• Added support for Freescale FRDM-K64F and Raspberry Pi boards
• Added sample files in the distribution
• Added interpreter options to choose between real-time execution mode (timing-accurate execution) and simulation mode (execution ASAP)
• Added state and named block annotations for timing accurate simulation and schedulability analysis. These annotations can be inserted by an external program (e.g. worst-case execution time analyzer)

  
  processdef AProcess() {
    state Main {
      @cpal:time {
        Main.execution_time = 3ms;
      }
    }
  }
  
  process AProcess: aTask[100ms]();
  

  State annotations can be conditional:

  
  processdef AProcess() {
    state Main {
      @cpal:time {
        if (somecond) {
          Main.execution_time = 3ms;
        } else {
          Main.execution_time = 5ms;
        }
      }
    }
  }
  

• Added random number generation in negative ranges: int32.rand_uniform(-100, 100)
• The parser now generates by default an out.ast file if no output file has been specified
• Const initialization possibilities have been extended to support any valid expression. The following code is now a valid CPAL code:

  
  const uint32: NS_COMMON =  257;
  const uint32: NES_COMMON = uint32(2 + 512);
  const uint32: D1_COMMON =  (NS_COMMON ^ NES_TRANS);
  

• Added multi-level file includes

What has been fixed or improved

• Changed: textual name for boolean operators: not and or operators for booleans instead of ‘&&’ and ‘||’ operators
• Fixed: scheduler’s behavior in case of transient overload situation
• Fixed: crash in uint32.rand_uniform(0,x)
• Improved: nanosecond (ns) and picoseconds (ps) now recognised as a valid time unit (in addition to ms and s)
• Improved: Gantt chart of the processes’ scheduling possible on Windows systems too and without requiring internet connectivity (all platforms)
• Strengthened language behaviors wrt comparisons. Parser now issues warnings on suspicious comparisons:

  
  0 < 3 > 2
  0 >= -1 < 2
  2 >= 2 < 4
  

  Following comparisons are now forbidden:

  
  0 != 1 == 1
  0 < 1 == 1
  0 >= -1 != 2
  

  These are syntactically correct comparisons:

  
  0 < 1 < 2
  0 <= 0 < 1
  3 < 2 <= 1
  2 == 2 == 2
  3 != 1 != 3
  

• [CPAL-editor] if new command-line binaries are installed, the user is asked if he wants to use the new binaries or keep using the old ones

Code metrics and overhead data

• Test code coverage for the execution engine: 87.1% (loc), 90% (functions)
• Parsing and execution tests: 1250
• Functional tests: 102
• Timing overhead (Cortex M4 at 120MHz with floating point unit): timer interrupt = 0.6us, scheduler overhead at process activation = 1.6us + n x 4.6 us where n is the number of active processes, process switching time = 2us