterrupts SuspendAllInterrupts ResumeAllInterrupts DisableAllInterrupts EnableAllInterrupts GetTaskState GetTaskID Schedule ChainTask MultipleTask Activations Configuration GetCounterValue InitCounter CancelAlarm SetAbsAlarm SetRelAlarm GetAlarm GetAlarmBase WaitEvent
Parametersof Implementation SharedTask Priorities
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
n/a n/a No 146 146 174 476 456 138 300 194 192 292 270 256 226 124 128 204 248 224 236 256 n/a n/a n/a n/a n/a n/a n/a n/a 78 60 54 54 88 92 92
No
n/a n/a Yes
No 334 310 300 146 146 174 476 456 138 300 194 192 266 124 128 204 248 224 236 256 n/a n/a n/a n/a n/a n/a n/a n/a 78 60 54 54 88 92 92 ApplicationUses
n/a n/a Yes 338 146 146 174 476 456 138 300 194 210 362 328 294 124 128 204 248 224 236 232 n/a n/a n/a n/a n/a n/a n/a n/a
78 60 54 54 88 92 92
No 304 146 146 174 476 456 138 178 336 314 150 114 166 300 200 192 282 270 238 124 128 142 192 262 234 204 248 224 236 256 78 60 54 54 88 92 92 Issue Issue M00088-001
No
n/a Yes Yes
344 310 146 146 174 476 456 138 336 314 150 114 300 200 192 320 276 124 128 192 262 234 204 248 224 236 256 n/a n/a
78 60 54 54 88 92 92
n/a Yes 146 174 476 456 138 440 150 114 304 300 368 360 146 124 128 490 262 332 204 248 224 236 232 200 210 394 324 n/a n/a
88 78 60 54 54 92 92
4.2
8
96 96 98 72 12 26 28 52 54 38 40 88 10 10 34 88 46 38 60 16 16 56
n/a 37 218 218 252 252 252 252 234 234 208 194 160 106 Yes 1844
8 52 96 96 98 72 12 26 28 46 38 60 16 16 56 54 38 40 88 10 10 34 88
n/a 252 252 234 234 194 218 218 252 252 176 160 106
Yes Yes 1772
No
8 52 96 96 98 90 12 26 28 46 38 60 16 16 56 54 38 40 58 68 74 10 10 34 88 n/a 252 252 234 234 194 218 218 252 252 176 No 1668
8
52 96 96 98 72 26 28 46 38 60 16 16 56 54 38 40 88 10 10 34 88
n/a 152 240 222 208 194 128 218 152 240 134 160 104 Yes 1628 n/a
8
Application Uses Application 52 96 96 98 72 26 28 46 38 60 16 16 56 54 38 40 88 10 10 34 88 n/a 152 240 222 194 128 218 152 240 134 176 160 104 No
Yes n/a 1556
No
8
52 96 96 98 26 28 46 38 60 16 16 56 54 38 40 58 68 88 74 10 10 34 88 n/a 152 240 222 194 128 218 152 240 134 176 No n/a 1444
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
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 Task Activations Task Multiple GetScheduleTableStatus NextScheduleTable StartScheduleTable StopScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable point expiry ScheduleTable Configuration Issue M00088-001 Issue
4.2
38
MergeTaskset GetTasksetRef ChainTaskset ActivateTaskset Timing_termination Timing_dispatch validity_checks ErrorHook support sub_dispatch MultipleTask Activations Configuration AdvanceSchedule TickSchedule TestEquivalentTaskset TestSubTaskset RemoveTaskset AssignTaskset
Parametersof Implementation SharedTask Priorities
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 106 110 318 184 140 184 118 370 336 336 140 118 102 214 236 274 244 320 296 192 194 290 198 276 246 n/a n/a n/a n/a n/a n/a n/a n/a 40 84 38 82
No
Yes
No 106 186 110 184 140 184 118 450 408 306 140 118 194 102 214 210 292 254 204 292 250 192 194 412 362 248 332 n/a n/a n/a n/a 80 40 84 38 72 82 ApplicationUses
Yes 106 110 184 140 184 118 484 448 366 334 140 118 244 236 102 246 210 292 254 204 292 250 192 194 442 392 284 n/a n/a n/a n/a
40 84 38 98 90 82
No 106 110 184 140 184 118 358 310 140 118 288 280 102 214 210 292 254 204 292 250 192 194 396 362 220 296 268 n/a n/a n/a n/a n/a n/a 40 84 38 82 Issue Issue M00088-001
No
Yes Yes
106 186 110 184 140 184 118 480 436 388 358 338 140 118 288 280 194 102 214 210 292 254 204 292 250 192 194 442 274 n/a n/a
80 40 84 38 72 82
Yes 184 140 184 118 484 434 414 384 140 118 106 110 210 292 254 204 292 250 192 194 526 490 332 332 324 332 324 244 236 102 246
84 38 40 82 98 90
4.2
88
n/a 39 142 128 112 124 102 178 130 168 150 114 114 148 130 106 Yes
88
n/a 102 142 128 112 124 106 178 130 168 150 114 114 148 130
Yes Yes
No
88
n/a 102 142 128 112 124 106 178 130 168 150 114 114 148 130 No
88
n/a
102 142 128 112 124 106 178 130 168 150 114 114 148 130 Yes
ested. .
or message message or or message message or
ed SRs ystem Application Uses Application point 88 n/a in the system the in 102 142 128 112 124 106 178 130 168 150 114 114 148 130 No
Yes
No
88
n/a 102 142 128 112 124 106 178 130 168 150 114 114 148 130 No
Parameters of Implementation 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
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 Task Activations Task Multiple StartSchedule StopSchedule GetScheduleStatus GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay SetArrivalpointDelay Configuration Notes Issue M00088-001 Issue
4.3
40 4.3
4.3.1 4.2.4 Performance Number
Parametersof Implementation by RTA-OSEK. by r hardware other and traps interrupts, units, Timer Hardware Resources Reserved events and to CCCB for systems with events; (2) events; with systems for CCCA CCCB to to setand events was class COM OSEK the (1) that: (Note CP (in time execution the give tables following The RTA for Times Execution shorterthanthose reportedinthe ofremainder thi ar times actual The cycles. CPU two to up of level ther section, this in figures The speed. clock CPU ti two running timer a using achieved was Component TMS470/T the for data performance of collection The 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 - OSEK API Calls OSEK
e between 0 and two cyclestwo and 0 between e s section. s ShutdownOS() efore, have an uncertainty an have efore, U cycles) for each API call. API each for cycles) U esources are not reserved not are esources
I port of the RTA-OSEK the of port I ht, floating-pointtasks ight,floating-point tasks ight,integer tasks e soe ta the than slower mes -pointtasks tasks -pointtasks tasks ht, floating-pointtasks ht,integer tasks o sses without systems for ight,floating-point tasks ight,integer tasks rity uses2 schedule tables DE orDEISR
enters an enters
Issue Issue M00088-001
4.3
0 41 s 23 91 29 95 41 63 43 57 77 71 63 31 47 41 61
n/a n/a
125 105 105 103 417 177 161 143 405 463 405 457 Ye
0 23 29 93 71 63 81 31 47 41 61 41 63 41 57 77 75
n/a n/a
329 121 109 329 103 363 381 373 105 105 135 ). Yes Yes
No 0
23 79 29 95 93 71 63 31 45 41 63 41 61 41 57 77 57 n/a n/a 103 363 367 311 361 105 105 107 135 313 No
0 91 29 87 31 47 41 61 41 63 41 55 75
n/a n/a n/a n/a n/a n/a n/a n/a
423 369 123 415 105 171 157 141 367 Yes reported below is the
ShutdownHook() Application Uses Application
0
79 29 39 87 31 47 41 61 41 63 55 75 85 n/a n/a n/a n/a n/a n/a n/a n/a 359 119 303 351 105 131 135 303 No Yes
calls calls
No 0
79 29 39 99 85 31 45 41 63 41 61 55 75 85 51 n/a n/a n/a n/a n/a n/a n/a n/a 257 257 313 305 105 135 No
Parameters of Implementation of Parameters ShutdownOS()
ShutdownOS()
NS KL
Events
Shared Task Priorities Task Shared
infinite infinite loop; the execution time for time up to the point at which which at the point timeto up
ReleaseResource SetEvent ClearEvent GetEvent WaitEvent GetTaskState EnableAllInterrupts DisableAllInterrupts ResumeAllInterrupts SuspendAllInterrupts ResumeOSInterrupts SuspendOSInterrupts GetResource TerminateTask ChainTask Schedule GetTaskID Configuration Activations Task Multiple Service ActivateTask Standard Issue M00088-001 Issue
4.3
42
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 GetAlarm GetAlarmBase MultipleTask Activations Configuration ChainTaskset ActivateTaskset
Parametersof Implementation SharedTask Priorities
Events
KL
1053 No 107 311 157 171 125 253 n/a n/a n/a n/a n/a n/a n/a 11 15 41 71 65 71 43 77 43 67 17 31 79 91 69 91 79 91 89 49
7 9 No
1053 Yes No 107 685 455 441 457 125 625 397 439 399 125 191 203 n/a n/a n/a n/a n/a n/a n/a 11 15 41 81 71 65 71 67 17 31 91 69 49
7 7
ApplicationUses
1053 Yes 107 755 485 501 441 485 501 163 125 697 439 229 241
n/a n/a n/a n/a n/a n/a n/a
11 15 41 81 71 65 71 67 17 31 91 69 49 9 9
1053 No 107 371 301 363 101 125 359 285 349 123 253 n/a 11 15 65 73 67 53 85 51 85 13 17 17 39 79 69 91 97 99 39 89 49
7 9 No
1053 Yes Yes Issue Issue M00088-001 107 371 663 447 463 447 463 301 365 125 719 409 409 379 123 253 n/a 11 15 81 65 73 67 13 17 39 69 91 39 89 19 99 49 9 9
1053 Ye 805 745 477 501 517 477 501 353 435 101 107 519 419 123 253 125 427
n/a
13 17 17 11 15 41 71 65 71 39 89 49 79 91 69 s 7 7
4.3
9 43 s 89 23 21 19 19 19 19 29 29 21 19 95 79 83 15 17 13 61 61 71 71
799 621 625 595 745 643 581 635 613 575 603 567 617 561 Ye
7 27 93 79 89 21 23 19 19 19 19 23 19 69 17 15 31 83 17 61 61 71
549 527 493 579 545 507 561 537 503 661 713 555 517 567 Yes Yes
No 7
27 93 79 89 21 23 19 19 19 19 21 19 17 15 31 83 17 61 61 71 71 189 193 193 211 189 211 151 171 135 171 135 301 351 151 No
7 29 95 79 89 23 21 19 19 19 19 21 19 17 15 31 83 15 61 61 71 71
plementation
539 559 523 559 525 695 749 599 599 577 581 581 577 537 Yes
Application Uses Application
9
27 29 93 79 89 21 23 19 19 19 19 23 19 69 17 13 83 17 61 61 71 497 539 539 625 495 535 517 481 517 483 677 557 535 557 No Yes
No 7
27 79 79 93 79 89 21 23 19 19 19 19 21 19 17 15 31 83 17 61 61 71 71 139 253 103 131 113 131 113 303 157 141 105 155 No Parameters of Im of Parameters
NS2 KL2 SW NS KL SW2 NS2 KL2 NSL NSH SW NS KL SW2
Events
Shared Task Priorities Task Shared
SetArrivalpointDelay GetArrivalpointTasksetRef GetArrivalpointNext SetArrivalpointNext TestArrivalpointWritable GetExecutionTime GetLargestExecutionTime ResetLargestExecutionTime GetStackOffset StartSchedule StopSchedule GetScheduleStatus GetScheduleValue GetScheduleNext SetScheduleNext GetArrivalpointDelay TickSchedule AdvanceSchedule Multiple Task Activations Task Multiple GetTasksetRef MergeTaskset AssignTaskset RemoveTaskset TestSubTaskset TestEquivalentTaskset Configuration Issue M00088-001 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 601 563 611 563 411 101 113 n/a n/a n/a n/a n/a n/a n/a n/a n/a 53 77 57 41 65 43 63 43 33 31 81 89 93 69 49 89
0 No
Yes No 411 133 113 649 609 659 609 119 n/a n/a n/a n/a n/a n/a n/a n/a n/a 87 43 63 43 65 43 47 33 87 31 81 93 69 79 59
0
ApplicationUses
Yes 713 673 673 417 171 113 723 125 159
n/a n/a n/a n/a n/a n/a n/a n/a n/a
77 57 43 63 43 65 43 47 33 31 93 69 89 91 0
No 411 107 641 105 107 113 659 619 669 619 649 n/a n/a 65 73 43 63 43 65 43 47 33 31 81 59 95 93 69 25 79 59 97
0 No
Yes Yes Issue Issue M00088-001 673 637 683 635 411 643 105 107 113 109 123 649 n/a n/a 77 71 65 73 77 57 41 63 43 65 43 47 33 31 81 93 25 97 0
Yes 685 105 107 113 757 713 765 713 165 695 419 129 179
n/a n/a
71 65 73 77 57 43 63 43 65 43 47 33 31 93 25 97 91 0
4.3
9 45 25 19 21 91 75 67 71 81 41 17 13 51 11 15 41
n/a
421 521 479 519 479 127 109 255 437 355 503 503 101 137 Yes 1097 2927 1051 1107 1053
9 23 19 19 91 11 15 41 75 67 71 81 41 17 13 51 n/a
969 969 255 449 449 127 109 103 137 381 367 303 465 411 465 411 Yes Yes 1021 2927 1011
No
23 19 21 91 99 11 11 15 41 87 55 87 53 73 67 73 81 43 17 13 51 n/a 609 659 609 255 287 127 109 651 101 137 365 351 101 No 2927
9 25 19 11 33 67 73 67 73 81 43 17 13 51
n/a n/a n/a n/a n/a n/a
245 231 127 109 165 503 487 441 503 487 443 Yes 2927 1003 1057 1003 1047
Application Uses Application
9
25 19 69 11 33 73 67 73 81 43 17 13 51 n/a n/a n/a n/a n/a n/a 931 985 931 975 205 191 127 459 399 127 109 441 401 457 443 No Yes 2927
No 9 9
23 19 69 93 93 93 79 33 81 45 45 73 67 73 83 43 17 13 51 n/a n/a n/a n/a n/a n/a 559 127 109 611 555 601 173 161 No 2927 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 M00088-001 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 133 107 143 107 141 157 115 135 115 159 159 73 73 63 63 33 31 17 85 81 81 21 25 27 21 21 21 21 23 25 91 97 79
No
Yes No 541 537 537 157 485 541 485 497 559 499 559 519 519 71 73 63 63 33 85 81 21 25 27 29 21 21 19 21 21 25 23 91 95
ApplicationUses
Yes 583 601 541 601 157 561 583 561 539 579 579 527 527
71 73 63 63 33 85 81 21 25 27 29 21 21 19 21 21 25 23 91 95
No 151 153 157 173 137 173 195 191 213 191 213 139 195 73 73 63 63 31 85 81 21 25 29 29 21 21 19 21 21 25 23 91 95
No
Yes Yes Issue Issue M00088-001 563 571 581 157 531 553 505 541 509 549 519 559 495 73 73 63 63 31 31 17 85 81 21 25 29 21 21 21 21 23 25 91 97
Yes 157 563 571 605 577 617 583 645 597 619 627 639 623
33 31 17 85 81 71 73 63 63 25 27 21 21 21 21 23 25 91 97 21
4.3
47 37 41 57 61 73 61 73
255 285 267 283 253 321 339 289 251 791 209 223 389 319 971 999 281 105 783 367 485 513 141 313 Yes 1021 1047
39 41 57 61 73 61 73
251 749 197 211 255 287 267 283 255 321 289 267 891 937 919 963 743 131 313 465 341 107 315 335 481 507 Yes Yes
No
39 43 57 61 73 61 73 251 197 211 255 285 267 283 253 321 289 299 319 253 479 921 903 945 741 747 131 313 467 341 107 503 873 No
39 43 57 61 73 61 73
n/a n/a n/a n/a n/a n/a n/a
209 223 245 219 251 231 247 219 929 977 957 141 311 361 381 315 487 511 Yes 1003
Application Uses Application
37 41 57 61 73 61 73 n/a n/a n/a n/a n/a n/a n/a 197 211 429 219 249 231 247 217 325 277 913 893 937 131 311 345 481 507 865 No Yes
No
39 43 57 61 73 61 73 n/a n/a n/a n/a n/a n/a n/a 197 211 309 219 251 231 247 219 289 309 243 479 131 431 503 815 863 845 887 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 Extended Issue M00088-001 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
1171 3027 1189 1149 1123 No 187 437 507 437 581 375 473 453 157 289 191 237 265 227 579 509 n/a n/a n/a n/a n/a n/a 55 11 15 33 47 39 99
7 7 No
1513 1467 1483 1445 3027 Yes No 101 187 801 875 857 873 857 407 487 287 191 235 265 227 799 509 159 n/a n/a n/a n/a n/a n/a 55 11 15 35 47 39
7 9
ApplicationUses
1587 1543 1555 1513 3027 Yes 187 303 845 843 445 547 157 203 247 277 229 917 889 915 889 525
n/a n/a n/a n/a n/a n/a
55 11 15 41 35 47 99 7 9
1185 3027 1251 1217 1233 No 101 187 455 617 601 457 565 663 643 387 343 113 287 191 235 265 227 619 599 109 389 n/a 55 11 15 33 35 39 29
7 9 No
1475 1487 3027 1519 1449 Yes Yes Issue Issue M00088-001 101 187 803 865 853 801 867 853 583 681 661 387 387 343 115 287 191 235 263 229 109 n/a 55 11 15 41 35 35 29 9 9
1641 1537 3027 1599 1609 Yes 867 633 733 711 387 387 341 113 187 303 227 869 929 911 927 913 109 203 247 277
n/a
33 35 55 11 15 41 29 99 7 9
4.3
49 59 29 83 63 73 55 57 85 83 55
217 209 139 139 999 121 127 183 153 153 155 135 Yes 1079 1091 1023 1015 1051 1063 1077 1061 1075 1007 1067
31 55 83 61 73 53 57 85 61 81
209 953 985 999 933 123 125 215 139 139 959 997 939 153 135 181 155 153 Yes Yes 1027 1009 1017 1015 1003
No
31 55 83 61 73 53 57 85 61 83 209 639 589 123 125 215 139 139 649 595 649 595 639 653 587 653 153 135 181 153 153 661 663 No
31 55 83 61 73 53 57 85 61 81
209 977 977 123 125 215 139 139 981 981 153 135 181 155 153 Yes 1027 1039 1049 1039 1049 1027 1041 1041
Application Uses Application
31 55 83 61 73 53 57 85 61 83 209 995 931 983 995 931 123 125 215 139 139 993 939 993 939 983 153 135 181 153 153 No Yes 1007 1007
No
29 59 55 83 63 73 55 57 85 83 209 227 195 227 121 127 217 139 139 217 231 217 231 197 143 145 155 135 183 153 153 155 155 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 M00088-001 Issue
4.3
50
Standard Timing 4.3.3 4.3.2 Multiple 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 Priorities
StartOS() TaskActivations
- up Timeup
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 287 87 43 43
No No
Yes including the idle task) without task) idleincluding the
Yes 109
No No 303 43 StartOS() request beingrequestrecognized by ve the interruptve the latencies (in 43
ApplicationUses ApplicationUses apiain dependent, application s
Yes ntuto o te user the of instruction
Yes 109
303
43
43
function to the the to function
No No 109 303 43 43
No No
Yes Yes
Yes Issue Issue M00088-001 Yes
109 303 ber of ber 43 43
Yes Yes 303 109
43 43
4.3
P G
51 43
303 Yes
43
303
H F Yes Yes
ActivateTask(T1); versus a Alarm activates T2 activates Alarm
No
43 303 No
43
303 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 43 303 ActivateTask() No
Figure Figure Yes
No
43 287 No
Parameters of Implementation of Parameters
Category ISR Cat 1 Cat 2
TerminateTask(); D ng J ChainTask(T1);
Events ).
C : Chaini 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 M00088-001 Issue
4.3
52
S tandard Figure Figure Figure Figure Pre-emption ChainTask Normal termination MultipleTask Activations Config 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 : Blocked Task Activated by TaskActivated Blocked by : : Non : ReleaseResource() uration
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); 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
173 161 181 181 133 231 219 325 267 239 239 469 199 No
81 Figure Figure Figure Figure No
Category TaskT1 TaskT2 Task T1Task T2Task
2 ISR Yes
185 367 563 173 OSEK RTA- OSEK RTA- 243 197 231 321 283 235 281 235 257 127 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
443 313 313 657 281 235 279 233 397 359 359 321 201 149 SetEvent()
Interrupt Asserted Interrupt Task T2 ready to run ready T2 Task
ActivateTask(T2); A
173 161 177 279 267 379 275 295 189 295 189 519 205 No
81 Issue Issue M00088-001 No
SetEvent(T2,E1);
Yes Yes
183 307 571 279 197 267 393 323 309 235 235 255 179 127
E
Yes
317 315 487 415 401 677 333 153 233 233 327 399 327 205
TerminateTask(); Y
S
4.3
527 709 799 423 469 621 699 439 447 535 711 635 533 611 533 611
Yes 1239
53
215 297 531 Yes
525 495 669 397 557 437 515 437 517 603 385 475 407 607 757 445 s
Yes Yes
1129
421 259 175 No Yes
Yes
No 523 493 589 379 399 495 407 503 407 503 475 607 661 757 363 443 No
1095
No 421 259 153
n/a 623 519 569 519 569 439 489 449 499 421 603 653 711 761 465
Yes n/a 1217
213 261 Yes
Application Use Application n/a 489 489 523 439 459 669 721 397 557 437 437 575 387 407 435 Application Uses Application No
n/a
Yes
No 1123
223 175 Yes
No
No n/a 399 399 379 425 399 691 517 445 445 485 531 445 645 363 411 n/a No
No 189 131 1059
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,
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:
uration 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 Activations Task Multiple ISR 2 From category Configuration Config Timing Issue M00088-001 Issue
4.4
54 4.4
Extended
ConfigurationofRun From categoryFrom 2 ISR SetEvent Release resource Schedule Triggeredby alarm idleFrom task Pre-emption ChainTask Normal termination MultipleTask Activations Configuration 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
1405
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 731 685 581 581 503 475 717 671 577 531 465 627 627 769 419 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 1473
Yes
No 775 671 671 813 745 723 619 619 529 509 693 591 539 479 427 n/a ApplicationUses
1569 Yes
853 805 877 533 787 735 631 581 749 699 749 699 559 529 479 n/a
1445
No 685 685 535 475 783 687 841 663 567 515 791 695 589 589 779 419 Issue Issue M00088-001
No
1483
Yes Y
805 813 783 841 665 575 515 725 699 619 699 619 539 509 693 425
es
1587 Yes
735 705 617 567 477 713 713 563 533 823 941 899 821 793 791 891
4.4
55
92 92 76 84 88 88 80 88
132 128 128 132 140 140 164 164 164 164 136 136 160 160 160 160
Yes
92 92 72 80 88 80 84 84 n/a n/a n/a n/a 132 132 124 124 132 132 156 156 140 140 164 164
Yes
Yes
No
72 80 88 80 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 132 132 124 124 156 156 164 164 No
92 92 80 88 76 84 88 88
n/a n/a n/a n/a n/a n/a n/a n/a 132 132 128 128 140 140 136 136
Yes
Application Uses Application 92 92 72 80 88 80 84 84 n/a n/a n/a n/a n/a n/a n/a n/a 132 132 124 124 132 132 140 140 No
Yes
No
72 80 88 80 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 132 132 124 124 No
Parameters of Implementation 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 M00088-001 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 Implementa - - and/or Post and Post
MultipleTask Activations SharedTask Priorities - Taskhooks not used
- Taskhooks used
Events tion
No 148 148 100 104 100 152 152 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 96
No
Yes
No 160 160 104 104 148 148 100 164 164 108 108 104 100 152 152 n/a n/a n/a n/a n/a n/a n/a n/a 96 ApplicationUses
Yes
164 164 104 100 168 168 116 116 156 156 108 104 112 112 152 152 n/a n/a n/a n/a n/a n/a n/a n/a
No 148 148 100 188 188 104 100 184 184 152 152 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 96
No Issue Issue M00088-001
Yes
Yes
160 160 104 104 148 148 100 188 188 164 164 108 108 104 100 184 184 152 152 n/a n/a n/a n/a 96
Yes
168 168 116 116 156 156 108 104 188 188 188 188 164 164 104 100 192 192 192 192 112 112 152 152
4.4
57
200 200 200 200 152 152 112 112 196 196 196 196 156 116 116 168 168 100 104 164 164 104 108 156
Yes
96 n/a n/a n/a n/a 192 192 152 152 196 196 100 104 108 108 164 164 100 148 148 104 104 160 160
Yes
Yes
No
96 n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a n/a 192 192 152 152 196 196 100 104 100 148 148 No
n/a n/a n/a n/a n/a n/a n/a n/a 152 152 112 112 104 108 156 156 116 116 168 168 100 104 164 164
Yes
Application Uses Application 96 n/a n/a n/a n/a n/a n/a n/a n/a 152 152 100 104 108 108 164 164 100 148 148 104 104 160 160 No
Yes
No
96 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 152 152 100 104 100 148 148 No
Parameters of Implementation 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 Extended Issue M00088-001 Issue
5.1
5.1 5 58 5.2
Compatibilitywith Pre UpdatingtheApplication Version Changesbetween versions3.1and5.00 nerp vco de-multiplexers vector interrupt ta vector a generating when occurred that issue The interrupt inwas the applicationhasbeen corrected l interrupt CPU IRQ and FIQ the on located not were Compatibilitywith Pre The followingThe modifications have been between made versions.kernel revers be can process This libraries. kernel v5.00 configurationfileOIL When the v5.00. to Version’ menu ‘Application’ the in option Configuration’ ‘OS into file the load libraries, kernel v5.00 the use OILexisting convertthatfile configurationTo an • • • • • •
debugger ordebugger generic a ORTI debugger Laut the either for supported now is debugging ORTI userprovided alternative be now can de-multiplexer interrupt CIM default The h cmie vrin sd o ul ad et h lib the test and modified from v2.30tov4.4.1 build to used version compiler The stack use use stack only now kernel the stack SVC the uses only kernel e optimized; been has kernel the of performance The upr hs en de t atc a itrut handl interrupt an attach to “phantom” addedinterrupt source been has Support RTA-TRACEis nowfully now supported whenusing an - v5.00 Kernelsv5.00 os_fiq_entry() - v 5
. 00
Kernels the RTA-OSEK GUI, select the select GUI, RTA-OSEK the uses the v3.1 kernel library library v3.1 kernel to uses the is saved it will then usethe then willit saved is ed to move back to earlier to back move to ed
and and ble where the RTA-OSEK the where ble and change the ‘Kernel the change and ines when only one CIM one only when ines versions3.1 5.00:and os_irq_entry()
monitors the SVC the monitors replaced with a a with replaced ais a been has raries erbach Trace32 erbach specially as the as specially RS232link r o the to er Issue Issue M00088-001
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 M00088-001 Issue