• Generation from within the CPAL editor of the binary image containing both the application and the CPAL execution engine to be uploaded through USB to FRDM embedded boards.
• The scheduling policy can be changed through an annotation executed at run-time (at the startup of the execution engine in the example below). Available policies are FIFO (default policy), non-preemptive Fixed Priority (NPFP) and non-preemptive Earliest Deadline First (NPEDF). The --policy option of the interpreter has been suppressed. The curent scheduling policy and the parameters of a process under this policy can be queried at run-time.

  
  processdef Simple()
  {
    state Main {
      if (system.sched_policy == Scheduling_Policy.NPFP) {
  	  IO.println("process priority: %u", self.priority);
  	}
    }
  }
  
  process Simple: p1[10ms]();
  process Simple: p2[15ms]();
  
  @cpal:time
  {
    system.sched_policy = Scheduling_Policy.NPFP;
    p1.priority = 1;
    p2.priority = 0; /* lowest priority */
  }
  

• Add hardware annotations to define UDP configuration (#301).

  
  @cpal:hardware:udp_out_client
  {
  	var UDP : udp1;
  	udp1.port = 12345;
  	udp1.direction = Hw_Direction.HW_OUTPUT;
  }       
  

What has been fixed or changed

• CPAL now ships with standard libraries located in the pkg folder in all distributions. These libraries must be included at parse time, this can be done through the parser option: -I or by setting the CPAL_PKG_PATH shell variable to the pkg folder location (e.g. on Linux: export CPAL_PKG_PATH=/home/user/cpal/pkg in .bashrc file.
• include directive syntax is now of the form include "my folder /my include with spaces.cpal" with quotes.
• Strong typing in enums: enumerators must be prefixed by the name of the enum, e.g. Fruit.APPLE.
• Fixed wrong error line numbers with included files.
• Fixed Windows \n\r line endings not handled correctly on Linux (#339).
• Statements executed in the interactive mode of the interpreter do not need to be prefixed by $ anymore.
• Fixed interpreter terminating when an unknown command is entered in the interactive mode (#337).
• Fixed unknown @cpal:XX annotations accepted by the parser. User-defined annotations of the form @first:second:third:etc, where first is anything other than cpal, are ignored by the parser.
• In multi-interpreter mode, predictable PIDs are given to the processes of each interpreter: first interpreter PIDs are 0, 1, 2, etc, second interpreter PIDs are 1000, 1001, etc.

Code metrics and overhead data (figures for embedded Linux platform)

• Test code coverage for the execution engine: 78.8% (lines of code), 78.9% (functions) and 65.7% (branches)
• Tests: parser=3948, interpreter=1219, cpal2x=4, others=30
• 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