QP State Machine Frameworks

About QP/C++ ============ QP/C++ is a very lightweight, open source, state machine framework for modeling and coding UML state machines in C++. Designed for real-time embedded systems, the QP/C++ framework does everything you can expect from an RTOS, only more efficiently, plus many things an RTOS can't do at all. The QP/C++ framework is supported by the free graphical UML tool called QM (QP Modeler). QM provides intuitive diagramming environment and generates compact C/C++ code. QM is available for Windows and Linux. QP/C++ consists of a universal UML-compliant event processor (QEP), a higly portable event-driven framework (QF), and a tiny preemptive kernel (QK). Current versions of QP include: QP/C++ and QP/C, which require about 4KB of code space (ROM) and a few hundred bytes of RAM, and the ultra-lightweight QP-nano, which requires only 1-2KB of ROM and just several bytes of RAM. The QP/C++ framework can work with or without a traditional OS/RTOS. In the simplest configuration, QP/C++ can completely *replace* a traditional RTOS. QP includes a simple non-preemptive cooperative scheduler and a fully preemptive kernel (QK). QK is smaller and faster than most traditional preemptive kernels or RTOS, yet offers fully deterministic, preemptive execution of embedded applications. All versions of QP are described in detail in the book "Practical UML Statecharts in C/C++, 2nd Edition: Event-Driven Programming for Embedded Systems" published by Newnes in 2008 (see www.state-machine.com/psicc2). QP has a strong user community and has been applied worldwide by some of the largest companies in their respective industries, such as: consumer electronics, telecommunications equipment, industrial automation, transportation systems, medical devices, and many more. Please refer to the www.state-machine.com website for more information. Download Instructions ===================== The Generally Available release of QP/C++ contains the baseline code (independent on any particular processor or compiler), extensive "QP/C++ Reference Manual" in CHM and HTML, and a full Tutorial that explains step-by-step how to develop a non-trivial real-time application with QP. Out of the box, the Generally Available release of QP/C++ contains ports to ARM Cortex-M3 and to x86-DOS that can be executed on any Windows PC. You get also a port to Linux (or more generally to any POSIX-compliant OS). The Makefiles and project files provided in the examples\ directory assume that the environment variable QPCPP is defined and it points to the location of the QP/C++ framework. For example, assuming that you have installed QP/C++ into the directory C:\software\qpcpp, you should define the environment variable QPCPP to C:\software\qpcpp. Additionally, the provided Makefile assumes that the MinGW bin directory is added to the PATH. For example, assuming that you have installed MinGW into the C:\MinGW directory, please make sure that your PATH contains C:\MinGW\bin. Editing the Environment Variables on Windows -------------------------------------------- Open the Windows Explorer and right-click on the Computer icon. Then select Properties from the pop-up menu. This opens a window with the basic information about your computer. In the left panel of this window, click on "Advanced system settings". This opens the dialog "System Properties". Click the "Environment Variables..." button. To add a new environment variable, click the "New..." button in the System variables section and provide the variable name (e.g., QPCPP) and value (e.g., C:\software\qpcpp). To modify the Path variable, look in the bottom pannel "System Variables" and scroll down to find the variable Path. Click on it and then press "Edit..." button. Click on the Variable value edit field. At the end of the string append ;C:\MinGW\bin (assuming that you have installed MinGW in C:\MinGW). Make sure that there is a semicolon ';' between the last entry and the added path. Editing the Environment Variables on Linux ------------------------------------------ You need to edit the ~/.bash_profile file to add the following line: export QPCPP=~/qpcpp assuming that you have installed QP/C++ into ~/qpcpp. Editing the Environment Variables on Mac OS X --------------------------------------------- You need to edit the ~/.profile file to add the following line: export QPCPP=~/qpcpp assuming that you have installed QP/C++ into ~/qpcpp. **** NOTE: After updating envrinment variables, you should log off your account and then log on again so that all applications can pick up the changes. **** QP/C++ Development Kits (QDKs) ============================== The QP/C++ baseline code usually needs to be adapted to various operating systems, microprocessors, and compilers. Adapting the QP software is called porting and QP has been designed from ground up to make the porting easy. A large and steadily growing number of QP/C++ Development Kits (QDKs) for popular processors (such as ARM7/ARM9, Atmel AVR, TI MSP430, TI TMS320C28x, Renesas M16C/R8C, Renesas H8/300, FreeScale ColdFire, 80251) and operating systems (such as Linux/BSD, Windows/WinCE, VxWorks, ThreadX, FreeRTOS.org, uC/OS-II, eCos) are available for download from: http://www.state-machine.com/downloads/qdk.htm. Please keep checking this website, as new QDKs are added frequently. All QDKs are designed to "plug-into" the directory structure already established after the installation of the QP baseline code. In other words, you need to install the QP/C++ baseline code, before you install any QDK. Licensing ========= The QP/C++ software may be distributed and modified under the terms of the GNU General Public License version 2 (GPL2) as published by the Free Software Foundation and appearing in the file GPL.TXT included in the QP package. Please note that GPL2 Section 2[b] requires that all works based on this software must also be made publicly available under the terms of the GPL2 ("Copyleft"). Alternatively, the QP software may be distributed and modified under the terms of Quantum Leaps, LLC commercial licenses, which expressly supersede the GPL2 and are specifically designed for licensees interested in retaining the proprietary status of their code. The QM graphical modeling tool is free to download and use, but is not open source. The QM™ tool is provided under the terms of a simple End-User License Agreement (EULA). Contact information: -------------------- Quantum Leaps Websites: http://www.state-machine.com http://www.quantum-leaps.com e-mail: info@quantum-leaps.com toll-free: 1-866-450-LEAP ================================================================= QP/C++ Revision History ======================= QP/C++ Version 4.5.00 (26-May-2012) ----------------------------------- The main pupose of this relase is to improve host-based development of QP applications, which is critical for Test-Driven Development (TDD). Among others, this release provides integration between QP and the popular Qt GUI framework, which allows developers to easily build host-based simulations of the embedded systems with the realistic user interfaces. This realase also simplifies implementing transitions to history, which is a preparation to providing this feature in the QM modeling tool. Changes in detail: 1. Renamed the event class from QEvent to QEvt to avoid a name conflict with the Qt framework. Also, for consistency, renamed the file qevent.h to qevt.h and the macro Q_EVENT_CAST() to Q_EVT_CAST(). NOTE: To minimize impact of this change on the existing QP ports and applications, the name QEvent is provided as well, but this can be suppressed by defining the configuration macro Q_NQEVENT in qep_port.h. 2. Changed the design of QF::tick() (file qf_tick.cpp) to better support calling this function from low-priority tasks (as opposed to interrupts and highest-priority tasks), which often happens when QP is executed on the desktop operating systems. In this design only QF::tick() can remove time events from the active linked list, so no unexpected changes to the list structure are eliminated 3. Simplified the QTimeEvt class by removing the m_prev link pointer, as the new design no longer needs a bi-directional list. These changes impact the files: qte_*.cpp. 4. Added return value to QF::run() to allow transfer of the exit status to the destop operating systems. NOTE: This modification haves impact on most QP/C++ ports, because the QF::run() function must now return a int16_t value. 5. Eliminated the m_running member of the QActive class, which has been used only in the QP ports to "big" OSes such as Linux or Windows. 6. Added member m_temp to the QHsm and QFsm base classes to prevent clobbering the current state (the m_state member) during transitons. This change allows keeping the current state unchanged during the entire transition chain, which in turn allows easy and generic access to the state information to store the state history in the exit actions from states. Additional bonus of this re-design is the opportunity of testing for stable state configuration in assertions added to the qhsm_*.cpp and qfsm_*.cpp files. 7. Added the QHsm::state() and QFsm::state() accessor methods. 8. Modified the "Transition to History" pattern implementation to use the simplified technique of obtaining the current state in the exit action from the superstate rather than all the exit actions from the substates. Modified the "State-Local Storage" (SLS) pattern as well, because it was using the transition to history constructs. 9. Re-designed the implementation of the QSPY host application, so that it can be convenienty included as part of the QP library. This allows direct QS tracing output to the screen for QP applications running on the desktop. NOTE: This change is part of the Qtools release 4.5.00. 10. Modified the QP ports to Win32_1t (both the MinGW and VC2008) to output QS trace data directly to the stdout via the QSPY host-application interface. Modified the DPP examples for Win32_1T to demonstrate the direct QS output to the screen. 11. Added QP port to Qt_1t (Qt with one thread) and two example applications (DPP and PELICAN crossing). 12. Added GNU compiler option -pthread to QP ports for POSIX with P-threads, including QP ports and examples for Linux and Mac OS X. QP/C++ Version 4.4.00 (02-May-2012) ----------------------------------- The main pupose of this relase is MISRA-C++:2008 compliance, strong-type checking compliance, update of PC-Lint option files and tests, and general cleanup. 1. Moved the qp_port.h header file from the port directories to the qcppp/include/ directory. Also, moved the inclusion of the QS (Spy) header files (qs_port.h/qs_dummy.h) from qep.h, qf.h, and qk.h headers to qp_port.h. These structural changes were made to reduce the number of preprocessor #if nesting levels below 8, which is the ANSI-C limit. This was done to comply with the MISRA-C rule 1.1 (all code shall conform to ANSI/ISO C). NOTE: This modifications have impact on most QP/C++ ports, because the qp_port.h header file must be removed from the port. 2. Enabled the QP namespace in most QP/C++ ports (except the DOS ports with the Open Watcom compiler). This modification was needed for MISRA-C++:2008 compliance with the rule 7-3-1. NOTE: This modifications have impact on most QP/C++ ports, because all QP elements require now using the QP:: prefix. However, this prefix can be dropped when the application applies the "using namespace QP" directive. (The "using" directive deviates from MISRA-C++:2008 rule 7-3-4, so it is not used in the MISRA-compliant examples. However, a number of QP ports applies the "using" directive for backwards compatibilty.) 3. Added the PC-Lint option files std.lnt and lib-qpcpp.lnt to the qcppp/include/ directory. 4. Cleaned the whole QP/C code from lint comments. All PC-Lint options have been moved to PC-Lint option files. 5. Modified QP assertion macro Q_DEFINE_THIS_MODULE() to avoid using the # operator (MISRA rule 16-3-2). This macro now requires the argument enclosed in doble quotes "". NOTE: This modification has impact on some QP/C++ ports. 6. Added typedefs for char_t, int_t, float32_t, and float64_t to event.h header file for compliance with MISRA-C++:2008 rules 3-9-2. 7. Added macros Q_STATE_CAST() and Q_EVENT_CAST() to qep.h to encapsulate deviation from MISRA-C++:2008 rule 5-2-7. 8. Added macro Q_UINT2PTR_CAST() to encapsulate casting unsigned integers to pointers, which deviates from MISRA-C++:2008 rules 5-2-7 and 5-2-8. This macro has been added for *application-level* code. 9. Updated ARM Cortex-M examples with the latest CMSIS v3.0, which complies with more MISRA-C:2004 rules. 10. Added DPP examples for MISRA-C++:2008 compliant applications (for IAR-ARM and GNU-ARM). 11. Updated ARM-Cortex-M3 port with GNU to the latest Sourcery CodeBench 2011.09-60. 12. Added QP/C++ port to Win32-1t and examples (Windows with 1 thread). This port is useful for testing embedded QP/C++ applications on windows. 13. Added documentation to QP/C++ distribution in the directory qpcpp/doc/, with the following Application notes: "MISRA-C++:2008 Compliance Matrix", "Quantum Leaps Coding Standard", "QP and ARM Cortex-M, and QP and Windows", QP/C++ Version 4.3.00 (03-Nov-2011) ----------------------------------- 1. This release changes the names of critical section macros and introduces macros for unconditional interrupt disabling/enabling. This is done to simplify and speed up the built-in Vanilla and QK kernels, which no longer are dependent on the interrupt locking policy. NOTE: The change in handling the critical section in the Vanilla and QK kernels can break QP ports, which use the "save and restore interrupt lock" policy, because all such ports must also define unconditional interrupt disabling and enabling. 2. This release changes the partitioning of the QK scheduler. Specifically, the QK scheduler is now divided between two functions QK_schedPrio_() and QK_sched_(), to calculate the highest-priority task ready to run and to perform scheduling, respectively. The function QK_schedPrio_() is useful to determine if scheduling is even necessary. 3. Updated all QP ports to comply with the new critical section names and policies. 4. Modified the ARM Cortex-M port qk_port.s to take advantage of the new structure of the QK scheduler. 5. Upgraded the examples for ARM Cortex with IAR EWARM to the latest IAR EWARM version 6.30. 6. Upgraded the examples for ARM Cortex with GNU (CodeSourcery) to the latest Sourcery CodeBench 2011.07-60. QP/C++ Version 4.2.04 (24-Sep-2011) ----------------------------------- The main pupose of this relase is to provide a bug fix for the QK port to ARM Cortex processors. The bug fix addresses a very rare and undocumented behavior of late-arrival of an interrupt while entering the PendSV exception. In this case the PENDSVSET bit in the NVIC-ICSR register is *not* cleared when finally PendSV is entered, so the PendSV exception is entered in a *different* state when it is entered via the late-arrival mechanism versus the normal activation of the exception through tail-chaining. The consequence of this undocumented and inconsistent hardware behavior, PendSV could be re-entered again before the SVCall exception cleans up the stack. The bug fix is implemented in the qk_port.s file and consists of clearing the PENDSVSET bit programmatically inside PendSV_Handler. QP/C++ Version 4.2.02 (08-Sep-2011) ----------------------------------- 1. The main pupose of this relase is to repackage the default QP/C++ distribution to contain the single root directory qpcpp/ in the archive. That way, unziping the archive will produce only one directory (qpcpp/), which can be then changed by the user. 2. This release also changes the ARM Cortex QP ports with GNU. The suffix "_cs" has been added to all QP libraries generated by the Code Sourcery toolset (now Mentor Sourcery CodeBench). This is to distinguish libraries generated by different GNU-toolchains (such as CodeRed, Attolic, DevKit ARM, etc.) QP/C++ Version 4.2.01 (13-Aug-2011) ----------------------------------- 1. Modified file qassert.h to add assertion macros #Q_ASSERT_ID, #Q_REQUIRE_ID, #Q_ENSURE_ID, #Q_INVARIANT_ID, and #Q_ERROR_ID, which are better suited for unit testig, because they avoid the volatility of line numbers for indentifying assertions. 2. Added QP port and examples for Mac OS X on 80x86. QP/C++ Version 4.2.00 (15-Jul-2011) ----------------------------------- The goal of this milestone release is to extend the number of event pools (theoretically up to 255 pools) instead of just three event pools available up til now. This release adds an option to use constructors/destructors and virtual functions in subclasses of QEvent. Also, this release adds an option to wrap the whole QP framework in the QP namespace to avoid name conflicts with other libraries and to improve QP compliance with MISRA C++ 2008. This release adds also several improvements to the QS/QSPY software tracing, such as adding sender information to event posting so that sequence diagrams could be easily and automatically reconstructed from tracing data. Also, the tracing now supports 64-bit targets, such as embedded Linux 64-bit. Finally, this milestone release migrates the examples to use the environment variable QPCPP instead of relying on the relative path to the QP/C++ framework. This allows easier adaptation of the examples for real projects, which don't really belong to the examples directory. The changes in detail are: 1. Changed the QEvent base class (file qevent.h). The private member 'dynamic_' has been replaced by two members 'poolId_' and 'refCtr_'. 2. Added conditionally-compiled constructor and virtual destructor to the QEvent base class (file qevent.h). Also added the inclusion of the <new> header file for placement new if the constructor/ destructor option is configured. 3. Added new version of the macro #Q_NEW() with variable number of paramters, which invokes the event constructor (via placement new) with any parameters requried by the event constructor (file qf.h). 4. Added explicit call to the event destructor in QF::gc() (file qf_gc.cpp). 5. Added configuration macro QF_MAX_EPOOL (file qf.h) to define the maximum number of event pools in the QP application (default to 3). The maximum theoretical number of this macro is 255. 6. Made algorithmic changes in the QF source code related to the change of storing the event pool-IDs and reference counters inside QEvent. 7. Changed the default signal size (macro Q_SIGNAL_SIZE in the file qevent.h) from 1 to 2 bytes. 8. Changed the signature of QActive::recall() to return uint8_t instead of QEvent*, which this could encourage incorrect usage (processing of the event at the point of recalling it). Now, the function only returns 1 (TRUE) if the event was recalled and 0 (FALSE) if the event was not recalled. 9. Added the QTimeEvt() constructor and new source file qte_ctr.cpp. The function returns the counter of a time event, which allows using a time event for measuring the time. 10. Added new QF macros #QF_TICK, #QF_PUBLISH, and #QACTIVE_POST in file qf.h to provide sender of the events for software tracing. 11. Added new QS macros (files qs.h and qs_dummy.h) for handling 64-bit integers. 12. Added the functions QS::u64() and QS::u64_() and new source file qs_u64.cpp. 13. Added the QS macro #QS_U32_HEX_T for hexadecimal formatting of integer numbers in the user-defined trace records. 14. Added the new port linux64 for 64-bit Linux. Also added the corresponding examples for 64-bit Linux. 15. Adapted the QSPY host application for 64-bit pointer sizes and the changed layout of trace records that contain event information (such as PoolID and RefCtr). Also added the backwards-compatibility option (-v) for switching the tool to the previous data format. 16. Removed the tools directory from the QPC distribution and moved the QSPY host application to the QTOOLS distribution, which now also contains the GNU make tools for Windows. 17. Modified the make files and project files to use the environment variable QPCPP instead of relying on the relative path to the QP/C++ framework. 18. Upgraded the examples for ARM Cortex with IAR EWARM to the latest IAR EWARM 6.20. QP/C++ Version 4.1.07 (28-Feb-2011) ----------------------------------- The goal of this release is to improve the ease of experimenting with QP/C++ on the desktop. This release adds support for Windows (Win32) to the baseline code. Two most popular compilers for Windows are supported: Microsoft Visual Studio and MinGW (GNU). The support for Linux has been improved by including pre-built QP/C++ libraries and improving makefiles for Eclipse compatibility. The changes in detail are: 1. Added Win32 port with the Visual C++ 2008 (ports/80x86/win32/vc2008). This directory contains the Visual Studio solution all_qp.sln for building all QP/C++ libraries from the IDE. Three build configurations (Debug, Release, and Spy) are supported. 2. Added Win32 port with the MinGW comiler (ports/80x86/win32/mingw). This directory contains the Makefile for building all QP/C++ libraries. Three build configurations (dbg, rel, and spy) are supported. NOTE: the Makefile assumes that the MinGW/bin directory is added to the PATH. 3. Added Win32 examples for Visual C++ 2008 (examples/80x86/win32/ vc2008/dpp and examples/80x86/win32/vc2008/qhsmtst). Visual Studio soultions are provides for all build configurations. 4. Added Win32 examples for MinGW (examples/80x86/win32/mingw/dpp and examples/80x86/win32/mingw/qhsmtst). Eclipse-compatible makefiles are provided for all build configurations. NOTE: the Makefiles assume that the MinGW/bin directory is added to the PATH. 5. Removed memory alignment correction in the file qmp_init.c. This correction required casting of pointers to integers and was problematic on 64-bit targets (such as 64-bit Linux). 6. Upgraded the examples for ARM Cortex with CodeSourcery to the latest Sourcery G++ 2011.02-2. QP/C++ Version 4.1.06 (07-Jan-2011) ----------------------------------- 1. Fixed a bug in the software tracing instrumentation in the function QF::remove_(), file qf_act.cpp. 2. Made cosmetic improvements to the example QM models of the "Fly 'n' Shoot" game. 3. Made improvements in make.bat files for building the examples for DOS/Open Watcom to run better in DosBox on Linux. 4. Upgraded the examples for ARM Cortex with IAR to the latest IAR EWARM version 6.10. 5. Upgraded the examples for ARM Cortex with CodeSourcery to the latest Sourcery G++ 2010.09-66. QP/C++ Version 4.1.05 (01-Nov-2010) ----------------------------------- This release is adds examples for the QM (QP Modeler) graphical modeling and code generation tool. The examples are based on the "Fly 'n' Shoot" game described in the QP/C++ Tutorial and in Chapter 1 of the PSiCC2 book. Specifically, the directory <qpcpp>\examples\80x86\dos\watcom\l\game-qm\ contains the "Fly 'n' Shoot" game model file "game.qm". This model, when opened in the QM tool contains all state machine diagrams and generates code into the subdirectory qm_code\. This code can then be built and executed on any 80x86 machine (newer versions of Windows or Linux require the DOSbox application, see http://www.dosbox.com). The directory <qpcpp>\examples\arm-cortex\vanilla\iar\game-ev-lm3s811-qm\ contains the version of the game for the EV-LM3S811 ARM Cortex-M3 board. This directory contains the model file "game.qm", which is actually identical as the model in the DOS version. The LM3S811 version needs to be compiled with the IAR compiler and executed on the EV-LM3S811 board. Additionally, the QP/C++ baseline code has been slighlty modified for better conformance to the MISRA C++ 2008 rules and the latest PC-Lint 9.x. QP/C++ Version 4.1.04 (16-Mar-2010) ----------------------------------- This release is adds compatibility of all examples for DOS with the DOSBox emulator (http://www.dosbox.com/) that recreates a MS-DOS compatible environment on all versions of Windows, including 64-bit Windows that don't run 16-bit DOS applications anymore. Also, this release includes QP ports and examples for EV-LM3S811 board with the GNU-based Code Sourcery G++ toolset. Support for Sourcery G++ provides a very cost-effective option for developing QP applications for ARM Cortex MCUs. Finally, this release improves the Cortex Microcontroller Software Interface Standard (CMSIS) for the whole family of the Stellaris LM3Sxxx MCUs. The improvement extends the CMSIS from Sandstorm to Fury, DustDevil, and Tempest Stellaris families. QP/C++ Version 4.1.03 (21-Feb-2010) ----------------------------------- This release is concerned with the ARM Cortex ports and examples. Specifically, this release contains the following improvements: 1. Unified source code for ARM Cortex-M3 and the new ARM Cortex-M0 cores, including the code for the preemptive QK kernel. 2. Compliance with the Cortex Microcontroller Software Interface Standard (CMSIS) in all ARM Cortex examples. 3. Backward-compatible support for the new LM3S811 EVAL Rev C board with different OLED display than previous revisions. (NOTE: The OSRAM 96x16x1 OLED used in REV A-B boards has been replaced RITEK 96x16x1 OLED used in Rev C.) In the process of making the examples CMSIS-compliant, the dependency on the Luminary Micro driver library (driverlib.a) has been completely removed. Additionally, the screen saver of the "Fly 'n' Shoot" game has been improved to periodically switch off the power of the OLED display, which better protects the display from burn-in. The affected file is tunnel.cpp. Finally, this release introduces the QP_VERSION macro, which identifies the QP version. Otherwise, this maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications except for the ARM Cortex ports and applications. QP/C++ Version 4.1.02 (14-Jan-2010) ----------------------------------- The purpose of this minor maintenance release is the change in the directory structure for the ARM Cortex ports and examples. As new ARM Cortex cores are becoming available, the old port name "cortex-m3" could be misleading, because it actually applies to wider range of ARM Cortex cores. Consequently, all ARM Cortex ports and examples are hosted in the directory tree called "arm-cortex". This maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications except for the ARM Cortex ports and applications. QP/C++ Version 4.1.01 (05-Nov-2009) ----------------------------------- The main purpose of this release is to replace the Turbo C++ 1.01 toolset with the Open Watcom C/C++ toolset, because Turbo C++ 1.01 is no longer available for a free download. In contrast, Open Watcom is distributed under an OSI-certified open source license, which permits free commercial and non-commercial use. Open Watcom can be downloaded from www.openwatcom.org. All 80x86/DOS and 80x86/qk ports and examples for Turbo C++ 1.01 have been replaced with ports and examples for Open Watcom. The make.bat scripts are provided to build the QP/C++ libraries and examples. In the process of converting the examples to Open Watcom two new examples have been added to the standard QP/C++ distribution. The Calc2 example located in <qpcpp>\examples\80x86\dos\watcom\l\calc2 shows how to derive state machine classes with QP 4.x. The SLS example located in <qpcpp>\examples\80x86\dos\watcom\l\sls shows the implemenation of the new State-Local Storage state design pattern. QP/C++ Version 4.1.00 (10-Oct-2009) ----------------------------------- The release provides brings a number of improvements to QP/C++ and updates the QP/C++ ARM Cortex-M3 examples for the EK-LM3S811 board to the latest IAR EWARM 5.40. Due to the acquisition of Liminary Micro by Texas Instruments the directory IAR structure for the examples and drivers has changed and the QP examples had to be changed accordingly. This maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications. The main changes in QP v4.1.00 with respect to earlier versions are as follows: - in qs.h added a new trace record QS_QEP_DISPATCH logged when an event is dispatched to a state machine. This timestamped trace record marks the beginning of an RTC step. The end of the RTC step is marked by the existing timestamped trace records QS_QEP_INTERN_TRAN, QS_QEP_INIT_TRAN, and QS_QEP_IGNORED, depending on how the event is handled. The new QS_QEP_DISPATCH record facilitates measurement of the RTC step lengths. - in qhsm_dis.cpp added generation of the QS_QEP_DISPATCH trace record. - in the tools\qspy\ sub-directory added output of the new trace record to the Q-SPY host application. - in the tools\qspy\matlab\ sub-directory added processing of the new trace record to the qspy.m script. - in qpset.h changed the implementation of the Priority Set. In particular, the QPSet64 now derives from QPSet8, which enables a common way of testing for non-empty set (e.g., useful in assembly). Also, the findMax() functions in QPSet8 and QPSet64 now can work with an empty set, in which case they return 0. - in qk_sched.cpp simplified the QK_schedule_() function to skip the testing of the ready-set for non-empty condition. Such test is no longer necessary. The test can still be performed outside the QK_schedule_() function (e.g., in assembly) to avoid calling the scheduler if the ready set is empty. - in qk_ext.cpp simplified the QK_scheduleExt_() function in the same way as QK_schedule_(). - modified make.bat files for building QP libraries in the ports\ directory to use the externally defined environment variables for the location of the toolchains. The defaults are applied only when the environment variable is not defined. This enables greater flexibility in installing the development tools in different directories than those chosen by Quantum Leaps. - modified the ARM Cortex-M3 examples for the new IAR EWARM 5.40. - modified slighlty the Calculator example to allow extensibility. - in the ARM Cortex-M3 port file qk_port.s added explicit testing of the QK_readySet_ set for empty condition. This test allows avoiding calling the QK scheduler and two contex-switches if the ready-set is empty. - in the game example moved setting up the QS filters from main.cpp to bsp.cpp. QP/C++ Version 4.0.04 (09-Apr-2009) ----------------------------------- The maintenance release introduces the virtual destructor in the QHsm and QFsm base classes. This is done to allow proper handling of virtual functions in the subclasses of QHsm or QFsm. Please note, however, that the change increases the size of every state machine object by the additional (hidden) virtual pointer (vptr). Also, this release provides a fix for the compile-time assertions, which did not work correctly for the GNU compiler family. Finally, the ARM Cortex-M3 examples have been recompiled with the newer IAR EWARM v5.30. This maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications. The main changes in QP v4.0.04 with respect to earlier version are as follows: - in qep.h file, virtual destructors have been added to QFsm and QHsm. - in qassert.h file the #Q_ASSERT_COMPILE macro has been modified to render a negative array dimension when the asserted condition is not TRUE. QP/C++ Version 4.0.03 (27-Dec-2008) ----------------------------------- The main purpose of this release is to fix a bug in the QK preemptive kernel, which occurs only when the advanced QK features are used. Specifically, the QK priority-ceiling mutex could interfere with QK thread-local storage (TLS) or QK extended context switch. When the QK mutex is in use, the TLS or the extended context for this task could get saved to an incorrect priority level. The release 4.0.03 fixes the bug by strictly preserving the semantics of QK_currPrio_ variable. The mutex locking now uses a different variable QK_ceilingPrio_, which represents the ceiling-priority locked by the mutex. The QK scheduler and extended scheduler now perform an additional check to make sure that only tasks with priorities above the ceiling can run. To avoid that additional overhead, the user can define the macro QK_NO_MUTEX, which eliminates the QK mutex API and eliminates the additional tests in the QK schedulers. This maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications. The main changes in QP v4.0.03 with respect to earlier version are as follows: - in qk.h file, made the QK mutex API only visible when the macro QK_NO_MUTEX is *not* defined. - in qk_pkg.h file, added the QK_ceilingPrio_ external declaration when the macro QK_NO_MUTEX is not defined. - in qk_mutex.cpp file, changed priority-ceiling mutex implementation to use the QK_ceilingPrio_ instead of QK_currPrio_. Also, added compiler error when the macro QK_NO_MUTEX is definedthis and this file is included in the build. - in qk_sched.cpp file added testing priority against the QK_ceilingPrio_, when the macro QK_NO_MUTEX is not defined. - in qk_ext.cpp file added testing priority against the QK_ceilingPrio_, when the macro QK_NO_MUTEX is not defined. QP/C++ Version 4.0.02 (15-Nov-2008) ----------------------------------- This maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications. The main changes in QP v4.0.02 with respect to earlier version are as follows: - in qep.h file, added comments to macros Q_TRAN() and Q_SUPER() to suppress the PC-lint warining about using the comma-operator (MISRA rule 42). - in qhsm_in.cpp file, fixed a bug in the QHsm::isIn() function. - fixed a bug in tunnel.cpp file ("Fly 'n' Shoot" game). The constant event HIT_WALL was not declared static. QP/C++ Version 4.0.01 (09-Jun-2008) ----------------------------------- This maintenace release is made to allow using QS software tracing with the GNU compiler for AVR (WinAVR). Specifically, the output of the strings residing in ROM has been fixed. This maintenance release does not change the QP/C++ API in any way, so the release has NO IMPACT on the QP/C++ applications. The main changes in QP v4.0.01 with respect to earlier version are as follows: - in qs_.cpp file, updated the function QS::str_ROM_(). - in qs_str.cpp file, updated the function QS::str_ROM(). - in qvanilla.cpp file, funciton QF::run(), declared the temporary variables as static to save stack space, because QF::run() never returns and is not reentrant. QP/C++ Version 4.0.00 (07-Apr-2008) ----------------------------------- This milestone release is made for the book "Practical UML Statecharts in C/C++, Second Edition" (http://www.quantum-leaps.com/psicc2/). The book describes in great detail this new release. The older "QP Programmer's Manual" is now phased out and is replaced with this hyper-linked "QP/C++ Reference Manual" (http://www.quantum-leaps.com/doxygen/qpcpp/tutorial_page.html), which provides very detailed, easily searchable reference to the software. The book "Practical UML Statecharts in C/C++, Second Edition" provies in-depth discussion of the relevant concepts as well as the design study of QP v4.0. The main changes in QP v4.0 with respect to earlier versions are as follows: - the coding techniques for hierarchical state machines (HSMs) and the simpler finite state machines (FSMs) have changed. While the changes are quite simple, the backward compatibility with QEP 3.x has been broken, meaning that some manual changes to the state machines implemented with earlier versions are necessary. Please refer to the "QP/C++ Tutorial" Section "Coding HSMs" http://www.quantum-leaps.com/doxygen/qpcpp/coding_hsm.html) for more information about coding state machines with QEP 4.x. - The main change is the signature of a state-handler function, which now returns simply a byte. This return type (typedef'ed as QState) is the status of the event-handling that the state handler conveys to the QEP event processor. - The macro Q_TRAN() must now always follow the return statement. - The new macro Q_SUPER() designates the superstate of the given state. Again, this macro must follow the return statement. - Then two new macros Q_HANDLED() and Q_IGNORED() have been added to return the status of event handled and event ignored, respectively. - all callback functions are now consistently called XXX_onYYY() or XXX::onYYY(): - Q_assert_handler() is now Q_onAssert() - QF::start() is now QF::onStartup() - QF::cleanup() is now QF::onCleanup() - the new header file qevent.h has been broken off the qep.h header file. qevent.h contains the QEvent class and other basic facilities used in the whole QP. This new file allows easier replacement of the entire QEP event processor with custom event processors, if you wish do so. - the macro QEP_SIGNAL_SIZE is renamed to Q_SIGNAL_SIZE. - the data type QSTATE is now deprecated. Please use ::QState. - the QF_FSM_ACTIVE macro is now deprecated. Instead, please define QF_ACTIVE_SUPER_ to the base class of ::QActive and QF_ACTIVE_STATE_ to the data type represented state. By default, these macros are defined to use the ::QHsm base class from the QEP hierarchical event processor, but you can replace the event processor, if you wish. - the internal macro QACTIVE_OSOBJECT_WAIT_() is now QACTIVE_EQUEUE_WAIT_(). - the internal macro QACTIVE_OSOBJECT_SIGNAL_() is now QACTIVE_EQUEUE_SIGNAL_(). - the internal macro QACTIVE_OSOBJECT_ONIDLE_() is now QACTIVE_EQUEUE_ONEMPTY_(). - the data mebers QActive::m_osObject and QActive::m_thread are now present only if the macros QF_OS_OBJECT_TYPE and QF_THREAD_TYPE are defined. - the ::QPSet class has been renamed to ::QPSet64. - the QPSet::hasElements() has been renamed QPSet64::notEmpty() - the QS software tracing is now better integrated with all QP components. You no longer need to explicitly include qs_port.h, because it is automatically included when you define the macro Q_SPY. Also the file qs_dummy.h is included automatically when the macro Q_SPY is <STRONG>not</STRONG> defined. - the new header file qvanilla.h now replaces the file qsched.h. - the macros QF_SCHED_LOCK() and QF_SCHED_UNLOCK() are now obsolete. - the native QF event queues (both the active object event queues and the "raw" thread-safe queues) are slightly more efficient by counting down the head and tail pointers rather than up. This leads to wrap-around at zero, which is easier (faster) to test than any other wrap-around point. Also the native QF event queues maintain the minimum of the free events in the queue rather the maximum of used events. - the data member of QEQueue::nTot class is removed. - the QF::publish() function has been re-written so that QF no does <STRONG>not need to lock the scheduler</STRONG>. The QF::publish() function posts events to active objects with scheduler unlocked starting from the highest-priority active objects. However, the event is protected from inadvertent recycling by incrementing its reference counter before the publish operation. After the event is posted to all subscribers, the garbage collector QF::gc() is called to decrement the reference counter and recycle the event, if necessary. - the qf_run.cpp file is obsolete. The QF::run() function for the cooperative "vanilla" kernel is now implemented in the file qvanilla.cpp. - the QF::tick() function has been rewritten to allow calling QF::tick() from the task context as well as from the interrupt context. The nested critical section around QF::tick() is no longer needed when it is called from the task level. Among others, this re-design <STRONG>eliminates the need for the recursive</STRONG> mutex in the POSIX QF port. - the QMPool::init() function has been re-designed to optimally align the memory buffer in a portable and platform-independent way. This should bring some performance improvements on some CPUs (e.g., 80x86). - the extended QK scheduler has been re-designed to save stack space. The extended context (e.g., coprocessor registers) are no longer saved on the precious stack, but rather in the active object. - a bug has been fixed in handling of Thread-Local Storage (TLS) in the QK scheduler and extended scheduler. - the -q (quiet) flag has been added to the QSPY host application. - the support for two new compilers for Windows has been added for the QSPY host application. The application can now be build with the MinGW GNU compiler for Windows as well as the Microsoft Visual C++ 2005. - the QP port to Linux has been improved by eliminating the need for recursive P-Thread mutex. - the QP port to MicroC/OS-II has been upgraded to the latest version 2.86. - all examples in the standard QP distribution have been cleaned up and updated to the latest QP API changes. - all examples that use QF now contain the QS software tracing support. ----------------------------------------------------------------- ----------------------------------------------------------------- Version 3.4.01 (Product) Release date: Sep 25, 2007 This product release adds the backward-compatibility layer so that previous QP/C++ ports continue to work with the new version. This product release also comes with the updated "QP Programmer's Manual", which now includes the QS target component and the QSpy host application. \section qpcpp_3_4_00 Version 3.4.00 (Beta) Release date: Sep 03, 2007 This release brings several changes with the overall goal of simplifying and improving consistency across the whole QP family of frameworks (QP/C, QP/C++, and QP-nano). The main changes are made to the QEP component. The "static transition optimization" has been removed altogether. This simplifies significantly the state machine structure (which now contains just the currently active state). Also, the efficiency is improved for processing the dynamic transitions and the stack usage is lower. This change brings the QEP/C++ implementation much closer to QEP-nano. The other big change in this release is including the Quantum Spy (QS) component in the distribution. Previously, the QS component was available only under the commercial licensing. It is now open source, just as the rest of QP. In, the QF/C++ component, the QTimerEvt::publishIn() and QTimeEvt::publishEvery() have been removed, because they introduced a coupling between time events and publish- subscribe. This is undesirable for projects that do not want to include the publish- subscribe facilty. Finally, the revision history for individual QP/C++ components has been moved from the header files and is now consolidated in the header file doxygen/ qpcpp_rev.h. The updated "QP Programmer's Manual" is in the works... ----------------------------------------------------------------- Version 3.3.00 (Product) Release date: Jan 23, 2007 The main change in this release is removing include <stdint.h> from the qep.h header file. This has been done becasue vast majority of embedded compilers for small MCUs actually do not provide the C-99 Standard header file <stdint.h>. Worse, compilers such as Freescale HC(S)08 C/C++ compiler will not include <stdint.h> unless it's in the compilers's include directory, even though the "stdint.h" file might be in the compiler include path. Removing the "#include <stdint.h>" from qep.h header file allows more flexibility in the way the standard exact-width integer types are defined. For compilers that do not provide the <stdint.h> file, you provide the typedef's in the qep_port.h file before including qep.h. For compilers that do provide the <stdint.h> header file, you simply include this file in the qep_port.h header file before including qep.h. The changes in release 3.3.00 have impact on all QP ports, because you need to modify the qep_port.h file in all these ports. The other significant change in this release is adding the macro Q_ROM_VAR for all constant objects allocated in ROM. The Q_ROM_VAR macro has been added for the compilers like Freescale HC(S)08, which require far pointers to access the objects in ROM. Please note that specifying the pointer size for accessing a ROM objects is syntactically different than specifying that the object is allocated in ROM (see macro Q_ROM). Finally, in release 3.3.00 the build strategy for QP ports has been simplified as well. Instead of separate Makefile for every QP component, such as QEP, QF, QK, and QS, not the "ports" directory contains a batch file "make.bat" that builds all the libraries at once. 1. in file qep.h removed "#include <stdint.h>". 2. in file qassert.h added macro Q_ROM_VAR for objects allocated in ROM and to signatures of functions accessing these objects. 3. in file qep.h added macro Q_ROM_VAR for objects allocated in ROM and to signatures of functions accessing these objects. 4. in file qep.h added default empty definitions and Doxygen comments for macros Q_ROM and Q_ROM_VAR. 5. in file qep.cpp added macro Q_ROM_VAR for objects allocated in ROM and to signatures of functions accessing these objects. 6. in file qf.cpp added macro Q_ROM_VAR for objects allocated in ROM and to signatures of functions accessing these objects. 7. in file qk.cpp added macro Q_ROM_VAR for objects allocated in ROM and to signatures of functions accessing these objects. 8. in file qep.cpp added Q_ROM_VAR to the signature of QEP::getVersion(). 9. in file qep.cpp changed the version number to "3.3.00". 10. Updated the "QP Programmer's Manaul" to Revision E ----------------------------------------------------------------- Version 3.2.01 (Product) Release date: Sep 01, 2006 1. In file qep.cpp updated version number to 3.2.01 2. Added makefiles for building ports of all QP/C++ libraries at once. 3. Created the consolidated manual "QP/C++ Programmer's Manual". ----------------------------------------------------------------- Version 3.2.00 (Product) Release date: Aug 07, 2006 1. In file qep.h added the default definition of Q_ROM in case it's not defined by the user. 2. In file qassert.h added the macro Q_ROM to allocate constant strings to ROM. 3. In file qep.cpp updated version number to 3.2.00 Updated the "QEP/C++ Programmer's Manual". ----------------------------------------------------------------- Version 3.1.03 (Product) Release date: Feb 10, 2006 1. In file qep.cpp added the Revision History Doxygen comment, which was previously in doxygen/qp.h ----------------------------------------------------------------- Version 3.1.02 (Product) Release date: Jan 29, 2006 1. Removed Quantum Spy (QS) dependency from the QCalc and QHsmTst examples Version 3.1.01 (Product) Release date: Oct 18, 2005 1. Removed Quantum Spy (QS) dependency from the examples ----------------------------------------------------------------- Version 3.1.00 (Beta3) Release date: Oct 03, 2005 1. Applied new directory structure desribed in Application Note: QP Directory Structure 2. Added Quantum Spy instrumentation. 3. Removed file qfsm_tra.cpp. 4. Introduced file qfsm_dis.cpp. ----------------------------------------------------------------- Version 3.0.11 (Beta2) Release date: Aug 14, 2005 1. Fixed potential race condition for static transitions 2. Added assertion in QHsm::execTran() to catch potential path[] array overrun that previously could go undetected. ----------------------------------------------------------------- Version 3.0.10 (Beta1) Release date: Aug 06, 2005 This release contains completely redesigned Quantum Event Processor (QEP). The main focus is on compliance with standards (MISRA, Lint, Coding Standard), better portability, stack-use efficiency. 1. This release includes a comprehensive "QEP/C++ v3.0 Programmer's Manual" in PDF. 2. This release contains in-source comments for automatic generation of this Reference Manual with doxygen. 3. This release includes re-packaging the code into much larger numberof modules (.cpp files) with typically one function per module. This fine-granularity packaging allows for better automatic elimination of unused code at link time and fine-tuning by applying different compiler options to different files. 4. Although this is a C++ version, it has been still thoroughly checked against the Motor Industry Software Reliability Association (MISRA) "Guidelines for the Use of the C Language in Vehicle Based Software", April 1998, ISBN 0-9524156-9-0 (see also http://www.misra.org.uk). A separate Application Note "QEP/C++ MISRA Compliance Matrix" contains detailed account how QEP/C++ compiles with the 127 MISRA rules (See http://www.quantum- leaps.com/doc/AN_QP_Cpp_MISRA.pdf). 5. This release is now "lint-free". The source code has been thoroughly checked with the latest version of PC-lint(TM) (version 8.00q) from Gimpel Software (www.gimpel.com). The PC- lint configuration files and output files are included in the distribution. A separate Application Note "QEP/C++ PC-Lint Compliance" contains detailed account how QEP/C++ compiles with PC-Lint. (See http://www.quantum- leaps.com/doc/AN_QP_Cpp_PC-Lint.pdf). 6. This release is compliant with the "Quantum Leaps Coding Standard" (http://www.quantum- leaps.com/resources/QL_coding_standard.pdf). Among others, all public names are prefixed by "Q_", or "QEP_" to minimize compile-time and link-time name conflicts. In addition, QEP/C++ uses the C99 standard include file <stdint.h> (C99 Standard, Section 7.18). Pre-standard compilers are still supported by placing <stdint.h> in the compiler's header file directory. 7. The QEvent class has been redesigned to use memory more efficiently. QEvent takes up only 2 bytes now. 8. The QHsm class now derives from the QFsm class, which promotes better code re-use. In particular, macros Q_INIT() and Q_TRAN() are now common for both traditional non- hierarchical FSMs and for HSMs. 9. The QFsm class has been redesigned to allow using entry and exit actions. Now the QFsm class strictly avoids recursion, just as QHsm does (MISRA rule 70). 10. The QPseudoState type has been eliminated and replaced by QState. 11. The central QHsm class in QEP has been completely redesigned. The basic transition algorithm is essentially the same as described in "PSiCC", however the implementation is very different. The redesign was necessary to comply with the MISRA rules and to eliminate Lint warnings. 12. The event processor is now strictly non- recursive (MISRA rule 70), that is, event handlers never call themselves, even indirectly. (Previous algorithm required one- level of indirect recursion.) 13. Dynamic state transition is now default. Static transition optimization is still supported, but considered optional for performance tuning. 14. The artificial limitation of initial transitions targeting only immediate substate of a composite state has been removed (see "PSiCC" Figure 5.4[a]). Initial transitions can now target any substate, arbitrarily nested within the composite state. 15. This distribution uses the legacy Borland Turbo C++ 1.01 as the default compiler. Port to DOS with Turbo C++ 1.01 is provided along with GNU-compatible makefiles for the QEP library and sample applications. This compiler is not C99-compliant and does not provide the <stdint.h> header file. However, the port of QEP includes a minimal <stdint.h>, which should be placed into the INCLUDE directory of the Borland Turbo C++ 1.01 installation. 16. This distribution contains three sample applications: A simple time bomb (QBomb) to demonstrate use of QFsm, a calculator (QCalc), and an exhaustive test of the QHsm class (QHsmTst). All examples are implemented as text-only application compiled with Turbo C++ 1.01. The QHsmTst sample application supports interactive and batch mode for exhaustive testing of the event processor. The source code for QHsmTst demonstrates also how QEP/C++ application code can be MISRA-compliant. 17. This distribution contains make files for the Turbo C++ 1.01 make utility, as well as GNU-compatible Makefiles. QF/C++ Revision History ======================= Version 3.3.00 (Product) Release date: Jan 23, 2007 The main change in this release is adding the macro Q_ROM_VAR in QEP for all constant objects allocated in ROM. The Q_ROM_VAR macro has been added for the compilers like Freescale HC(S)08, which require far pointers to access the objects in ROM. Please note that specifying the pointer size for accessing a ROM objects is syntactically different than specifying that the object is allocated in ROM (see macro Q_ROM). The other significant change in release 3.3.00 is simplification of the build strategy for QP ports. Instead of separate Makefile for every QP component, such as QEP, QF, QK, and QS, not the "ports" directory contains a batch file "make.bat" that builds all the libraries at once. 1. in file qf.h added macro Q_ROM_VAR for objects allocated in ROM and to signatures of functions accessing these objects. 2. in file qf.h removed method QF::getTime() and deleted external variable QF::tickCtr. 3. deleted obsolete file qa_fifo_.cpp 4. deleted obsolete file qa_lifo_.cpp 5. deleted obsolete file qf_time.cpp 6. in file qf_act.cpp added Q_ROM_VAR to the signature of QF::getVersion() 7. in file qf_log2.cpp added Q_ROM_VAR to the definition of the lookup. 8. in file qf_pwr2.cpp added Q_ROM_VAR to the definition of the lookups. 9. in file qf_tick.cpp removed incrementing QF::tickCtr. 10. In file qf_act.cpp updated version number to 3.3.00 11. Updated the "QP Programmer's Manaul" to Revision E Version 3.2.05 Release date: Dec 08, 2006 This QF release rolls back the changes made to the reference-counting policy. The reference count of a dynamic event is incremented when the event is posted, but is NOT decremented when the event is retreived from the queue. The reference count is decremented only later, in the garbage collector (QF::gc()). This release adds direct support for event deferral (the "Deferred Event" state pattern) through methods QActive::defer() and QActive::recall(). 1. In file qf.h added methods QActive::defer() and QActive::recall(). 2. In file qa_get_.cpp removed decrementing the reference count of a dynamic event. 3. In file qeq_get.cpp removed decrementing the reference count of a dynamic event. 4. In file qf_gc.cpp restored decrementing of the reference count of a dynamic event. 5. Added new file qa_defer.cpp that implements QActive::defer() and QActive::recall(). 6. In file qf_act.cpp updated version number to 3.2.05 7. Updated the "QP Programmer's Manaul" to Revision D Version 3.2.04 Release date: Dec 01, 2006 This QF release changes the internal policy of reference-counting for dynamic events. The reference count of a dynamic event is now incremented when the event is posted to a queue and decremented when the event is later retreived from the queue. This policy pertains to both active object queues and native QF thread-safe queues (QEQueue). Previously, the reference count of a dynamic event was not decremented upon retreival of the event from the event queue, but rather in the garbage collector (QF::gc()). 1. In file qf.h eliminated methods QActive::postFIFO_() and QActive::postLIFO_(). 2. In file qf.h promoted method QActive::get_() to the public scope to make it available to various thread-run routines. 3. In file qf.h promoted method QActive::unsubscribeAll() to the public scope to make it available to various thread-run routines. 4. In file qf.h promoted method QF::remove_() to the public scope to make it available to various thread-run routines. 5. In file qf.h added friendship between class QActive and QK_scheduleExt_() and QK_isrExit_(). 6. In file qa_fifo.cpp changed the implementation of QActive::postFIFO() to represent the native QF event queue of an active object. 7. In file qa_fifo_.cpp removed the implementation of QActive::postFIFO_() and declared the file obsolete (will be removed in future releases). 8. In file qa_lifo.cpp changed the implementation of QActive::postLIFO() to represent the native QF event queue of an active object. 9. In file qa_lifo_.cpp removed the implementation of QActive::postLIFO_() and declared the file obsolete (will be removed in future releases). 10. In file qa_get_.cpp added decrementing the reference count of a dynamic event. 11. In file qf_gc.cpp removed decrementing of the reference count of a dynamic event. Also changed the test for recycling an event (reference count of zero). 12. In file qf_pspub.cpp removed incrementing the reference count of a dynamic event. 13. Removed all uses of the macros QACTIVE_POST_FIFO_, QACTIVE_POST_LIFO_ and QACTIVE_GET_. These macros are made now obsolete. 14. In file qsched.h removed definitions of the obsolete macros QACTIVE_POST_FIFO_, QACTIVE_POST_LIFO_, and QACTIVE_GET_. 15. In file qf_pspub.cpp replaced the macro QACTIVE_POST_FIFO_() with the direct method invocation active_[p]->postFIFO(e). 16. In file qf_tick.cpp replaced the macro QACTIVE_POST_FIFO_() with the direct method invocation active_[p]->postFIFO(e). 17. In file qa_run.cpp replaced the macro QACTIVE_POST_GET_() with the direct method invocation get_(). 18. Changed the uC/OS-II port to reflect new policy of handling reference counters inside the dynamic events. Also removed files qa_fifo.cpp and qa_lifo.cpp from the uC/OS-II build. 19. In file qf_act.cpp updated version number to 3.2.04 20. Updated the "QP Programmer's Manaul" to Revision C Version 3.2.03 (Product) Release date: Nov 15, 2006 The main purpose of this release is to adapt the code to the shortcomings of the gcc compiler for handling data in program ROM for Harvard architecture CPUs, such as the Atmel's AVR or the 8051. In such machines, the data space (RAM) and program space (ROM) are accessed with different instructions. The gcc compiler does not automatically synthesize the correct code for accessing data placed in the program ROM, even though __attribute__((__progmem__)) is used. The workaround for the gcc is to add special assembly instructions to transfer the data from the program space to the data space. This version of QP-nano adds macros for each data element allocated to the program space (delcared with the Q_ROM attribute) Please note that commercial compilers, such as IAR, handle data allocated in the program space (ROM) correctly and do not need any workarounds. This release also fixes a few minor inconsistencies in the code (see the list below): 1. In file qf.h added default definition of macro Q_ROM_BYTE 2. In file qf_set.h added macro Q_ROM_BYTE to access the lookup tables allocated in ROM (several places). 3. In file qf_sched.h changed types QF_OS_OBJECT_TYPE and QF_THREAD_TYPE to uint8_t from int8_t 4. In file qs_dummy.h added dummy definitions of some missing QS macros 5. In file qa_sub.cpp added macro Q_ROM_BYTE to access the lookup tables allocated in ROM (several places). 6. In file qa_usub.cpp added macro Q_ROM_BYTE to access the lookup tables allocated in ROM (several places). 7. In file qf_usuba.cpp added macro Q_ROM_BYTE to access the lookup tables allocated in ROM (several places). 8. In file qf_pspub.cpp added macro Q_ROM_BYTE to access the lookup tables allocated in ROM (several places). 9. In file qf_tick.cpp replaced QF_tickCtr_ with QS::tickCtr_. allocated in ROM (several places). 10. In file qf_act.cpp updated version number to 3.2.03 Version 3.2.01 (Product) Release date: Sep 01, 2006 1. In file qf_act.cpp updated version number to 3.2.01 2. Added makefiles for building ports of all QP/C++ libraries at once. 3. Created the consolidated manual "QP/C++ Programmer's Manual". Version 3.2.00 (Product Release) Release date: Aug 08, 2006 1. In file qf.h changed the semantics of the QF::onIdle() callback. This callback is now invoked with interrupts LOCKED from the non- preemptive scheduler used in the "vanilla" QF ports to "bare metal" target boards. The modification changes the responsibilities of QF::onIdle(), which now MUST at least unlock interrupts. A failure to unlock interrupts in QF::onIdle() will leave the interrupts locked all the time and would prevent the application from running. Also, the signature of QF::onIdle() now depends on the interrupt locking policy. In case of the "save and restore interrupt status" policy, the QF::onIdle() callback takes the interrupt lock key as parameter (to be able to unlock the interrups correctly). 2. In file qf.h used the macro Q_ROM to allocate constant objects to ROM ( See also: qep.h). Objects allocated to ROM are: the version strings, and the lookup tables (QF::log2Lkup[], QF::pwr2Lkup[], QF::invPwr2Lkup[], and QF::div8Lkup[]. 3. Added new platform-independent header file qsched.h to provide the interface to the simple non-preemptive scheduler used in the "vanilla" ports of QF to "bare metal" targets. This header file is only applicable to the "vanilla" ports. 4. Added new platform-independent implementation file qf_run.cpp to implement the simple non- preemptive scheduler used in the "vanilla" ports of QF to "bare metal" targets. This implementation file eliminates the need for qf_port.cpp file in the "vanilla" ports of QF. Also, the qf_run.cpp module should only be placed in the QF library in the vanilla QF ports. 5. Simplified all "vanilla" ports of QF to use the common platform- independent implementation provided in qf_run.cpp. 6. Updated QF::onIdle() callback in all examples of "vanilla" ports of QF to unlock interrupts. 7. Updated the "QF/C++ Programmer's Manual". Version 3.1.06 (Product Release) Release date: Jul 14, 2006 1. In file qf.h added function QF_stop() to be called from the application code to stop the framework. 2. In file qf.h added callback function QF_cleanup() to be called from the QF port to cleanup before exiting to the OS. 3. In file qf.h deprecated the function QF_exit(). Version 3.1.05 (Product Release) Release date: Feb 10, 2006 1. In file qf_act.cpp added the Revision History Doxygen comment, which was previously in doxygen/qp.h 2. In file qf.h augmented comment for QF_run() to cover the case when QF is used with QK. 3. In file qf.h added the extern declarations of QF_tickCtr_, QF_intLockNest, and QF_isrNest_, which were previously declared in qf_pkg.h. 4. In file qf.h added macros QF_QS_INT_LOCK, QF_QS_INT_UNLOCK(), QF_QS_ISR_ENTRY, and QF_QS_ISR_EXIT, which were previously declared in qs_port.h. 5. In file ports/linux/gcc/qf_port.h added extern uint8_t QF_running_. 6. In file qf/80x86/dos/tcpp101/l/qf_port.cpp replaced deprecated QPSet::hasElements() to QPSet::isEmpty(). 7. In file qf/80x86/linux/gcc/qf_port.cpp added QF::run() 8. In file qeq_init.cpp changed QS_OBJ(this) to QS_OBJ(qSto) to consistently refer to a queue by the ring buffer object 9. In file qf_pkg.h removed extern QF_tickCtr_. Version 3.1.04 (Product Release) Release date: Dec 11, 2005 1. In file qmpool.h changed the definition of the QF_MPOOL_SIZ_SIZE macro to remove the dependency on the QF_EVENT_SIZ_SIZE. Macro QF_EVENT_SIZ_SIZE might not be defined by the time qmpool.h is included. 2. Added explicit definition of the configuration macro QF_EVENT_SIZ_SIZE to all qf_port.h files. 3. Fixed a bug in function QMPool::init() (file qmp_init.cpp) by changing the type of variable n from