Changes between FreeRTOS V10.4.5 and TBD | |
Documentation and download available at https://www.FreeRTOS.org/ | |
Changes between FreeRTOS V10.4.4 and FreeRTOS V10.4.5 released September 10 2021 | |
See https://www.FreeRTOS.org/FreeRTOS-V10.4.5.html | |
+ Introduce configRUN_TIME_COUNTER_TYPE which enables developers to define | |
the type used to hold run time statistic counters. Defaults to uint32_t | |
for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type | |
(for example, uint64_t) in FreeRTOSConfig.h to override the default. | |
+ Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing | |
ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns | |
the raw run time counter value, the new function returns the percentage of | |
the entire run time consumed by the idle task. Note the amount of idle | |
time is only a good measure of the slack time in a system if there are no | |
other tasks executing at the idle priority, tickless idle is not used, and | |
configIDLE_SHOULD_YIELD is set to 0. | |
+ ARMv8-M secure-side port: Tasks that call secure functions from the | |
non-secure side of an ARMv8-M MCU (ARM Cortex-M23 and Cortex-M33) have two | |
contexts – one on the non-secure side and one on the secure-side. Previous | |
versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures | |
that reference secure-side contexts at run time. Now the structures are | |
allocated statically at compile time. The change necessitates the | |
introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant, | |
which sets the number of statically allocated secure contexts. | |
secureconfigMAX_SECURE_CONTEXTS defaults to 8 if left undefined. | |
Applications that only use FreeRTOS code on the non-secure side, such as | |
those running third-party code on the secure side, are not affected by | |
this change. | |
Changes between FreeRTOS V10.4.3 and FreeRTOS V10.4.4 released May 28 2021 | |
+ Minor performance improvements to xTaskIncrementTick() achieved by providing | |
macro versions of uxListRemove() and vListInsertEnd(). | |
+ Minor refactor of timers.c that obsoletes the need for the | |
tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to | |
post to its own event queue. A consequence of this change is that auto- | |
reload timers that miss their intended next execution time will execute | |
again immediately rather than executing again the next time the command | |
queue is processed. (thanks Jeff Tenney). | |
+ Fix a race condition in the message buffer implementation. The | |
underlying cause was that length and data bytes are written and read as | |
two distinct operations, which both modify the size of the buffer. If a | |
context switch occurs after adding or removing the length bytes, but | |
before adding or removing the data bytes, then another task may observe | |
the message buffer in an invalid state. | |
+ The xTaskCreate() and xTaskCreateStatic() functions accept a task priority | |
as an input parameter. The priority has always been silently capped to | |
(configMAX_PRIORITIES - 1) should it be set to a value above that priority. | |
Now values above that priority will also trigger a configASSERT() failure. | |
+ Replace configASSERT( pcQueueName ) in vQueueAddToRegistry with a NULL | |
pointer check. | |
+ Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration | |
constant that enables the stack allocated to tasks to come from a heap other | |
than the heap used by other memory allocations. This enables stacks to be | |
placed within special regions, such as fast tightly coupled memory. | |
+ If there is an attempt to add the same queue or semaphore handle to the | |
queue registry more than once then prior versions would create two separate | |
entries. Now if this is done the first entry is overwritten rather than | |
duplicated. | |
+ Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from | |
their respective repositories. | |
+ Correct a build error in the POSIX port. | |
+ Additional minor formatting updates, including replacing tabs with spaces | |
in more files. | |
+ Other minor updates include adding additional configASSERT() checks and | |
correcting and improving code comments. | |
+ Go look at the smp branch to see the progress towards the Symetric | |
Multiprocessing Kernel. https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp | |
Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020 | |
V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html | |
See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html | |
+ Changes to improve robustness and consistency for buffer allocation in | |
the heap, queue and stream buffer. | |
+ The following functions can no longer be called from unprivileged code. | |
- xTaskCreateRestricted | |
- xTaskCreateRestrictedStatic | |
- vTaskAllocateMPURegions | |
Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020 | |
See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html | |
+ Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked | |
between the first task starting to execute and that task making | |
a FreeRTOS API call. | |
+ Introduced xTaskDelayUntil(), which is functionally equivalent to | |
vTaskDelayUntil(), with the addition of returning a value to | |
indicating whether or not the function placed the calling task into | |
the Blocked state or not. | |
+ Update WolfSSL to 4.5.0 and add the FIPS ready demo. | |
+ Add support for ESP IDF 4.2 to ThirdParty Xtensa port. | |
+ Re-introduce uxTopUsedPriority to support OpenOCD debugging. | |
+ Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules. | |
+ Various general maintenance and improvements to MISRA compliance. | |
Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020 | |
See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html | |
+ Fixed an incorrectly named parameter that prevented the | |
ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the | |
test code that prevented this error causing test failures. | |
Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020 | |
See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html | |
Major enhancements: | |
+ Task notifications: Prior to FreeRTOS V10.4.0 each created task had a | |
single direct to task notification. From FreeRTOS V10.4.0 each task has | |
an array of notifications. The direct to task notification API has been | |
extended with API functions postfixed with "Indexed" to enable the API to | |
operate on a task notification at any array index. See | |
https://www.freertos.org/RTOS-task-notifications.html for more information. | |
+ Kernel ports that support memory protection units (MPUs): The ARMv7-M and | |
ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M | |
MPU ports now support devices that have 16 MPU regions, have the ability | |
to override default memory attributes for privileged code and data | |
regions, and have the ability to place the FreeRTOS kernel code outside of | |
the Flash memory. The ARMv8-M MPU ports now support tickless idle mode. | |
See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html | |
for more information. | |
Additional noteworthy updates: | |
+ Code formatting is now automated to facilitate the increase in | |
collaborative development in Git. The auto-formated code is not identical | |
to the original formatting conventions. Most notably spaces are now used | |
in place of tabs. | |
+ The prototypes for callback functions (those that start with "Application", | |
such as vApplicationStackOverflowHook()) are now in the FreeRTOS header | |
files, removing the need for application writers to add prototypes into | |
the C files in which they define the functions. | |
+ New Renesas RXv3 port layer. | |
+ Updates to the Synopsys ARC code, including support for EM and HS cores, | |
and updated BSP. | |
+ Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in | |
the same way the Windows port layer enables FreeRTOS to run on Windows | |
hosts. | |
+ Many other minor optimisations and enhancements. For full details | |
see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/main | |
Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020 | |
See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html | |
+ ./FreeRTOS-Labs directory was removed from this file. The libraries it | |
contained are now available as a separate download. | |
Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020 | |
See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html | |
New and updated kernel ports: | |
+ Added RISC-V port for the IAR compiler. | |
+ Update the Windows simulator port to use a synchronous object to prevent | |
a user reported error whereby a task continues to run for a short time | |
after being moved to the Blocked state. Note we were not able to | |
replicate the reported issue and it likely depends on your CPU model. | |
+ Correct alignment of stack top in RISC-V port when | |
configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes | |
the interrupt stack to be statically allocated. | |
+ The RISC-V machine timer compare register can now be for any HART, whereas | |
previously it was always assumed FreeRTOS was running on HART 0. | |
+ Update the sequence used to update the 64-bit machine timer | |
compare register on 32-bit cores to match that suggested in RISC-V | |
documentation. | |
+ Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler | |
ports. | |
+ Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to | |
match that of the ARMv8-M ports whereby privilege escalations can only | |
originate from within the kernel's own memory segment. Added | |
configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant. | |
+ Update existing MPU ports to correctly disable the MPU before it is | |
updated. | |
+ Added contributed port and demo application for a T-Head (formally C-SKY) | |
microcontroller. | |
New API functions: | |
+ Added the vPortGetHeapStats() API function which returns information on | |
the heap_4 and heap_5 state. | |
+ Added xTaskCatchUpTicks(), which corrects the tick count value after the | |
application code has held interrupts disabled for an extended period. | |
+ Added xTaskNotifyValueClear() API function. | |
+ Added uxTimerGetReloadMode() API function. | |
Other miscellaneous changes: | |
+ Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it | |
has the same type as variables with which it is compared to, and therefore | |
also renamed the variable xPendingTicks. | |
+ Update Keil projects that use the MPU so memory regions come from linker | |
script (scatter file) variables instead of being hard coded. | |
+ Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR | |
compilers. | |
+ Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo. | |
+ Added LPC54018 MPU demo. | |
+ Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter(). | |
Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019: | |
+ Added ARM Cortex-M23 port layer to complement the pre-existing ARM | |
Cortex-M33 port layer. | |
+ The RISC-V port now automatically switches between 32-bit and 64-bit | |
cores. | |
+ Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering | |
when GCC link time optimisation is used. | |
+ Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and | |
prevent the secure side builds from removing symbols required by the | |
non secure side build. | |
+ Introduced the portARCH_NAME to provide additional data to select semi- | |
automated build environments. | |
+ Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before | |
updating the MPU registers. | |
+ Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo. | |
+ Added LPC55S69 ARM Cortex-M33 demo. | |
+ Added an STM32 dual core AMP stress test demo. | |
Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019: | |
+ Added GCC RISC-V MCU port with three separate demo applications. | |
+ Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports | |
with Keil simulator demo. | |
+ Update the method used to detect if a timer is active. Previously the | |
timer was deemed to be inactive if it was not referenced from a list. | |
However, when a timer is updated it is temporarily removed from, then | |
re-added to a list, so now the timer's active status is stored separately. | |
+ Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and | |
xTaskGetApplicationTaskTagFromISR() API functions. | |
+ Updated third party Xtensa port so it is MIT licensed. | |
+ Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas | |
compiler RX600v2 port to enable switching between platform.h and | |
iodefine.h includes within that port's port.c file. | |
+ Removed the 'FromISR' functions from the MPU ports as ISRs run privileged | |
anyway. | |
+ Added uxTaskGetStackHighWaterMark2() function to enable the return type to | |
be changed without breaking backward compatibility. | |
uxTaskGetStackHighWaterMark() returns a UBaseType_t as always, | |
uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the | |
user to determine the return type. | |
+ Fixed issues in memory protected ports related to different combinations | |
of static memory only and dynamic memory only builds. As a result the | |
definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more | |
complex and was moved to FreeRTOS.h with a table explaining its definition. | |
+ Added a 'get task tag from ISR' function. | |
+ Change the method used to determine if a timer is active or not from just | |
seeing if it is referenced from the active timer list to storing its | |
active state explicitly. The change prevents the timer reporting that it | |
is inactive while it is being moved from one list to another. | |
+ The pcName parameter passed into the task create functions can be NULL, | |
previously a name had to be provided. | |
+ When using tickless idle, prvResetNextTaskUnblockTime() is now only called | |
in xTaskRemoveFromEventList() if the scheduler is not suspended. | |
+ Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for | |
FreeRTOS ports that run on architectures that have stack limit registers. | |
Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018 | |
+ Reverted a few structure name changes that broke several kernel aware | |
debugger plug-ins. | |
+ Updated to the latest trace recorder code. | |
+ Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code. | |
+ Reverted moving some variables from file to function scope as doing so | |
broke debug scenarios that require the static qualifier to be removed. | |
Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018 | |
FreeRTOS Kernel Changes: | |
+ Update lint checked MISRA compliance to use the latest MISRA standard, was | |
previously using the original MISRA standard. | |
+ Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be | |
unique types instead of void pointers, improving type safety. (this was | |
attempted some years back but had to be backed out due to bugs in some | |
debuggers). Note this required the pvContainer member of a ListItem_t | |
struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if | |
this causes an issue. | |
+ Added configUSE_POSIX_ERRNO to enable per task POSIX style errno | |
functionality in a more user friendly way - previously the generic thread | |
local storage feature was used for this purpose. | |
+ Added Xtensa port and demo application for the XCC compiler. | |
+ Changed the implementation of vPortEndScheduler() for the Win32 port to | |
simply call exit( 0 ). | |
+ Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect | |
the read modify write access to an internal Microblaze register. | |
+ Fix minor niggles when the MPU is used with regards to prototype | |
differences, static struct size differences, etc. | |
+ The usStackHighWaterMark member of the TaskStatus_t structure now has type | |
configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been | |
made when the configSTACK_DEPTH_TYPE type (which gets around the previous | |
16-bit limit on stack size specifications) was introduced. | |
+ Added the xMessageBufferNextLengthBytes() API function and likewise stream | |
buffer equivalent. | |
+ Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes | |
used to hold the length of a message in the message buffer to be reduced. | |
configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example, | |
messages can never be more than 255 bytes it could be set to uint8_t, | |
saving 3 bytes each time a message is written into the message buffer | |
(assuming sizeof( size_t ) is 4). | |
+ Updated the StaticTimer_t structure to ensure it matches the size of the | |
Timer_t structure when the size of TaskFunction_t does not equal the size | |
of void *. | |
+ Update various Xilinx demos to use 2018.1 version of the SDK tools. | |
+ Various updates to demo tasks to maintain test coverage. | |
+ FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by | |
FreeRTOS+TCP, which was brought into the main download in FreeRTOS | |
V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and | |
FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP. | |
FreeRTOS+TCP Changes: | |
+ Multiple security improvements and fixes in packet parsing routines, DNS | |
caching, and TCP sequence number and ID generation. | |
+ Disable NBNS and LLMNR by default. | |
+ Add TCP hang protection by default. | |
We thank Ori Karliner of Zimperium zLabs Team for reporting these issues. | |
Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017 | |
+ Fix position of "#if defined( __cplusplus )" in stream_buffer.h. | |
+ Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in | |
mpu_prototypes.h. | |
+ Correct formatting in vTaskList() helper function when it prints the state | |
of the currently executing task. | |
+ Introduce #error if stream_buffer.c is built without | |
configUSE_TASK_NOTIFICATIONS set to 1. | |
+ Update FreeRTOS+TCP to V2.0.0 | |
- Improve the formatting of text that displays the available netword | |
interfaces when FreeRTOS+TCP is used on Windows with WinPCap. | |
- Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user | |
definable callback to execute when data arrives on a socket. | |
Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0: | |
The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license | |
New Features and components: | |
+ Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html | |
+ Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html | |
+ Move FreeRTOS+TCP into the main repository, along with the basic Win32 | |
TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator. | |
New ports or demos: | |
+ Added demo for TI SimpleLink CC3220 MCU. | |
+ Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx | |
MCUs. | |
+ Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation | |
in the MPU port. | |
Fixes or enhancements: | |
+ Cortex-M ports push additional register prior to calling | |
vTaskSwitchContext to ensure 8-byte alignment is maintained. Only | |
important if a user defined tick hook function performs an operation that | |
requires 8-byte alignment. | |
+ Optimisations to the implementation of the standard tickless idle mode on | |
Cortex-M devices. | |
+ Improvements to the Win32 port including using higher priority threads. | |
+ Ensure interrupt stack alignment on PIC32 ports. | |
+ Updated GCC TriCore port to build with later compiler versions. | |
+ Update mpu_wrappers.c to support static allocation. | |
+ The uxNumberOfItems member of List_t is now volatile - solving an issue | |
when the IAR compiler was used with maximum optimization. | |
+ Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start | |
address is saved into each task's TCB (assuming stack grows down). | |
+ Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined | |
functionality, and user defined initialisation, to be added to FreeRTOS's | |
tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is | |
set to 1 a user provided header file called freertos_task_c_additions.h | |
will be included at the bottom of tasks.c. Functions defined in that | |
header file can call freertos_tasks_c_additions_init(), which in turn | |
calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined. | |
FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h. | |
+ Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be | |
defined by a user in FreeRTOSConfig.h. The macro is called before | |
assessing whether to enter tickless idle mode or not. If the macro sets | |
x to zero then tickless idle mode will not be entered. This allows users | |
to abort tickless idle mode entry before the tickless idle function is | |
even called - previously it was only possible to abort from within the | |
tickless idle function itself. | |
+ Added configPRINTF(), which can be defined by users to allow all libraries | |
to use the same print formatter. | |
+ Introduced configMAX() and configMIN() macros which default to standard | |
max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the | |
application writer defines the same macros in FreeRTOSConfig.h. | |
+ Corrected the definition of StaticTask_t in the case where | |
INCLUDE_xTaskAbortDelay is set to 1. | |
+ Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of | |
which can be defined to strings in FreeRTOSConfig.h to change the default | |
names of the timer service and idle tasks respectively. | |
+ Only fill the stack of a newly created task with a known value if stack | |
checking, or high water mark checking/viewing, is in use - removing the | |
dependency on memset() in other cases. | |
+ Introduced xTaskCreateRestrictedStatic() so static allocation can be used | |
with the MPU. | |
+ Ensure suspended tasks cannot be unsuspended by a received task | |
notification. | |
+ Fix race condition in vTaskSetTimeOutState(). | |
+ Updated trace recorder files to the latest version. | |
Changes since FreeRTOS V9.0.0: | |
+ Priority dis-inheritance behaviour has been enhanced in the case where a | |
task that attempted to take a mutex that was held by a lower priority task | |
timed out before it was able to obtain the mutex (causing the task that | |
holds the mutex to have its priority raised, then lowered again, in | |
accordance with the priority inheritance protocol). | |
+ Split the overloaded xQueueGenericReceive() function into three separate | |
dedicated functions. | |
+ Allow the default human readable text names given to the Idle and Timer | |
tasks to be overridden by defining the configIDLE_TASK_NAME and | |
configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h. | |
+ Introduced configINITIAL_TICK_COUNT to allow the tick count to take a | |
value of than than 0 when the system boots. This can be useful for | |
testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also | |
be used to test frequent tick overflows. | |
+ Ensure the Cortex-M SysTick count is cleared to zero before starting the | |
first task. | |
+ Add configASSERT() into ARM Cortex-M ports to check the number of priority | |
bit settings. | |
+ Clear the 'control' register before starting ARM Cortex-M4F ports in case | |
the FPU is used before the scheduler is started. This just saves a few | |
bytes on the main stack as it prevents space being left for a later save | |
of FPU registers. | |
+ Added xSemaphoreGetMutexHolderFromISR(). | |
+ Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. | |
+ Introduced configSTACK_DEPTH_TYPE to allow users to change the type used | |
to specify the stack size when using xTaskCreate(). For historic reasons, | |
when FreeRTOS was only used on small MCUs, the type was set to uint16_t, | |
but that can be too restrictive when FreeRTOS is used on larger | |
processors. configSTACK_DEPTH_TYPE defaults to uint16_t. | |
xTaskCreateStatic(), being a newer function, used a uint32_t. | |
+ Increase the priority of the Windows threads used by the Win32 port. As | |
all the threads run on the same core, and the threads run with very high | |
priority, there is a risk that the host will become unresponsive, so also | |
prevent the Windows port executing on single core hosts. | |
Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: | |
See https://www.FreeRTOS.org/FreeRTOS-V9.html | |
RTOS kernel updates: | |
+ The prototype of the new xTaskCreateStatic() API function was modified to | |
remove a parameter and improve compatibility with other new | |
"CreateStatic()" API functions. The stack size parameter in | |
xTaskCreateStatic() is now uint32_t, which changes the prototype of the | |
callback functions. See the following URL: | |
https://www.FreeRTOS.org/xTaskCreateStatic.html | |
+ GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT | |
constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is | |
automatically given a floating point (FPU) context. | |
+ GCC ARM Cortex-A port: It is now possible to automatically save and | |
restore all floating point (FPU) registers on entry to each potentially | |
nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of | |
vApplicationIRQHandler(). | |
+ All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task | |
entry address placed onto the stack of a task when the task is created for | |
strict compliance with the ARM Cortex-M3/4/7 architecture documentation | |
(no noticeable effect unless using the QMEU emulator). | |
+ Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only | |
supported on ARM Cortex-M3. | |
+ ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 | |
API (other than static object creation) and added the | |
FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to | |
demonstrate how to use the updated MPU port. | |
+ All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the | |
default low power tickless implementation. | |
+ All ARM Cortex-M0 ports: Prevent an item being left on the stack of the | |
first task that executes. | |
+ Win32 ports: Reduce the amount of stack used and change the way Windows | |
threads are deleted to increase the maximum execution time. | |
+ Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the | |
documentation page for this port before use. | |
+ MPS430X IAR port: Update to be compatible with the latest EW430 tools | |
release. | |
+ IAR32 GCC port: Correct vPortExitCritical() when | |
configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. | |
+ For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), | |
xTaskGetTaskHandle() now has the alias xTaskGetHandle() and | |
pcQueueGetQueueName() now has an alias pcQueueGetName(). | |
+ Fix various errors in comments and compiler warnings. | |
Demo application updates: | |
+ Update Atmel Studio projects to use Atmel Studio 7. | |
+ Update Xilinx SDK projects to use the 2016.1 version of the SDK. | |
+ Remove dependency on legacy IO libraries from the PIC32 demos. | |
+ Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. | |
+ Update the MSP432 libraries to the latest version. | |
+ Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC | |
compilers. | |
+ Move the Atmel SAMA5D2 demo into the main distribution. | |
Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) | |
released March 30 2016: | |
NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details | |
+ The functions that create RTOS objects using static memory allocation have | |
been simplified and will not revert to using dynamic allocation if a | |
buffer is passed into a function as NULL. | |
+ Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to | |
allow a FreeRTOS application to be built without a heap even being being | |
defined. The Win32 example located in the | |
/FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as | |
a reference for projects that do not include a FreeRTOS heap. | |
+ Minor run-time optimisations. | |
+ Two new low power tickless implementations that target Silicon Labs EFM32 | |
microcontrollers. | |
+ Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. | |
Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) | |
released February 19 2016: | |
RTOS Kernel Updates: | |
+ Major new feature - tasks, semaphores, queues, timers and event groups can | |
now be created using statically allocated memory, so without any calls to | |
pvPortMalloc(). | |
+ Major new features - Added the xTaskAbortDelay() API function which allows | |
one task to force another task to immediately leave the Blocked state, | |
even if the event the blocked task is waiting for has not occurred, or the | |
blocked task's timeout has not expired. | |
+ Updates necessary to allow FreeRTOS to run on 64-bit architectures. | |
+ Added vApplicationDaemonTaskStartupHook() which executes when the RTOS | |
daemon task (which used to be called the timer service task) starts | |
running. This is useful if the application includes initialisation code | |
that would benefit from executing after the scheduler has been started. | |
+ Added the xTaskGetTaskHandle() API function, which obtains a task handle | |
from the task's name. xTaskGetTaskHandle() uses multiple string compare | |
operations, so it is recommended that it is called only once per task. | |
The handle returned by xTaskGetTaskHandle() can then be stored locally for | |
later re-use. | |
+ Added the pcQueueGetQueueName() API function, which obtains the name of | |
a queue from the queue's handle. | |
+ Tickless idling (for low power applications) can now also be used when | |
configUSE_PREEMPTION is 0. | |
+ If one task deletes another task, then the stack and TCB of the deleted | |
task is now freed immediately. If a task deletes itself, then the stack | |
and TCB of the deleted task are freed by the Idle task as before. | |
+ If a task notification is used to unblock a task from an ISR, but the | |
xHigherPriorityTaskWoken parameter is not used, then pend a context switch | |
that will then occur during the next tick interrupt. | |
+ Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP | |
settings, which previously was only used by heap_4.c. | |
configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare | |
the array that will be used as the FreeRTOS heap, and in-so-doing, place | |
the heap at a specific memory location. | |
+ TaskStatus_t structures are used to obtain details of a task. | |
TaskStatus_t now includes the bae address of the task's stack. | |
+ Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t | |
structure that contains information about a single task. Previously this | |
information could only be obtained for all the tasks at once, as an array | |
of TaskStatus_t structures. | |
+ Added the uxSemaphoreGetCount() API function. | |
+ Replicate previous Cortex-M4F and Cortex-M7 optimisations in some | |
Cortex-M3 port layers. | |
Demo Application Updates: | |
Further demo applications will be added prior to the final FreeRTOS V9 | |
release. | |
+ Updated SAM4L Atmel Studio project to use Atmel Studio 7. | |
+ Added ARM Cortex-A53 64-bit port. | |
+ Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx | |
Ultrascale MPSoC. | |
+ Added Cortex-M7 SAME70 GCC demo. | |
+ Added EFM32 Giant and Wonder Gecko demos. | |
Changes between V8.2.2 and V8.2.3 released October 16, 2015 | |
RTOS kernel updates: | |
+ Fix bug identified in a modification made in V8.2.2 to the software timer | |
code that allows tickless low power applications to sleep indefinitely | |
when software timers are used. | |
+ Simplify and improve efficiency of stack overflow checking. | |
+ Add xTaskNotifyStateClear() API function. | |
+ New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM | |
generic interrupt controller (GIC). | |
+ New PIC32MEC14xx port. | |
+ Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ | |
port. | |
+ Zynq7000 port layer now declares the functions that setup and clear the | |
tick interrupt as weak symbols so they can be overridden by the | |
application, and uses a global XScuGic object so the same object can be | |
used by the application code. | |
+ Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is | |
currently the only port that uses it. | |
+ Updates to RL78 and 78K0 IAR port layers to improve support for | |
combinations of memory models. | |
+ Minor updates to heap_5.c to remove compiler warnings generated by some | |
compilers. | |
+ License simplifications. See /FreeRTOS/License/license.txt in the | |
official distribution. | |
FreeRTOS+ updates: | |
+ Update directory names to use WolfSSL instead of CyaSSL, inline with | |
WolfSSL's re-branding. | |
+ Update to latest WolfSSL code. | |
+ Update to latest FreeRTOS+Trace recorder code. | |
+ Add in the FreeRTOS+Trace recorder library required for streaming trace. | |
Demo application changes: | |
+ Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with | |
floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. | |
+ General tidy up of spelling and compiler warnings. | |
Changes between V8.2.1 and V8.2.2 released August 12, 2015 | |
RTOS kernel updates: | |
+ Added Intel IA32/x86 32-bit port. | |
+ General maintenance. | |
+ PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory | |
protected systems, have been added to the newer event group and software | |
timer functions. | |
+ Add the errno definitions used by FreeRTOS+ components into projdefs.h. | |
+ Remove the restriction that prevented tick-less idle implementations | |
waiting indefinitely when software timers were used in the same | |
application. | |
+ Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of | |
xTaskNotifyAndQuery(). | |
+ Add additional NOPs to the MSP430X port layers to ensure strict compliance | |
with the hardware documentation. | |
+ Microblaze port: Added option for port optimised task selection. | |
+ Microblaze port: Previously tasks inherited the exception enable state | |
at the time the task was created. Now all tasks are created with | |
exceptions enabled if the Microblaze design supports exceptions. | |
+ Windows port: Add additional safe guards to ensure the correct start up | |
sequence and thread switching timing. | |
+ Windows port: Improve the implementation of the port optimised task | |
selection assembly code. | |
+ Update heap_4 and heap_5 to allow use on 64-bit processors. | |
+ Simplify the code that creates a queue. | |
+ General improved tick-less idle behaviour. | |
+ Ensure none of the variables in the common kernel files are initialised to | |
anything other than zero. | |
+ Correct calculation of xHeapStructSize in heap_4 and heap_5. | |
Demo application updates: | |
+ Added demo project for the new IA32/x86 port that targets the Galileo | |
hardware. | |
+ Added MSP430FR5969 demos (previously provided as a separate download). | |
+ Added FreeRTOS BSP repository for automatic creation of FreeRTOS | |
applications in the Xilinx SDK. | |
+ Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) | |
+ Update Xilinx SDK projects to use version 2015.2 of the SDK. | |
+ Remove Microblaze demos that were using obsolete tools. | |
+ Add MSP43FR5969 IAR and CCS demos. | |
FreeRTOS+ Updates: | |
+ Updated FreeRTOS+Trace recorder library, which requires an update to the | |
FreeRTOS+Trace application. | |
+ Added Reliance Edge source code and demo application. Reliance edge is | |
a fail safe transactional file system ideal for applications that require | |
file storage, and especially when high reliability is essential. | |
+ Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI | |
users to place the output buffer at a fixed memory address. | |
+ Improve the NetworkInterface.c file provided for the Windows port of | |
FreeRTOS+UDP. | |
Changes between V8.2.0 and V8.2.1 released 24th March 2015. | |
RTOS kernel updates: | |
+ Added user definable and flexible thread local storage facility. | |
+ Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() | |
function to allow the timer's ID to be used as timer local storage. | |
+ Fixed a potential issue related to the use of queue sets from an ISR. | |
+ Some updates to the Xilinx Microblaze GCC port. | |
+ Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. | |
+ Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a | |
minor errata work around. All other ARM Cortex-M7 core revisions should | |
use the ARM Cortex-M4F port. | |
+ Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. | |
+ Change some data types from uint32_t to size_t in preparation for 64-bit | |
Windows port. | |
+ Update the PIC32 port to remove deprecation warnings output by the latest | |
XC32 compilers. | |
+ Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to | |
overwrite items in two queues that are part of the same set. | |
Demo application updates: | |
+ Added demo application for TI's ARM Cortex-M4F based MSP432 | |
microcontroller using IAR, Keil and CCS compilers. | |
+ Added demo application for STM32F ARM Cortex-M7 based microcontroller | |
using IAR and Keil. | |
+ Added demo application for Atmel SAMV71 ARM Cortex-M7 based | |
microcontroller using IAR and Keil. | |
+ Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and | |
runs on the KC705 evaluation board (Kintex FPGA). | |
Changes between V8.1.2 and V8.2.0 released 16th January 2015 | |
Changes between release candidate 1 and the official release are restricted | |
to maintenance only. | |
Significant RTOS kernel updates: | |
+ MAJOR NEW FEATURE! Task notifications. Please see the following URL for | |
details: https://www.FreeRTOS.org/RTOS-task-notifications.html | |
+ NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into | |
a new header file called FreeRTOS/Source/include/deprecated_definitions.h. | |
This header file must be present to build. Note some of the obsolete | |
definitions are still used by very old demo application projects. | |
Other RTOS kernel updates: | |
+ Made xSemaphoreGiveFromISR() a function rather than a macro that calls | |
xQueueGenericSendFromISR(). This allows for major performance | |
enhancements at the expense of some additional code size if both functions | |
are used in the same application. NOTE: In most uses cases such use of | |
a semaphore can now be replaced with a task notification which is smaller | |
and faster still. | |
+ The TCB is now always allocated such that the task's stack grows away from | |
the TCB (improves debugging of stack overflows as the overflow will not | |
overwrite the task's name). | |
+ GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance | |
enhancements at the cost of a little additional code space). | |
+ Queues are now allocated with a single call to pvPortMalloc() which | |
allocates both the queue structure and the queue storage area. | |
+ Introduced a new critical section macro for reading the tick count that | |
defines away to nothing in cases where the width of the tick allows the | |
tick count to be read atomically (performance benefits - especially when | |
optimisation is on). | |
+ Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the | |
application writer to provide their own heap array - and in so doing | |
control the location of the heap. | |
+ Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will | |
include known values in both list and list item structures. The values | |
are intended to assist debugging. If the values get overwritten then it | |
is likely application code has written over RAM used by the kernel. | |
+ configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of | |
the interrupt control register to detect taskENTER_CRITICAL() being called | |
from an interrupt. This has been changed to test all 8 bits. | |
+ Introduced uxTaskPriorityGetFromISR(). | |
+ Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 | |
rather than equality to 1, and 2 and 3 are also valid values. | |
+ Cortex-A5 GIC-less port no longer passes the address of the interrupting | |
peripheral into the interrupt handler. | |
+ Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack | |
belonging to a task when the task was deleted, even when the stack was | |
allocated statically. | |
+ Utility (helper) functions that format task statistic information into | |
human readable tables now pad task names with spaces to ensure columns | |
line up correctly even where task name lengths vary greatly. | |
+ Update FreeRTOS+Trace recorder library to version 2.7.0. | |
Demo application updates: | |
+ Added two new standard demo task sets: IntSemTest and TaskNotify. | |
+ Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. | |
+ Added demo application for Altera Cyclone V Cortex-A9 MPU. | |
+ Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in | |
demo tasks for new RTOS features. | |
+ Updated Atmel SAM4E and SAM4S demos to include a lot of additional test | |
and demo tasks. | |
+ Fixed a corner case issue in Atmel SAM4L low power tickless | |
implementation, and added button interrupt handling. | |
+ Make the interrupt queue tests more tolerant to heave CPU loads. | |
+ Updated MSVC FreeRTOS simulator demo to include the latest standard test | |
and demo tasks. | |
+ Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC | |
simulator demo. | |
+ Updated all demos that use FreeRTOS+Trace to work with the latest trace | |
recorder code. | |
Changes between V8.1.1 and V8.1.2 released September 2nd 2014 | |
Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the | |
individual port layers where necessary so it does not affect ports that do | |
not support the definition. | |
Changes between V8.1.0 and V8.1.1 released August 29th 2014 | |
By popular requests - a minor patch to V8.1.0 to re-instate the ability to | |
give a mutex type semaphore (with priority inheritance) from an interrupt | |
handler. | |
Changes between V8.0.1 and V8.1.0 released August 26th 2014 | |
FreeRTOS scheduler, kernel, demo and test updates: | |
+ Improved the priority inheritance algorithms to assist integration with | |
off the shelf middleware that may hold multiple mutexes simultaneously. | |
+ Introduce heap_5.c, which is similar to heap_4.c but allows the heap to | |
span multiple non-contiguous memory regions. | |
+ Updated all Cortex-A9 ports to help trap a couple of common usage errors - | |
the first being when a task incorrectly attempts to exit its implementing | |
function and the second being when a non interrupt safe API function is | |
called from an interrupt. | |
+ Update all Cortex-A9 ports to remove obsolete mode switches prior to | |
restoring a task context. | |
+ configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. | |
+ Update all Cortex-M3/4F ports to trap a non interrupt safe API function | |
being called from an interrupt handler. | |
+ Simplify the alignment checks in heap_4.c. | |
+ Update the MSVC Windows simulator demo to use heap_5.c in place of | |
heap_4.c to ensure end users have an example to refer to. | |
+ Updated standard demo test code to test the new priority inheritance | |
algorithms. | |
+ Updated the standard demo tasks to make use of stdint and the FreeRTOS | |
specific typedefs that were introduced in FreeRTOS V8.0.0. | |
+ Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive | |
alternative to pdTICKS_PER_MS - both of which can be used to convert a | |
time specified in milliseconds to a time specified in RTOS ticks. | |
+ Fix a bug in the Tasking compiler's Cortex-M port that resulted in an | |
incorrect value being written to the basepri register. This only effects | |
users of the Tasking compiler. | |
+ Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP | |
example that demonstrates lwIP being used with both its raw and sockets | |
interfaces. | |
+ Updated the CCS Cortex-R4 port to enable it to be built with the latest | |
CCS compiler. | |
New ports and demo applications: | |
+ Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC | |
compiler and one for the Renesas compiler. Both demos use e2 studio. | |
+ Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. | |
The new port is demonstrated on an Atmel SAMA5D3 XPlained board. | |
FreeRTOS+ component updates: | |
+ Update CyaSSL to the latest version. | |
+ Updated the FreeRTOS+ components supplied directly by Real Time Engineers | |
Ltd. to make use of stdint and the FreeRTOS specific typedefs that were | |
introduced in FreeRTOS V8.0.0. | |
+ Rework and simplify the FreeRTOS+FAT SL RAM disk driver. | |
Miscellaneous updates and maintenance: | |
+ Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK | |
hardware in place of the previously targeted Renesas internal (not | |
publicly available) hardware. | |
+ Various other maintenance tasks. | |
Changes between V8.0.0 and V8.0.1 released 2nd May 2014 | |
+ Minor fixes to the event group functionality that was released in V8.0.0. | |
The 'clear bits from ISR' functionality is now implemented using a | |
deferred interrupt callback instead of a function, and the 'wait bits' and | |
'task sync' functions now correctly clear internal control bits before | |
returning a value in every possible path through the respective functions. | |
+ Ensure the updating of internal control data is protected by a critical | |
section after a task is deleted or suspended. | |
+ Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file | |
when the offset was not a multiple of the sector size. | |
+ Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, | |
even when only the lest significant byte of the register is implemented. | |
Other updates: | |
+ Updated the XMC4200 IAR project so it links with version 7.x of the IAR | |
tools. | |
+ Add RL78L1C demo. | |
+ Add pcTimerGetName() API function. | |
+ Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT | |
is defined. | |
Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 | |
https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html | |
FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, | |
although a change to the type used to reference character strings may result | |
in application code generating a few (easily clearable) compiler warnings | |
after the upgrade, and an updated typedef naming convention means use of the | |
old typedef names is now discouraged. | |
See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full | |
information. | |
New features and functionality: | |
+ Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html | |
+ Centralised deferred interrupt processing - see | |
https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html | |
Other updates: | |
+ Previously, when a task left the Blocked state, a context switch was | |
performed if the priority of the unblocked task was greater than or equal | |
to the priority of the Running task. Now a context switch is only | |
performed if the priority of the unblocked task is greater than the | |
priority of the Running task. | |
+ New low power tickless demonstration project that targets the ST STM32L | |
microcontroller - see | |
https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html | |
+ Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. | |
+ Small change to the tickless low power implementation on the SAM4L to | |
ensure the alarm value (compare match value) cannot be set to zero when a | |
tickless period is exited due to an interrupt originating from a source | |
other than the RTOS tick. | |
+ Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse | |
resource filters and match the functionality of the MSVC equivalent. | |
+ xTaskIsTaskSuspended() is no longer a public function. Use | |
eTaskGetState() in its place. | |
+ Improved trace macros, including tracing of heap usage. | |
+ Remove one level of indirection when accepting interrupts on the PIC32MZ. | |
+ Add Cortex-A9 GCC port layer. | |
+ Add Xilinx Zynq demo application. | |
Changes between V7.5.3 and V7.6.0 released 18th November 2013 | |
V7.6.0 changes some behaviour when the co-operative scheduler is used (when | |
configUSE_PREEMPTION is set to 0). It is important to note that the | |
behaviour of the pre-emptive scheduler is unchanged - the following | |
description only applies when configUSE_PREEMPTION is set to 0: | |
WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of | |
cases) a context switch will now only occur when a task places itself into | |
the Blocked state, or explicitly calls taskYIELD(). This differs from | |
previous versions, where a context switch would also occur when implicitly | |
moving a higher priority task out of the Blocked state. For example, | |
previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by | |
writing to a queue, then the scheduler would switch to the higher priority | |
task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by | |
writing to a queue, task B will not start running until task A enters the | |
Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not | |
set to 0, so the normal pre-emptive scheduler is being used, then task B | |
will start running immediately that it is moved out of the Blocked state]. | |
Other changes: | |
+ Added a port layer and a demo project for the new PIC32MZ architecture. | |
+ Update the PIC32MX port layer to re-introduce some ehb instructions that | |
were previously removed, add the ability to catch interrupt stack | |
overflows (previously only task stack overflows were trapped), and also | |
add the ability to catch an application task incorrectly attempting to | |
return from its implementing function. | |
+ Make dramatic improvements to the performance of the Win32 simulator port | |
layer. | |
+ Ensure tasks that are blocked indefinitely report their state as Blocked | |
instead of Suspended. | |
+ Slight improvement to the Cortex-M4F port layers where previously one | |
register was inadvertently being saved twice. | |
+ Introduce the xSemaphoreCreateBinary() API function to ensure consistency | |
in the semantics of how each semaphore type is created. It is no longer | |
recommended to use vSemaphoreCreateBinary() (the version prefixed with a | |
'v'), although it will remain in the code for backward compatibility. | |
+ Update the Cortex-M0 port layers to allow the scheduler to be started | |
without using the SVC handler. | |
+ Added a build configuration to the PIC32MX MPLAB X demo project that | |
targets the PIC32 USB II starter kit. Previously all the build | |
configurations required the Explorer 16 hardware. | |
+ Some of the standard demo tasks have been updated to ensure they execute | |
correctly with the updated co-operative scheduling behaviour. | |
+ Added comprehensive demo for the Atmel SAM4E, including use of | |
FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. | |
FreeRTOS+ Changes: | |
+ Minor maintenance on FreeRTOS+UDP. | |
Changes between V7.5.2 and V7.5.3 released October 14 2013 | |
Kernel changes: | |
+ Prior to V7.5.x yields requested from the tick hook would occur in the | |
same tick interrupt - revert to that original behaviour. | |
+ New API function uxQueueSpacesAvailable(). | |
+ Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 | |
and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that | |
attempt to return from their implementing functions (tasks should call | |
vTaskDelete( NULL ); if they want to exit). | |
+ The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and | |
portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. | |
+ Improved behaviour and robustness of the default Cortex-M tickless idle | |
behaviour. | |
+ Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to | |
all Cortex-M4F ports. | |
+ Add Cortex-M0 port for Keil. | |
+ Updated Cortus port. | |
+ Ensure _impure_ptr is initialised before the scheduler is started. | |
Previously it was not set until the first context switch. | |
FreeRTOS+ changes: | |
+ Update FreeRTOS+UDP to V1.0.1 - including direct integration of the | |
FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction | |
to the test that prevents the network event hook being called on the first | |
network down event. The FreeRTOS+UDP change history is maintained | |
separately. | |
+ Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files | |
provided in the NXP CMSIS library, then update the interrupts used by the | |
LPC18xx demos accordingly. | |
+ Replace double quotes (") with single quotes (') in FreeRTOS+CLI help | |
strings to ensure the strings can be used with the JSON descriptions used | |
in the FreeRTOS+Nabto demos. | |
Demo and miscellaneous changes: | |
+ Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes | |
FreeRTOS+CLI | |
+ Added a demo for the Infineon Cortex-M0 that can be built with the IAR | |
Keil and GCC tools. | |
+ Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, | |
with additional build configurations to directly support the XMC4200 and | |
XMC4400 devices, in addition to the previously supported XMC4500. | |
+ Updated the demo application. | |
+ Added additional trace macros traceMALLOC and traceFREE to track heap | |
usage. | |
Changes between V7.5.0 and V7.5.2 released July 24 2013 | |
V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function | |
compatible with the STM32 standard peripheral driver library, and adds | |
an extra critical section to the default low power tickless mode | |
implementation. Only users of the STM32 peripheral library or the default | |
tickless implementation need update from version 7.5.0. | |
Changes between V7.4.2 and V7.5.0 released July 19 2013 | |
V7.5.0 is a major upgrade that includes multiple scheduling and efficiency | |
improvements, and some new API functions. | |
Compatibility information for FreeRTOS users: | |
FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one | |
exception; the vTaskList() and vTaskGetRunTimeStats() functions are now | |
considered legacy, having been replaced by the single uxTaskGetSystemState() | |
function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in | |
FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be | |
available. | |
Compatibility information for FreeRTOS port writers: | |
vTaskIncrementTick() is now called xTaskIncrementTick() (because it now | |
returns a value). | |
Headline changes: | |
+ Multiple scheduling and efficiency improvements. | |
+ Core kernel files now pass PC-Lint V8 static checking without outputting | |
any warnings (information on the test conditions will follow). | |
New API functions: | |
+ uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html | |
+ xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html | |
+ xQueueOverwriteFromISR() | |
+ xQueuePeekFromISR() | |
The following ports and demos, which were previously available separately, | |
are now incorporated into the main FreeRTOS zip file download: | |
+ ARM Cortex-A9 IAR | |
+ ARM Cortex-A9 ARM compiler | |
+ Renesas RZ | |
+ Microsemi SmartFusion2 | |
New FreeRTOSConfig.h settings | |
https://freertos.org/a00110.html | |
+ configUSE_TIME_SLICING | |
+ configUSE_NEWLIB_REENTRANT | |
+ configUSE_STATS_FORMATTING_FUNCTIONS | |
+ configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS | |
Other changes: | |
+ (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS | |
options provides a mechanism that allows application writers to execute | |
certain functions in privileged mode even when a task is running in user | |
mode. | |
+ Ports that support interrupt nesting now include a configASSERT() that | |
will trigger if an interrupt safe FreeRTOS function is called from an | |
interrupt that has a priority designated as above the maximum system/API | |
call interrupt priority. | |
+ The included FreeRTOS+Trace recorder code has been updated to the latest | |
version, and the demo applications that use the trace recorder code have | |
been updated accordingly. | |
+ The FreeRTOS Windows Simulator (MSVC version only) has been updated to | |
include a new basic 'blinky' build option in addition to the original | |
comprehensive build option. | |
+ Improve RAM usage efficiency of heap_4.c and heap_2.c. | |
+ Prevent heap_4.c from attempting to free memory blocks that were not | |
allocated by heap_4.c, or have already been freed. | |
+ As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs | |
files have been removed from FreeRTOS/Demo/Common. | |
+ Fix build error when R4 port is build in co-operative mode. | |
+ Multiple port and demo application maintenance activities. | |
Changes between V7.4.1 and V7.4.2 released May 1 2013 | |
NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 | |
+ Added FreeRTOS+FAT SL source code and demo project. The demo project | |
runs in the FreeRTOS Windows simulator for easy and hardware independent | |
experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl | |
Changes between V7.4.0 and V7.4.1 released April 18 2013 | |
+ To ensure strict conformance with the spec and ensure compatibility with | |
future chips data and instruction barrier instructions have been added to | |
the yield macros of Cortex-M and Cortex-R port layers. For efficiency | |
the Cortex-M port layer "yield" and "yield" from ISR are now implemented | |
separately as the barrier instructions are not required in the ISR case. | |
+ Added FreeRTOS+UDP into main download. | |
+ Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS | |
directory with Source and Demo subdirectories. | |
+ Implemented the Berkeley sockets select() function in FreeRTOS+UDP. | |
+ Changed (unsigned) casting in calls to standard library functions with | |
(size_t) casting. | |
+ Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the | |
tickless (tick suppression) low power FreeRTOS features. | |
+ Add a new RL78 IAR demo that targets numerous new RL78 chips and | |
evaluation boards. | |
+ Adjusted stack alignment on RX200 ports to ensure an assert was not | |
falsely triggered when configASSERT() is defined. | |
+ Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest | |
version of EWARM. | |
+ Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). | |
Changes between V7.3.0 and V7.4.0 released February 20 2013 | |
+ New feature: Queue sets. See: | |
https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html | |
+ Overhauled the default tickless idle mode implementation provided with the | |
ARM Cortex-M3 port layers. | |
+ Enhanced tickless support in the core kernel code with the introduction of | |
the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the | |
eTaskConfirmSleepModeStatus() function. | |
+ Added the QueueSet.c common demo/test file. Several demo applications | |
have been updated to use the new demo/test tasks. | |
+ Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and | |
demo applications. | |
+ Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. | |
+ Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a | |
pre-processor macro for backward compatibility with the previous name. | |
+ Updated functions implemented in the core queue.c source file to allow | |
queue.h to be included from the .c file directly (this prevents compiler | |
warnings that were generated by some compilers). | |
+ Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function | |
with the CLZ compiler intrinsic that is provided by the latest versions of | |
the CCS ARM compiler. | |
+ Updated all heap_x.c implementations to replace the structure that was | |
used to ensure the start of the heap was aligned with a more portable | |
direct C code implementation. | |
+ Added support for PIC24 devices that include EDS. | |
+ Minor optimisations to the PIC32 port layer. | |
+ Minor changes to tasks.c that allow the state viewer plug-ins to display | |
additional information. | |
+ Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an | |
issue that could occur if the priority of the timer daemon task was set | |
below the priority of tasks that used timer services. | |
+ Update the FreeRTOS+Trace recorder code to the latest version. | |
Changes between V7.2.0 and V7.3.0 released October 31 2012 | |
+ Added ability to override the default scheduler task selection mechanism | |
with implementations that make use of architecture specific instructions. | |
+ Added ability to suppress tick interrupts during idle time, and in so | |
doing, provide the ability to make use of architecture specific low power | |
functionality. | |
+ Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper | |
function. | |
+ Added the configSYSTICK_CLOCK_HZ configuration constant. | |
+ Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to | |
directly support basic power saving functionality. | |
+ Added hooks to allow basic power saving to be augmented in the application | |
by making use of chip specific functionality. | |
+ Minor change to allow mutex type semaphores to be used from interrupts | |
(which would not be a normal usage model for a mutex). | |
+ Change the behaviour of the interrupt safe interrupt mask save and restore | |
macros in the Cortex-M ports. The save macro now returns the previous | |
mask value. The restore macro now uses the previous mask value. These | |
changes are not necessary for the kernel's own implementation, and are | |
made purely because the macros were being used by application writers. | |
+ Added eTaskStateGet() API function. | |
+ Added port specific optimisations to the PIC32 port layer, and updated the | |
PIC32 demo applications to make use of this new feature. | |
+ Added port specific optimisations to the Win32 simulator port. | |
+ Added new ports and demo applications for the TI Hercules RM48 and TMS570 | |
safety microcontrollers. | |
+ Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation | |
boards. | |
+ Updated the PIC32 MPLAB X project to manually set the compiler include | |
paths instead of using the IDE entry box following reports that the | |
include paths were somehow being deleted. | |
+ Improved character handling in FreeRTOS+CLI. | |
Changes between V7.1.1 and V7.2.0 released 14 August 2012 | |
FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. | |
+ Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ | |
source code, and example projects that use the FreeRTOS Win32 simulator. | |
+ Added a new example heap allocation implementation (heap_4.c) that | |
includes memory block coalescence. | |
+ Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. | |
The demo is preconfigured to build using the free Atmel Studio 6 IDE and | |
GCC compiler. | |
+ Added xSemaphoreTakeFromISR() implementation. | |
+ The last parameter in ISR safe FreeRTOS queue and semaphore functions | |
(xHigherPriorityTaskWoken) is now optional and can be set to NULL if it | |
is not required. | |
+ Update the IAR and MSP430X ports to clear all lower power mode bits before | |
exiting the tick interrupt [bug fix]. | |
+ Allow xQueueReset() to be used, even when the queues event lists are not | |
empty. | |
+ Added a vQueueDelete() handler for the FreeRTOS MPU port (this was | |
previously missing). | |
+ Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to | |
ensure it compiles with the latest ARM GCC compilers from Linaro. | |
+ Updated the prvReadGP() function in the NIOS II port to ensure the compiler | |
can choose any register for the functions parameter (required at high | |
compiler optimisation levels). | |
+ Add #error macros into the Keil and IAR Cortex-M ports to ensure they | |
cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY | |
to 0. | |
+ Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and | |
Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY | |
parameter must not be set to 0. | |
+ Introduce new INCLUDE_xQueueGetMutexHolder configuration constant | |
(defaulted to 0). | |
+ Added two new list handling macros - for internal use only in upcoming new | |
products. | |
+ Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace | |
macros. FreeRTOS+Trace supersedes the legacy trace. | |
+ Added a configASSERT() into the vPortFree() function in heap_1.c as it is | |
invalid for the function to be called. | |
+ Made the xRxLock and xTxLock members of the queue structure volatile. | |
This is probably not necessary, and is included as a precautionary | |
measure. | |
+ Modify the assert() that checks to see if the priority passed into an | |
xTaskCreate() function is within valid bounds to permit the assert to be | |
used in the FreeRTOS MPU port. | |
+ The software timer service (daemon) task is now created in a way that | |
to ensure compatibility with FreeRTOS MPU. | |
Changes between V7.1.0 and V7.1.1 released May 1 2012 | |
New ports: | |
The following ports are brand new: | |
+ Cortex-M3 Tasking | |
The following ports have been available as separate downloads for a number | |
of months, but are now included in the main FreeRTOS download. | |
+ Cortex-M0 IAR | |
+ Cortex-M0 GCC | |
+ Cortex-M4F GCC (with full floating point support) | |
New demos: | |
The following demos are brand new: | |
+ Renesas RX63N RDK (Renesas compiler) | |
The following demos have been available as separate downloads for a number | |
of months, but are now included in the main FreeRTOS download. | |
+ NXP LPC1114 GCC/LPCXpresso | |
+ ST STM32F0518 IAR | |
+ Infineon XMC4500 GCC/Atollic | |
+ Infineon XMC4500 IAR | |
+ Infineon XMC4500 Keil | |
+ Infineon XMC4500 Tasking | |
Kernel miscellaneous / maintenance: | |
+ Introduced the portSETUP_TCB() macro to remove the requirement for the | |
Windows simulator to use the traceTASK_CREATE() macro, leaving the trace | |
macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace). | |
+ Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future | |
FreeRTOS+Trace versions to provide even more information to users. | |
+ Updated the FreeRTOS MPU port to be correct for changes that were | |
introduced in FreeRTOS V7.1.0. | |
+ Introduced the xQueueReset() API function. | |
+ Introduced the xSemaphoreGetMutexHolder() API function. | |
+ Tidy up various port implementations to add the static key word where | |
appropriate, and remove obsolete code. | |
+ Slight change to the initial stack frame given to the RX600 ports to allow | |
them to be used in the Eclipse based E2Studio IDE without confusing GDB. | |
+ Correct the alignment given to the initial stack of Cortex-M4F tasks. | |
+ Added a NOP following each DINT instruction on MSP430 devices for strict | |
conformance with the instructions on using DINT. | |
+ Changed the implementation of thread deletes in the Win32 port to prevent | |
the port making use of the traceTASK_DELETE() trace macros - leaving this | |
macro free for use by FreeRTOS+Trace. | |
+ Made some benign changes to the RX600 Renesas compiler port layer to | |
ensure the code can be built to a library without essential code being | |
removed by the linker. | |
+ Reverted the change in the name of the uxTaskNumber variable made in | |
V7.1.0 as it broke the IAR plug-in. | |
Demo miscellaneous / maintenance: | |
+ The command interpreter has now been formally released as FreeRTOS+CLI, | |
and been moved out of the main FreeRTOS download, to instead be available | |
from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus. | |
+ flash_timer.c/h has been added to the list of standard demo tasks. This | |
performs the same functionality as the flash.c tasks, but using software | |
timers in place of tasks. | |
+ Upgraded the PIC32 demo as follows: Changes to how the library functions | |
are called necessitated by the new compiler version, addition of MPLAB X | |
project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, | |
addition of simply blinky demo, updated FreeRTOSConfig.h to include more | |
parameters, addition of hook function stubs. | |
+ The MSP430X IAR and CCS demos have been updated to ensure the power | |
settings are correct for the configured CPU frequency. | |
+ Rowley CrossWorks projects have been updated to correct the "multiple | |
definition of ..." warnings introduced when the toolchain was updated. | |
+ Updated various FreeRTOSConfig.h header files associated with projects | |
that build with Eclipse to include a #error statement informing the user | |
that the CreateProjectDirectoryStructure.bat batch file needs to be | |
executed before the projects can be opened. | |
+ Renamed directories that included "CCS4" in their name to remove the '4' | |
and instead just be "CCS". This is because the demo was updated and | |
tested to also work with later Code Composer Studio versions. | |
+ Updated the TCP/IP periodic timer frequency in numerous uIP demos to be | |
50ms instead of 500ms. | |
Changes between V7.0.2 and V7.1.0 released December 13 2011 | |
New ports: | |
+ Cortex-M4F IAR port. | |
+ Cortex-M4F Keil/RVDS port. | |
+ TriCore GCC port. | |
New demos: | |
+ NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development | |
board. | |
+ ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on | |
the IAR STM32F407ZG-SK starter kit. | |
+ Infineon TriCore TC1782, using the GCC compiler, demonstrated on the | |
TriBoard TC1782 evaluation board. | |
+ Renesas RX630, using the Renesas compiler and HEW, demonstrated on an | |
RX630 RSK (Renesas Starter Kit). | |
Miscellaneous / maintenance: | |
+ Removed all calls to printf() from the K60/IAR Kinetis demo so the project | |
can execute stand alone - without being connected to the debugger. | |
+ Completed the command interpreter framework. Command handlers now receive | |
the entire command string, giving them direct access to parameters. | |
Utility functions are provided to check the number of parameters, and | |
return parameter sub-strings. | |
+ The previously documented fix for the bug in xTaskResumeFromISR() that | |
effected (only) ports supporting interrupt nesting has now been | |
incorporated into the main release. | |
+ The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow | |
specific ports to skip the second stack alignment check when a task is | |
created. This is because the second check is not appropriate for some | |
ports - including the new TriCore port where the checked pointer does not | |
actually point to a stack. | |
+ The portCLEAN_UP_TCB() macro has been added to allow port specific clean | |
up when a task is deleted - again this is required by the TriCore port. | |
+ Various other minor changes to ensure warning free builds on a growing | |
number of microcontroller and toolchain platforms. This includes a | |
(benign) correction to the prototype of the | |
vApplicationStackOverflowHook() definition found in lots of recent demos. | |
Trace system: | |
+ The legacy trace mechanism has been completely removed - it has been | |
obsolete for the years since the trace macros were introduced. The | |
configuration constant configUSE_TRACE_FACILITY is now used to optionally | |
include additional queue and task information. The additional information | |
is intended to make the trace mechanism more generic, and allow the trace | |
output to provide more information. When configUSE_TRACE_FACILITY is set | |
to 1: | |
- the queue structure includes an additional member to hold the queue | |
type, which can be base, mutex, counting semaphore, binary semaphore | |
or recursive mutex. | |
- the queue structure includes an additional member to hold a queue | |
number. A trace tool can set and query the queue number for its own | |
purposes. The kernel does not use the queue number itself. | |
- the TCB structure includes an additional member to hold a task number | |
number. A trace tool can set and query the task number for its own | |
purposes. The kernel does not use the task number itself. | |
+ Queues and all types of semaphores are now automatically allocated their | |
type as they are created. | |
+ Added two new trace macros - traceTASK_PRIORITY_INHERIT() and | |
traskTASK_PRIORITY_DISINHERIT(). | |
+ Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that | |
indicates the type of queue, mutex, or semaphore that failed to be | |
created. | |
+ The position from which traceCREATE_MUTEX() is called has been moved from | |
after the call to xQueueGenericSend() [within the same function] to before | |
the call. This ensures the trace events occur in the correct order. | |
+ The value passed into tracePRIORITY_SET() has been corrected for the case | |
where vTaskPrioritySet() is called with a null parameter. | |
Changes between V7.0.1 and V7.0.2 released September 20 2011 | |
New ports: | |
+ The official FreeRTOS Renesas RX200 port and demo application have been | |
incorporated into the main FreeRTOS zip file download. | |
+ The official FreeRTOS Renesas RL78 port and demo application have been | |
incorporated into the main FreeRTOS zip file download. | |
+ The official FreeRTOS Freescale Kinetis K60 tower demo application has | |
been incorporated into the main FreeRTOS zip file download. This includes | |
an embedded web server example. | |
+ A new Microblaze V8 port layer has been created to replace the older, now | |
deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, | |
including exceptions, caches, and the floating point unit. A new | |
Microblaze demo has also been added to demonstrate the new Microblaze V8 | |
port layer. The demo application was created using V13.1 of the Xilinx | |
EDK, and includes a basic embedded web server that uses lwIP V1.4.0. | |
+ The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been | |
incorporated into the main FreeRTOS zip file download. Projects are | |
provided for both the IAR and Keil toolchains. | |
API additions: | |
+ xTaskGetIdleTaskHandle() has been added. | |
+ xTaskGetTimerDaemonTaskHandle() has been added. | |
+ pcTaskGetTaskName() has been added. | |
+ vSemaphoreDelete() macro has been added to make it obvious how to delete | |
a semaphore. In previous versions vQueueDelete() had to be used. | |
+ vTaskCleanUpResources() has been removed. It has been obsolete for a | |
while. | |
+ portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings | |
being generated when the size of a pointer does not match the size of | |
the stack type. This will (has already) be used in new ports, but will | |
not be retrofitted to existing ports until the existing port itself is | |
updated. | |
Other updates and news: | |
+ The core files have all been modified to tighten the coding standard even | |
further. These are style, not functional changes. | |
+ All ARM7 port layers have been slightly modified to prevent erroneous | |
assert() failures when tasks are created and configASSERT() is defined. | |
+ All ARM IAR projects have been updated to build with the latest V6.2.x | |
versions of the IAR Embedded Workbench for ARM tools (EWARM). This was | |
necessary due to a change in the way EWARM uses the CMSIS libraries. | |
+ The PIC32 port layer has been updated in preparation for V2 of the C32 | |
compiler. | |
+ The old Virtex-4 Microblaze demo has been marked as deprecated. Please | |
use the brand new Spartan-6 port and demo in its place. | |
+ The bones of a new generic command interpreter is located in | |
FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in | |
progress, and not documented. It is however already in use. It will be | |
documented in full when the projects that are already using it are | |
completed. | |
+ A couple of new standard demos have been included. First, a version of | |
flop.c called sp_flop.c. This is similar to flop.c, but uses single | |
precision floats in place of double precision doubles. This allows the | |
for testing ports to processors that have only single precision floating | |
point units, and revert to using emulated calculations whenever a double | |
is used. Second, comtest_strings.c has been included to allow the test | |
of UART drivers when an entire string is transmitted at once. The | |
previous comtest.c only used single character transmission and reception. | |
+ lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and | |
used by a couple of new demos. | |
Changes between V7.0.0 and V7.0.1 released May 13 2011 | |
+ Added a Fujitsu FM3 demo application for both the IAR and Keil tool | |
chains. | |
+ Added a SmartFusion demo application for all of the IAR, Keil and | |
SoftConsole (GCC/Eclipse) tool chains. | |
+ Updated the RX600 port and demo applications to take into account the | |
different semantics required when using the latest (V1.0.2.0) version of | |
the Renesas compiler. | |
+ Modified the RX600 Ethernet driver slightly to make it more robust under | |
heavy load, and updated the uIP handling task to make use of the FreeRTOS | |
software timers. | |
+ Slightly changed the PIC32 port layer to move an ehb instruction in line | |
with the recommendations of the MIPS core manual, and ensure 8 byte stack | |
alignment is truly always obtained. | |
+ Changed the behaviour when tasks are suspended before the scheduler has | |
been started. Before, there needed to be at least one task that was not | |
in the suspended state. This is no longer the case. | |
Changes between V6.1.1 and V7.0.0 released April 8 2011 | |
FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x | |
Main changes: | |
+ Introduced a new software timer implementation. | |
+ Introduced a new common demo application file to exercise the new timer | |
implementation. | |
+ Updated the Win32/MSVC simulator project to include the new software timer | |
demo tasks and software timer tick hook test. Much simpler software timer | |
demonstrations are included in the demo projects for both of the new ports | |
(MSP430X with CCS4 and STM32 with TrueStudio). | |
+ Various enhancements to the kernel implementation in tasks.c. These are | |
transparent to users and do not effect the pre-existing API. | |
+ Added calls to configASSERT() within the kernel code. configASSERT() is | |
functionally equivalent to the standard C assert() macro, but does not | |
rely on the compiler providing assert.h. | |
Other changes: | |
+ Updated the MSP430X IAR port and demo project to include support for the | |
medium memory model. | |
+ Added a demo project for the MSP430X that targets the MSP430X Discovery | |
board and uses the Code Composer Studio 4 tools. This demo includes use | |
of the new software timer implementation. | |
+ Added an STM32F100RB demo project that targets the STM32 Discovery Board | |
and uses the TrueStudio Eclipse based IDE from Atollic. | |
+ Removed some compiler warnings from the PSoC demo application. | |
+ Updated the PIC32 port layer to ensure the | |
configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter | |
what its value is (within the valid range set by the microcontroller | |
kernel). | |
+ Updated the PIC24, dsPIC and PIC32 projects so they work with the latest | |
MPLAB compiler versions from Microchip. | |
+ Various cosmetic changes to prepare for a standards compliance statement | |
that will be published after the software release. | |
Changes between V6.1.0 and V6.1.1 released January 14 2011 | |
+ Added two new Windows simulator ports. One uses the free Microsoft Visual | |
Studio 2010 express edition, and the other the free MingW/Eclipse | |
environment. Demo projects are provided for both. | |
+ Added three demo projects for the PSoC 5 (CYAC5588). These are for the | |
GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. | |
+ Added a demo for the low power STM32L152 microcontroller using the IAR | |
Embedded Workbench. | |
+ Added a new port for the MSP430X core using the IAR Embedded Workbench. | |
+ Updated all the RX62N demo projects that target the Renesas Demonstration | |
Kit (RDK) to take into account the revered LED wiring on later hardware | |
revisions, and the new J-Link debug interface DLL. | |
+ Updated all the RX62N demo projects so the IO page served by the example | |
embedded web server works with all web browsers. | |
+ Updated the Red Suite projects to work with the up coming Red Suite | |
release, and to use a more recent version of the CMSIS libraries. | |
+ Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. | |
+ Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() | |
trace macro. | |
+ Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment | |
the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for | |
more flexibility in how the time base for the run time statistics feature | |
can be implemented. | |
+ Added a "cpsie i" instruction before the "svc 0" instruction used to start | |
the scheduler in each of the Cortex M3 ports. This is to ensure that | |
interrupts are globally enabled prior to the "svc 0" instruction being | |
executed in cases where interrupts are left disabled by the C start up | |
code. | |
+ Slight optimisation in the run time stats calculation. | |
Changes between V6.0.5 and V6.1.0 released October 6 2010 | |
+ Added xTaskGetTickCountFromISR() function. | |
+ Modified vTaskSuspend() to allow tasks that have just been created to be | |
immediately suspended even when the kernel has not been started. This | |
allows them to effectively start in the Suspended state - a feature that | |
has been asked for on numerous occasions to assist with initialisation | |
procedures. | |
+ Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. | |
+ Added a STM32F103 demo application that uses the Rowley tools. | |
+ Under specific conditions xFreeBytesRemaining within heap_2.c could end up | |
with an incorrect value. This has been fixed. | |
+ xTaskCreateGeneric() has a parameter that can be used to pass the handle | |
of the task just created out to the calling task. The assignment to this | |
parameter has been moved to ensure it is assigned prior to the newly | |
created having any possibility of executing. This takes into account the | |
case where the assignment is made to a global variable that is accessed by | |
the newly created task. | |
+ Fixed some build time compiler warnings in various FreeTCPIP (based on | |
uIP) files. | |
+ Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. | |
Changes between V6.0.4 and V6.0.5 released May 17 2010 | |
+ Added port and demo application for the Cortus APS3 processor. | |
Changes between V6.0.3 and V6.0.4 released March 14 2010 | |
+ All the contributed files that were located in the Demo/Unsupported_Demos | |
directory have been removed. These files are instead now available in the | |
new Community Contributions section of the FreeRTOS website. See | |
https://www.FreeRTOS.org/RTOS-contributed-ports.html | |
+ The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory | |
has been upgraded to use V2.x of the Rowley Crossworks STM32 support | |
package. | |
+ An initial Energy Micro EFM32 demo has been included. This will be | |
updated over the coming months to make better use of the low power modes | |
the EFM32 provides. | |
Changes between V6.0.2 and V6.0.3 released February 26 2010 | |
+ SuperH SH7216 (SH2A-FPU) port and demo application added. | |
+ Slight modification made to the default implementation of | |
pvPortMallocAligned() and vPortFreeAligned() macros so by default they | |
just call pvPortMalloc() and vPortFree(). The macros are only needed to | |
be defined when a memory protection unit (MPU) is being used - and then | |
only depending on other configuration settings. | |
Changes between V6.0.1 and V6.0.2 released January 9th 2010 | |
+ Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. | |
Previously the parameter was blank and therefore only an implicit 0 but | |
newer GCC releases do not permit this. | |
+ Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. | |
+ Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. | |
+ Updated prvListTaskWithinSingleList() is it works on processors where the | |
stack grows up from low memory. | |
+ Corrected some comments. | |
+ Updated the startup file for the RVDS LPC21xx demo. | |
Changes between V6.0.0 and V6.0.1 released November 15th 2009 | |
+ Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the | |
stack pointer is where the compiler expects it to be when a task first | |
starts executing. | |
The following minor changes only effect the Cortex-M3 MPU port: | |
+ portRESET_PRIVILEGE() assembly macro updated to include a clobber list. | |
+ Added prototypes for all the privileged function wrappers to ensure no | |
compile time warnings are generated no matter what the warning level | |
setting. | |
+ Corrected the name of portSVC_prvRaisePrivilege to | |
portSVC_RAISE_PRIVILEGE. | |
+ Added conditional compilation into xTaskGenericCreate() to prevent some | |
compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. | |
Changes between V5.4.2 and V6.0.0 released October 16th 2009 | |
FreeRTOS V6 is backward compatible with FreeRTOS V5.x. | |
Main changes: | |
+ FreeRTOS V6 is the first version to include memory protection unit (MPU) | |
support. Two ports now exist for the Cortex M3, the standard FreeRTOS | |
which does not include MPU support, and FreeRTOS-MPU which does. | |
+ xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added | |
in support of FreeRTOS-MPU. | |
+ Wording for the GPL exception has been (hopefully) clarified. Also the | |
license.txt file included in the download has been fixed (the previous | |
version contained some corruption). | |
Other changes: | |
+ New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. | |
+ ARM7 GCC demo interrupt service routines wrappers have been modified to | |
call the C portion using an __asm statement. This prevents the function | |
call being inlined at higher optimisation levels. | |
+ ARM7 ports now automatically set the THUMB bit if necessary when | |
setting up the initial stack of a task - removing the need for | |
THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode | |
tasks to be mixed more easily. | |
+ All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. | |
+ Various demo application project files have been updated to be up to date | |
with the latest IDE versions. | |
+ The linker scripts used with command line GCC demos have been updated to | |
include an eh_frame section to allow their use with the latest Yagarto | |
release. Likewise the demo makefiles have been updated to include | |
command line options to reduce or eliminate the eh_frame section all | |
together. | |
+ The definition of portBYTE_ALIGNMENT_MASK has been moved out of the | |
various memory allocation files and into the common portable.h header | |
file. | |
+ Removed unnecessary use of portLONG, portSHORT and portCHAR. | |
+ Added LM3Sxxxx demo for Rowley CrossWorks. | |
+ Posix simulator has been upgraded - see the corresponding WEB page on the | |
FreeRTOS.org site. | |
Changes between V5.4.1 and V5.4.2 released August 9th 2009 | |
+ Added a new port and demo app for the Altera Nios2 soft core. | |
+ Added LPC1768 demo for IAR. | |
+ Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). | |
+ Changed clock frequency of LPC1768 demos to 99MHz. | |
Changes between V5.4.0 and V5.4.1 released July 25th 2009 | |
+ New hook function added. vApplicationMallocFailedHook() is (optionally) | |
called if pvPortMalloc() returns NULL. | |
+ Additional casting added to xTaskCheckForTimeOut(). This prevents | |
problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a | |
32 bit architecture (which would probably be a mistake, anyway). | |
+ Corrected the parameter passed to NVIC_SetPriority() to set the MAC | |
interrupt priority in both LPC1768 demos. | |
+ Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 | |
demo application to ensure the heap space was not completely consumed | |
before the scheduler was started. | |
Changes between V5.3.1 and V5.4.0 released July 13th 2009 | |
+ Added Virtex5 / PPC440 port and demos. | |
+ Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The | |
original demo was configured to use engineering samples of the CPU. The | |
new demo has an improved Ethernet driver. | |
+ Added LPC1768 Rowley demo with zero copy Ethernet driver. | |
+ Reworked byte alignment code to ensure 8 byte alignment works correctly. | |
+ Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. | |
+ Changed the initial stack setup for the PPC405 to ensure the small data | |
area pointers are setup correctly. | |
Changes between V5.3.0 and V5.3.1 released June 21st 2009 | |
+ Added ColdFire V1 MCF51CN128 port and WEB server demo. | |
+ Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. | |
+ Changed the Cortex M3 port.c asm statements to __asm so it can be | |
compiled using Rowley CrossWorks V2 in its default configuration. | |
+ Updated the Posix/Linux simulator contributed port. | |
Changes between V5.2.0 and V5.3.0 released June 1st 2009 | |
Main changes: | |
+ Added new (optional) feature that gathers statistics on the amount of CPU | |
time used by each task. | |
+ Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based | |
microcontroller. | |
+ Added a new demo application for the NXP LPC1766 Cortex-M3 based | |
microcontroller. | |
+ Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a | |
Linux environment. | |
Minor changes: | |
+ Updated the Stellaris uIP WEB server demos to include the new run time | |
statistics gathering feature - and include a served WEB page that | |
presents the information in a tabular format. | |
+ Added in the lwIP port layer for the Coldfire MCF52259. | |
+ Updated the CrossWorks LPC2368 WEB server to include an image in the | |
served content. | |
+ Changed some of the timing in the initialisation of the LPC2368 MAC to | |
permit its use on all part revisions. | |
+ Minor modifications to the core uIP code to remove some compiler warnings. | |
+ Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom | |
demo to make use of the new function. | |
+ Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using | |
Rowley Crossworks. | |
+ Heap_1.c and Heap_2.c used to define structures for the purpose of data | |
alignment. These have been converted to unions to save a few bytes of | |
RAM that would otherwise be wasted. | |
+ Remove the call to strncpy() used to copy the task name into the TCB when | |
the maximum task name is configured to be 1 byte long. | |
Changes between V5.1.2 and V5.2.0 released March 14th 2009 | |
+ Optimised the queue send and receive functions (also used by semaphores). | |
+ Replaced the standard critical sections used to protect BIOS calls in the | |
PC port to instead use scheduler locks. This is because the BIOS calls | |
always return with interrupts enabled. | |
+ Corrected unclosed comments in boot.s. | |
Changes between V5.1.1 and V5.1.2 released February 9th 2009 | |
+ Added NEC V850ES port and demo. | |
+ Added NEC 78K0R port and demo. | |
+ Added MCF52259 port and demo. | |
+ Added the AT91SAM9XE port and demo. | |
+ Updated the MCF52233 FEC driver to work around a silicon bug that | |
prevents the part auto negotiating some network parameters. | |
+ Minor modifications to the MCF52233 makefile to permit it to be used | |
on Linux hosts. | |
+ Updated the STM32 primer files to allow them to be built with the latest | |
version of the RIDE tools. | |
+ Updated the threads.js Java script used for kernel aware debugging in | |
the Rowley CrossWorks IDE. | |
Changes between V5.1.0 and V5.1.1 released November 20, 2008 | |
+ Added Coldfire MCF52233 WEB server demo using GCC and Eclipse. | |
+ Added IAR MSP430 port and demo. | |
+ Corrected several compiler time issues that had crept in as tool versions | |
change. | |
+ Included FreeRTOS-uIP - a faster uIP. This is not yet complete. | |
Changes between V5.0.4 and V5.1.0 released October 24, 2008 | |
+ Added a new port and demo application for the ColdFire V2 core using the | |
CodeWarrior development tools. | |
+ Replaced the ARM7 demo that used the old (and now no longer supported) | |
Keil compiler with a new port that uses the new Keil/RVDS combo. | |
+ Stack overflow checking now works for stacks that grow up from low | |
memory (PIC24 and dsPIC). | |
+ BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct | |
value of -1. | |
+ MSP430 port layers have been updated to permit tasks to place the | |
microcontroller into power down modes 1 to 3. The demo applications have | |
likewise been updated to demonstrate the new feature. | |
+ Replaced the two separate MSP430/Rowley port layers with a single and more | |
flexible version. | |
+ Added more contributed ports, including ports for NEC and SAM9 | |
microcontrollers. | |
+ Changed the linker script used in the LPC2368 Eclipse demo. | |
Changes between V5.0.3 and V5.0.4 released September 22, 2008 | |
+ Completely re-written port for ColdFire GCC. | |
+ Bug fix: All Cortex M3 ports have a minor change to the code that sets | |
the pending interrupt. | |
+ Some header files require that FreeRTOS.h be included prior to their | |
inclusion. #error message have been added to all such header file | |
informing users to the cause of the compilation error should the headers | |
not be included in the correct order. | |
Changes between V5.0.2 and V5.0.3 released July 31, 2008 | |
Changes relating to the Cortex M3: | |
+ Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3 | |
ports and demos. See the port documentation pages on the FreeRTOS.org | |
WEB site for full usage information. | |
+ Improved efficiency of Cortex M3 port even further. | |
+ Ensure the Cortex M3 port works no matter where the vector table is | |
located. | |
+ Added the IntQTimer demo/test tasks to a demo project for each CM3 port | |
(Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY | |
functionality. | |
+ Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil | |
projects to allow the WEB server to be conditionally excluded from the | |
build and therefore allow use of the KickStart (code size limited) | |
compiler version. | |
Other changes: | |
+ Moved the PIC24 and dsPIC versions of vPortYield() from the C file to | |
an assembly file to allow use with all MPLAB compiler versions. This also | |
allows the omit-frame-pointer optimisation to be turned off. | |
Changes between V5.0.0 and V5.0.2 released May 30, 2008 | |
+ Updated the PIC32 port to allow queue API calls to be used from | |
interrupts above the kernel interrupt priority, and to allow full | |
interrupt nesting. Task stack usages has also been reduced. | |
+ Added a new PowerPC port that demonstrates how the trace macros can be | |
used to allow the use of a floating point co-processor. The | |
traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to | |
save and restore the floating point context respectively for those tasks | |
that actually use floating point operations. | |
+ BUG FIX: The first PPC405 port contained a bug in that it did not leave | |
adequate space above the stack for the backchain to be saved when a task | |
started to execute for the first time. | |
+ Updated queue.c to add in the means to allow interrupt nesting and for | |
queue API functions to be called from interrupts that have a priority | |
above the kernel priority. This is only supported on PIC32 ports thus | |
far. | |
+ Fixed the compiler warnings that were generated when the latest version | |
of WinAVR was used. | |
+ Remove all inline usage of 'inline' from the core kernel code. | |
+ Added the queue registry feature. The queue registry is provided as a | |
means for kernel aware debuggers to locate queue definitions. It has no | |
purpose unless you are using a kernel aware debugger. The queue registry | |
will only be used when configQUEUE_REGISTRY_SIZE is greater than zero. | |
+ Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to | |
prevent them from having to be included in multiple demos. | |
+ Added a Keil STM32 demo application. | |
+ Changed the blocktim.c test files as it is no longer legitimate for all | |
ports to call queue API functions from within a critical section. | |
+ Added the IntQueue.c test file to test the calling of queue API functions | |
from different interrupt priority levels, and test interrupt nesting. | |
Changes between V5.0.0 and V5.0.1 | |
+ V5.0.1 was a customer specific release. | |
Changes between V4.8.0 and V5.0.0 released April 15, 2008 | |
*** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 *** | |
The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(), | |
xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must | |
update all calls to these functions to use the new calling convention! Your | |
compiler might not issue any type mismatch warnings! | |
Other changes: | |
+ Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3 | |
microcontrollers. | |
+ New task hook feature added. | |
+ PowerPC demo updated to use version 10.1 of the Xilinx EDK. | |
+ Efficiency gains within the PIC32 port layer. | |
Changes between V4.7.2 and V4.8.0 released March 26 2008 | |
+ Added a Virtex4 PowerPC 405 port and demo application. | |
+ Added optional stack overflow checking and new | |
uxTaskGetStackHighWaterMark() function. | |
+ Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and | |
uxQueueMessagesWaitingFromISR() API functions. | |
+ Efficiency improvements to the Cortex-M3 port layer. NOTE: This | |
requires that an SVC handler be installed in the application. | |
+ Efficiency improvements to the queue send and receive functions. | |
+ Added new trace macros. These are application definable to provide | |
a flexible trace facility. | |
+ Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex | |
M3 port layer (bringing it up to the same standard as the IAR and GCC | |
versions). | |
+ Ports that used the arm-stellaris-eabi-gcc tools have been converted to | |
use the arm-non-eabi-gcc tools. | |
Changes between V4.7.1 and V4.7.2 released February 21, 2008 | |
+ Added Fujitsu MB91460 port and demo. | |
+ Added Fujitsu MB96340 port and demo. | |
+ Tidied up the capitalisation of include files to facilitate builds on | |
Linux hosts. | |
+ Removed some redundant casting that was generating warnings - but was | |
included to remove warnings on other compilers. | |
Changes between V4.7.0 and V4.7.1 released February 3, 2008 | |
+ Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench | |
for ARM. | |
+ Introduced recursive semaphore feature. | |
+ Updated LPC2368 demos to take into account silicon bugs in old chip | |
revisions. | |
+ Updated STR9 uIP port to manually set the net mask and gateway addresses. | |
+ Updating demos to allow more to run with the co-operative scheduler. | |
+ Fixed co-operative scheduler behaviour upon the occurrence of a tick | |
interrupt while the scheduler was suspended. | |
+ Updated documentation contained within semphr.h. | |
+ ARM7 GCC ports no longer use the IRQ attribute. | |
Changes between V4.6.1 and V4.7.0 released December 6, 2007 | |
+ Introduced the counting semaphore macros and demo source files. The | |
Open Watcom PC project has been updated to include the new demo. See | |
the online documentation for more information. | |
+ Introduced the 'alternative' queue handling API and demo source files. | |
The Open Watcom PC project has been updated to include the new demo | |
source files. See the online documentation for more information. | |
+ Added AT91SAM7X Eclipse demo project. | |
+ Added the STM32 primer demo project for the GCC compiler and Ride IDE. | |
+ Removed the .lock files that were mistakenly included in the V4.6.1 | |
eclipse workspaces. | |
Changes between V4.6.0 and V4.6.1 released November 5 2007 | |
+ Added support for the MIPS M4K based PIC32. | |
+ Added 'extern "C"' to all the header files to facilitate use with C++. | |
Changes between V4.5.0 and V4.6.0 released October 28 2007 | |
+ Changed the method used to force a context switch within an ISR for the | |
ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and | |
portEXIT_SWITCHING_ISR() macros are no longer supported. This is to | |
ensure correct behaviour no matter which GCC version is used, with or | |
without the -fomit-frame-pointer option, and at all optimisation levels. | |
+ Corrected the prototype for xQueueGenericSend() within queue.h. | |
Changes between V4.4.0 and V4.5.0 released September 17 2007 | |
+ Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek() | |
functionality. These should now be used in preference to the old | |
xQueueSend() function - which is maintained for backward compatibility. | |
+ Added Mutex functionality. The behaviour of mutexes is subtly different | |
to the already existing binary semaphores as mutexes automatically | |
include a priority inheritance mechanism. | |
+ Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour | |
of the new functionality. | |
+ Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and | |
QPeek.c files. | |
+ Updated the GCC port for the Cortex M3 to include the | |
configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only | |
included in the IAR port. | |
+ Optimised the GCC and IAR port layer code - specifically the context | |
switch code. | |
+ Consolidated the LM3Sxxxx EK demos for all development tools into a | |
single project that automatically detects which version of the EK the | |
application is executing on. | |
+ Added Eclipse support for LM3Sxxxx evaluation kits. | |
+ Added Eclipse support for the Keil LPC2368 evaluation kit. | |
+ Added the Demo/Drivers directory to hold code that is common to multiple | |
demo application projects. | |
+ Included some minor bug fixes in the uIP 1.0 code. | |
+ Added an lwIP demo for the STR9 - thanks ST for assistance. | |
+ Updated the AVR32 port to ensure correct behaviour with full compiler | |
optimisation. | |
+ Included binaries for OpenOCD FTDI and parallel port interfaces. | |
Changes between V4.4.0 and V4.3.1 released July 31, 2007 | |
+ Added AVR32 UC3B demo application. | |
+ Updated AVR32 UC3A port and demo applications. | |
+ Added IAR lwIP demo for AVR32 UC3A. | |
+ Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation | |
(thanks Niu Yong for making the suggestion). | |
+ Added xTaskGetSchedulerState() API function. | |
+ BUG FIX: Corrected behaviour when tasks that are blocked indefinitely | |
have their block time adjusted (within xQueueSend() and xQueueReceive()), | |
and are the subject of a call the vTaskResume() when they are not | |
actually in the Suspended state (thanks Dan Searles for reporting the | |
issues). | |
Changes between V4.3.0 and V4.3.1 released June 11, 2007 | |
+ Added STMicroelectronics STM32 Cortex-M3 demo application. | |
+ Updated ustdlib.c for the GCC LM3S6965 demo. | |
Changes between V4.2.1 and V4.3.0 released June 5, 2007 | |
+ Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24 | |
and dsPIC ports. See the LM3S6965 and PIC24 demo application | |
documentation pages for more information. | |
+ Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC | |
tools, and changed the demo applications. | |
+ Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris | |
microcontrollers. | |
+ Corrected bug in uIP the demos that prevented frames of approximately 1480 | |
bytes and over from being transmitted. | |
+ Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org | |
download. | |
+ Update to WizC PIC18 port to permit its use with version 14 of the | |
compiler. Thanks Marcel! | |
Changes between V4.2.1 and V4.2.0 released April 2, 2007 | |
+ Added AVR32 AT32UC3A ports for GCC and IAR. | |
+ Added -fomit-frame-pointer option to lwIP SAM7X demo makefile. | |
+ Moved location of call to LCD_Init() in STR9 demo to ensure it is only | |
called after the scheduler has been started. | |
Changes between V4.1.3 and V4.2.0 released February 8, 2007 | |
+ Changes to both task.c and queue.c as a result of testing performed on | |
the SafeRTOS code base. | |
+ Added Cortex-M3 LM3S811 demos for GCC and IAR tools. | |
Changes between V4.1.2 and V4.1.3 released November 19, 2006 | |
+ Added STR750 ARM7 port using the Raisonance RIDE/GCC tools. | |
+ Added -fomit-frame-pointer option to Rowley ARM7 demos as work around | |
to GCC bug at some optimisation levels. | |
+ Altered the way the heap is defined in the LM3S811 Keil demo to prevent | |
the RAM usage from counting toward the code size limit calculation. | |
+ CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within | |
xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz. | |
+ Tasks that block on events with a timeout of portMAX_DELAY are now | |
blocked indefinitely if configINCLUDE_vTaskSuspend is defined. | |
Previously portMAX_DELAY was just the longest block time possible. This | |
is still the case if configINCLUDE_vTaskSuspend is not defined. | |
+ Minor changes to some demo application files. | |
Changes between V4.1.1 and V4.1.2 released October 21, 2006 | |
+ Added 16bit PIC ports and demos. | |
+ Added STR750 port and demo. | |
Changes between V4.1.0 and V4.1.1 released September 24, 2006 | |
+ Added the Luminary Micro Stellaris LM3S811 demo application. | |
Changes between V4.0.5 and V4.1.0 released August 28, 2006 | |
+ Prior to V4.1.0, under certain documented circumstances, it was possible | |
for xQueueSend() and xQueueReceive() to return without having completed | |
and without their block time expiring. The block time effectively | |
stated a maximum block time, and the return value of the function needed | |
to be checked to determine the reason for returning. This is no longer | |
the case as the functions will only return once the block time has | |
expired or they are able to complete their operation. It is therefore no | |
longer necessary to wrap calls within loops. | |
+ Changed the critical section handling in the IAR AVR port to correct the | |
behaviour when used with later compiler versions. | |
+ Added the LPC2138 CrossWorks demo into the zip file. Previously this was | |
only available as a separate download. | |
+ Modified the AVR demo applications to demonstrate the use of co-routines. | |
Changes between V4.0.4 and V4.0.5 released August 13, 2006 | |
+ Introduced API function xTaskResumeFromISR(). Same functionality as | |
xTaskResume(), but can be called from within an interrupt service routine. | |
+ Optimised vListInsert() in the case when the wake time is the maximum | |
tick count value. | |
+ Bug fix: The 'value' of the event list item is updated when the priority | |
of a task is changed. Previously only the priority of the TCB itself was | |
changed. | |
+ vTaskPrioritySet() and vTaskResume() no longer use the event list item. | |
This has not been necessary since V4.0.1 when the xMissedYield handling | |
was added. | |
+ Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz. | |
+ When ending the scheduler - do not try to attempt a context switch when | |
deleting the current task. | |
+ SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining | |
the length from the rx descriptor. | |
Changes between V4.0.3 and V4.0.4 released June 22, 2006 | |
+ Added a port and demo application for the STR9 ARM9 based processors from | |
ST. | |
+ Slight optimisation to the vTaskPrioritySet() function. | |
+ Included the latest uIP version (1.0) in the demo/common/ethernet | |
directory. | |
Changes between V4.0.2 and V4.0.3 released June 7, 2006 | |
+ Added a port and demo application for the Cortex-M3 target using the IAR | |
development tools. | |
+ The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the | |
CrossStudio tools. | |
+ The heap size defined for the lwIP Rowley demo has been reduced so that | |
the project will link correctly when using the command line GCC tools | |
also. The makefile has also been modified to allow debugging. | |
+ The lwIP Rowley demo not includes a 'kernel aware' debug window. | |
+ The uIP Rowley project has been updated to build with V1.6 of CrossWorks. | |
+ The second set of tasks in the blockQ demo were created the wrong way | |
around (inconsistent to the description in the file). This has been | |
corrected. | |
Changes between V4.0.1 and V4.0.2 released May 28, 2006 | |
+ Port and demo application added for the Tern Ethernet Engine controller. | |
+ Port and demo application added for MC9S12 using GCC, thanks to | |
Jefferson "imajeff" Smith. | |
+ The function vTaskList() now suspends the scheduler rather than disabling | |
interrupts during the creation of the task list. | |
+ Allow a task to delete itself by passing in its own handle. Previously | |
this could only be done by passing in NULL. | |
+ Corrected the value passed to the WDG_PeriodValueConfig() library | |
function in the STR71x demo. | |
+ The tick hook function is now called only within a tick isr. Previously | |
it was also called when the tick function was called during the scheduler | |
unlocking process. | |
+ The EMAC driver in the SAM7X lwIP demo has been made more robust as per | |
the thread: https://sourceforge.net/forum/message.php?msg_id=3714405 | |
+ In the PC ports: Add function prvSetTickFrequencyDefault() to set the | |
DOS tick back to its proper value when the scheduler exits. Thanks | |
Raynald! | |
+ In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT | |
macro where the BP register was not popped from the stack correctly. The | |
BP value would never get used so this did not cause a problem, but it has | |
been corrected all the same. | |
Changes between V4.0.0 and V4.0.1 released April 7 2006 | |
+ Improved the ARM CORTEX M3 ports so they now only have to service | |
pendSV interrupts. | |
+ Added a Luminary Micro port and demo for use with Rowley CrossWorks. | |
+ Added the xMissedYield handling to tasks.c. | |
Changes between V3.2.4 and V4.0.0 | |
Major changes: | |
+ Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers. | |
+ Added new co-routine functionality. | |
Other kernel changes: | |
+ An optional tick hook call is now included in the tick function. | |
+ Introduced the xMiniListItem structure and removed the list pxHead | |
member in order to reduce RAM usage. | |
+ Added the following definitions to the FreeRTOSConfig.h file included | |
with every port: | |
configUSE_TICK_HOOK | |
configUSE_CO_ROUTINES | |
configMAX_CO_ROUTINE_PRIORITIES | |
+ The volatile qualification has been changed on the list members to allow | |
the task.c code to be tidied up a bit. | |
+ The scheduler can now be started even if no tasks have been created! | |
This is to allow co-routines to run when there are no tasks. | |
+ A task being woken by an event will now preempt the currently running task | |
even if its priority is only equal to the currently running task. | |
Port and demo application changes: | |
+ Updated the WinAVR demo to compile with the latest version of WinAVR | |
with no warnings generated. | |
+ Changed the WinAVR makefile to make chars signed - needed for the | |
co-routine code if BaseType_t is set to char. | |
+ Added new demo application file crflash.c. This demonstrates co-routine | |
functionality including passing data between co-routines. | |
+ Added new demo application file crhook.c. This demonstrates co-routine | |
and tick hook functionality including passing data between and ISR and | |
a co-routine. | |
+ Some NOP's were missing following stmdb{}^ instructions in various ARM7 | |
ports. These have been added. | |
+ Updated the Open Watcom PC demo project to include the crflash and crhook | |
demo co-routines as an example of their use. | |
+ Updated the H8S demo to compile with the latest version of GCC. | |
+ Updated the SAM7X EMAC drivers to take into account the hardware errata | |
regarding lost packets. | |
+ Changed the default MAC address used by some WEB server demos as the | |
original addresses used was not liked by some routers. | |
+ Modified the SAM7X/IAR startup code slightly to prevent it hanging on | |
some systems when the code is executed using a j-link debugger. The | |
j-link macro file configures the PLL before the code executes so | |
attempting to configure it again in the startup code was causing a | |
problem for some user. Now a check is performed first to see if the | |
PLL is already set up. | |
+ GCC port now contain all assembler code in a single asm block rather than | |
individual blocks as before. | |
+ GCC LPC2000 code now explicitly uses R0 rather than letting the assembler | |
choose the register to use as a temporary register during the context | |
switch. | |
+ Added portNOP() macro. | |
+ The compare match load value on LPC2000 ports now has 1 added to correct | |
the value used. | |
+ The minimal stack depth has been increased slightly on the WIZC PIC18 | |
port. | |
Changes between V3.2.3 and V3.2.4 | |
+ Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above. | |
Many thanks to Glen Biagioni for the provided update. | |
+ Added a new Microblaze port and demo application. | |
+ Modified the SAM7X EMAC demo to default to use the MII interface rather | |
than the RMII interface. | |
+ Modified the startup sequence of the SAM7X demo slightly to allow the | |
EMAC longer to auto negotiate. | |
Changes between V3.2.2 and V3.2.3 | |
+ Added MII interface support to the SAM7X EMAC peripheral driver. | |
Previously versions worked with the RMII interface only. | |
+ Added command line GCC support to the SAM7X lwIP demo. Previously the | |
project could only be built using the CrossWorks IDE. Modifications to | |
this end include the addition of a standard makefile and linker script to | |
the download, and some adjustments to the stacks allocated to each task. | |
+ Changed the page returned by the lwIP WEB server demo to display the | |
task status table rather than the TCP/IP statistics. | |
+ Corrected the capitalisation of some header file includes and makefile | |
dependencies to facilitate use on Linux host computers. | |
+ The various LPC2000 ports had a mistake in the timer setup where the | |
prescale value was written to T0_PC instead of T0_PR. This would have | |
no effect unless a prescale value was actually required. This has been | |
corrected. | |
Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005 | |
+ Added an IAR port for the Philips LPC2129 | |
+ The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded | |
Workbench V4.30a format. | |
+ Updated the J-Link macro file included with the SAM7X uIP demo project | |
to allow the demo board to be reset over the J-Link. | |
Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005 | |
+ Added lwIP demo for AT91SAM7X using Rowley tools. | |
+ Added uIP demo for AT91SAM7X using IAR tools. | |
+ Added function xTaskGetCurrentTaskHandle(). | |
+ Renamed events.h to mevents.h to prevent it conflicting with the events.h | |
generated automatically by the HCS12 processor expert utility. events.h | |
is only used by the PC demo application. | |
+ Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value | |
expected by the compiler, and the compilers do not write to this | |
register. | |
+ The HCS12 banked model demo now creates the 'suicide' tasks immediately | |
prior to starting the scheduler. These tasks should be the last tasks to | |
get started in order for the test to function correctly. | |
Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005 | |
V3.2.0 introduces two new MSP430 ports and corrects a minor kernel | |
issues. Thanks to Ares.qi for his input. | |
+ Added two MSP430 ports that use the Rowley CrossWorks development tools. | |
One port just mirrors the existing GCC port. The other port was provided | |
by Milos Prokic. Thanks! | |
+ V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume() | |
are called while the scheduler is locked (by a call to | |
vTaskSuspendAll()). When this is done the subject task now starts to | |
execute immediately when the scheduler is unlocked if it has the highest | |
priority that is ready to run. Previously there was a possibility that | |
the task would not run until the next RTOS tick or call to portYIELD(). | |
+ Another similar small correction ensures that in the case where more than | |
one task is blocked on a semaphore or queue, the task with the highest | |
priority is guaranteed to be unblocked first. | |
+ Added a couple of more test tasks to the PC demo which cover the points | |
above. | |
Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005 | |
This release updates the HCS12 port. The common kernel code | |
remains unchanged. | |
+ Updated the HCS12 port to support banking and introduced a demo | |
application for the MC9S12DP256. The new demo application is | |
located in the Demo/HCS12_CodeWarrior_banked directory. | |
+ The name of the directory containing the MC9S12F32 demo application | |
has been changed to Demo/HCS12_CodeWarrior_small (as in 'small' | |
memory model). | |
+ MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the | |
demo application is now 24MHz. Previously it was 8MHz. | |
+ The demo application file Demo/Common/Minimal/death.c has a slight | |
alteration to prevent it using floating point variables. | |
Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005 | |
+ Added new ports for ST Microsystems STR71x, and Freescale HCS12 | |
microcontrollers. Currently the HCS12 port is limited to the small | |
memory model. Large memory models will be supported in the next | |
release. | |
+ PIC18 wizC port updated. Thanks to Marcel van Lieshout for his | |
continuing contribution. | |
+ The accuracy of the AVR port timer setup has been improved. Thanks to | |
Thomas Krutmann for this contribution. | |
+ Added a new conditional compilation macro configIDLE_SHOULD_YIELD. | |
See the WEB documentation for details. | |
+ Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks. | |
+ Slight modification to the SAM7 release build configuration to correct | |
an include path definition. | |
+ Updated the MPLAB PIC18 documentation to provide extra details on linker | |
file configuration. | |
Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005 | |
V3.0.0 includes many enhancements, so this history list is broken into | |
subsections as follows: | |
API changes | |
New ports | |
Directory name changes | |
Kernel and miscellaneous changes changes | |
- API changes | |
+ Each port now defines BaseType_t as the data type that is most | |
efficient for that architecture. The type BaseType_t is used | |
extensively in API calls necessitating the following changes to the | |
FreeRTOS API function prototypes. | |
See the "New for V3.0.0" section of the FreeRTOS online | |
documentation for full details of API changes. | |
- New ports | |
+ The AT91FR40008 ARM7 port contributed by John Feller is now included | |
in the download (thanks John!). | |
+ The PIC18 port for the wizC/fedC compiler contributed by Marcel van | |
Lieshout is now included in the download (thanks Marcel!). | |
+ The IAR port for the AVR microcontroller has been upgraded to V3.0.0 | |
and is now a supported port. | |
- Directory name changes | |
For consistency, and to allow integration of the new ports, the | |
following directory names have been changed. | |
+ The source/portable/GCC/ARM7 directory has been renamed | |
source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming | |
of other GCC ARM7 ports. | |
+ The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to | |
accommodate the wizC/fedC PIC port. | |
+ The demo applications for the two AVR ports no longer share the same | |
directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR | |
directory and the IAR port in the Demo/AVR_ATMega323_IAR directory. | |
- Kernel and miscellaneous changes changes | |
See the "New for V3.0.0" section of the FreeRTOS online | |
documentation for more information. | |
+ Previously 'portmacro.h' contained some user editable definitions | |
relating to the user application, and some fixed definitions relating | |
specifically to the port being used. The application specific | |
definitions have been removed from 'portmacro.h' and placed inside a | |
new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now | |
never be modified by the user. A 'FreeRTOSConfig.h' is now included | |
in each of FreeRTOS/Demo subdirectories - as it's settings relate to | |
the demo application rather than being specific to the port. | |
+ Introduced configUSE_IDLE_HOOK in idle task. | |
+ The idle task will yield when another idle priority task is ready to | |
run. Previously the idle task would run to the end of its time slice | |
regardless. | |
+ The idle task is now created when the scheduler is started. This | |
requires less stack than the previous scheme where it was created upon | |
creation of the first application task. | |
+ The function usPortCheckFreeStackSpace() has been renamed | |
usTaskCheckFreeStackSpace() and moved from the portable layer to | |
tasks.c. | |
+ Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE. | |
+ The portheap.c file included with the AVR port has been deleted. The | |
AVR demo now uses the standard heap1 sample memory allocator. | |
+ The GCC AVR port is now build using the standard make utility. The | |
batch files used previously have been deleted. This means a recent | |
version of WinAVR is required in order to create a binary suitable for | |
source level debugging. | |
+ vTaskStartScheduler() no longer takes the configUSE_PREEMPTION | |
constant as a parameter. Instead the constant is used directly within | |
tasks.c and no parameter is required. | |
+ The header file 'FreeRTOS.h' has been created and is used to include | |
'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary | |
order. FreeRTOS.h can now be included in place of these other | |
headers. | |
+ The header file 'errors.h' has been deleted. The definitions it | |
contained are now located within 'projdefs.h'. | |
+ pvPortMalloc() now takes a size_t parameter as per the ANSI malloc(). | |
Previously an unsigned short was used. | |
+ When resuming the scheduler a yield is performed if either a tick has | |
been missed, or a task is moved from the pending ready list into a | |
ready list. Previously a yield was not performed on this second | |
condition. | |
+ In heap1.c an overflow check has been added to ensure the next free | |
byte variable does not wrap around. | |
+ Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO() | |
macros. | |
+ The MPLAB PIC port now saved the TABLAT register in interrupt service | |
routines. | |
Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005 | |
This version adds support for the H8 processor. | |
Other changes: | |
+ tskMAX_TASK_NAME_LEN removed from the task.h header and added to each | |
individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM | |
limited ports to allocate fewer characters to the task name. | |
+ AVR port - Replaced the inb() and outb() functions with direct memory | |
access. This allows the port to be built with the 20050414 build of | |
WinAVR. | |
+ GCC LPC2106 port - removed the 'static' from the definition of | |
vNonPreemptiveTick() to allow the demo to link when using the cooperative | |
scheduler. | |
+ GCC LPC2106 port - Corrected the optimisation options in the batch files | |
ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case | |
-o is replaced by an uppercase -O. | |
+ Tasks.c - The strcpy call has been removed when copying across the task | |
name into the TCB. | |
+ Updated the trace visualisation to always be 4 byte aligned so it can be | |
used on ARM architectures. | |
+ There are now two tracecon executables (that convert the trace file binary | |
into an ASCII file). One for big endian targets and one for little endian | |
targets. | |
+ Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called | |
too often in the idle task. | |
+ SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt | |
mask with the RX_DATA_BK1. | |
Changes between V2.5.5 and V2.6.0 - Released January 16, 2005 | |
+ Added the API function vTaskDelayUntil(). The demo app file | |
Demo/Common/Minimal/flash.c has been updated to demonstrate its use. | |
+ Added INCLUDE_vTaskDelay conditional compilation. | |
+ Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to | |
Demo/ARM7_AT91SAM7S64_IAR for consistency. | |
+ Modified the AT91SAM7S USB driver to allow descriptors that have | |
a length that is an exact multiple of the FIFO to be transmitted. | |
Changes between V2.5.4 and V2.5.5 - Released January 3, 2005 | |
This version adds support for the Atmel SAM7 ARM7 microcontrollers | |
along with the IAR development tools. | |
Other changes: | |
+ Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC. | |
+ Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil. | |
+ Modified the Philips ARM7 serial interrupt service routines to only | |
process one interrupt per call. This seems to enable the ISR to | |
operate more quickly. | |
+ Removed the 'far' keyword from the Open Watcom portable layer source | |
files. This allows their use with V1.3 of Open Watcom. | |
+ Minor modifications to the SDCC build files to allow their use under | |
Linux. Thanks to Frieder Ferlemann for this contribution. | |
+ Small change to sTaskCreate() to allow a context switch even when | |
pxCreatedTask is NULL. Thanks to Kamil for this contribution. | |
+ inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick() | |
definitions. | |
Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004 | |
This is an important maintenance release. | |
The function cTaskResumeAll() has been modified so it can be used safely | |
prior to the kernel being initialised. This was an issue as | |
cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun | |
for highlighting this issue. | |
Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004 | |
The critical section handling functions have been changed for the GCC ARM7 | |
port. Some optimisation levels use the stack differently to others. This | |
means the interrupt flags cannot always be stored on the stack and are | |
instead now stored in a variable, which is then saved as part of the | |
tasks context. This allows the GCC ARM7 port to be used at all | |
optimisation levels - including -Os. | |
Other minor changes: | |
+ MSP430 definition of usCriticalNesting now uses the volatile qualifier. | |
This is probably not required but added just in case. | |
Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004 | |
+ Added the Keil ARM7 port. | |
+ Slight modification to comtest.c to make the delay periods more random. | |
This creates a better test condition. | |
Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004 | |
+ Added the MSP430 port. | |
+ Extra comments added to the GCC ARM7 port.c and portISR.c files. | |
+ The memory pool allocated within heap_1.c has been placed within a | |
structure to ensure correct memory alignment on 32bit systems. | |
+ Within the GCC ARM7 serial drivers an extra check is made to ensure | |
the post to the queue was successful if then attempting immediately | |
retrieve the posted character. | |
+ Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS | |
as the old name was misleading. | |
Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004 | |
The RTOS source code download now includes three separate memory allocation | |
schemes - so you can choose the most appropriate for your application. | |
These are found in the Source/Portable/MemMang directory. The demo | |
application projects have also been updated to demonstrate the new schemes. | |
See the "Memory Management" page of the API documentation for more details. | |
+ Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang | |
directory. | |
+ Replaced the portheap.c files for each demo application with one of the | |
new memory allocation files. | |
+ Updated the portmacro.h file for each demo application to include the | |
constants required for the new memory allocators: portTOTAL_HEAP_SIZE and | |
portBYTE_ALIGNMENT. | |
+ Added a new test to the ARM7 demo application that tests the operation | |
of the heap_2 memory allocator. | |
Changes between V2.4.1 and V2.4.2 - Released July 14, 2004 | |
+ The ARM7 port now supports THUMB mode. | |
+ Modification to the ARM7 demo application serial port driver. | |
Changes between V2.4.0 and V2.4.1 - Released July 2, 2004 | |
+ Rationalised the ARM7 port version of portEXIT_CRITICAL() - | |
improvements provided by Bill Knight. | |
+ Made demo serial driver more complete and robust. | |
Changes between V2.4.0 and V2.3.1 - Released June 30, 2004 | |
+ Added the first ARM7 port - thanks to Bill Knight for the assistance | |
provided. | |
+ Added extra files to the Demo/Common/Minimal directory. These are | |
equivalent to their Demo/Common/Full counterparts but with the | |
calls to the functions defined in print.c removed. | |
+ Added TABLAT to the list of registers saved as part of a PIC18 context. | |
Changes between V2.3.0 and V2.3.1 - Released June 25, 2004 | |
+ Changed the way the vector table is defined to be more portable. | |
+ Corrected the definitions of SPH and SPL in portmacro.s90. | |
The previous definitions prevented V2.3.0 operating if the iom323.h | |
header file was included in portmacro.s90. | |
Changes between V2.2.0 and V2.3.0 - Released June 19, 2004 | |
+ Added an AVR port that uses the IAR compiler. | |
+ Explicit use of 'signed' qualifier on plain char types. | |
+ Modified the Open Watcom project files to use 'signed' as the | |
default char type. | |
+ Changed odd calculation of initial pxTopOfStack value when | |
portSTACK_GROWTH < 0. | |
+ Added inline qualifier to context switch functions within task.c. | |
Ports that do not support the (non ANSI) inline keyword have the | |
inline #define'd away in their respective portmacro.h files. | |
Changes between V2.1.1 and V2.2.0 - Released May 18, 2004 | |
+ Added Cygnal 8051 port. | |
+ PCLATU and PCLATH are now saved as part of the PIC18 context. This | |
allows function pointers to be used within tasks. Thanks to Javier | |
Espeche for the enhancement. | |
+ Minor changes to demo application files to reduce stack usage. | |
+ Minor changes to prevent compiler warnings when compiling the new port. | |
Changes between V2.1.0 and V2.1.1 - Released March 12, 2004 | |
+ Bug fix - pxCurrentTCB is now initialised before the call to | |
prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed | |
while null during the initialisation sequence. Thanks to Giuseppe | |
Franco for the correction. | |
Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004 | |
V2.1.0 has significant reworks that greatly reduce the amount of time | |
the kernel has interrupts disabled. The first section of modifications | |
listed here must be taken into account by users. The second section | |
are related to the kernel implementation and as such are transparent. | |
Section1 : | |
+ The typedef TickType_t has been introduced. All delay times should | |
now use a variable of type TickType_t in place of the unsigned long's | |
used previously. API function prototypes have been updated | |
appropriately. | |
+ The configuration macro USE_16_BIT_TICKS has been introduced. If set | |
to 1 TickType_t is defined as an unsigned short. If set to 0 | |
TickType_t is defined as an unsigned long. See the configuration | |
section of the API documentation for more details. | |
+ The configuration macro INCLUDE_vTaskSuspendAll is now obsolete. | |
+ vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a | |
value (see the API documentation). | |
+ ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type | |
it returns now depends on the USE_16_BIT_TICKS definition. | |
+ cQueueReceive() must now >never< be used from within an ISR. Use the new | |
cQueueReceiveFromISR() function instead. | |
Section 2: | |
+ A mechanism has been introduced that allows a queue to be accessed by | |
a task and ISR simultaneously. | |
+ A "pending ready" queue has been introduced that enables interrupts to | |
be processed when the scheduler is suspended. | |
+ The list implementation has been improved to provide faster item | |
removal. | |
+ The scheduler now makes use of the scheduler suspend mechanism in places | |
where previously interrupts were disabled. | |
Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004 | |
+ Introduced new API functions: | |
vTaskPriorityGet () | |
vTaskPrioritySet () | |
vTaskSuspend () | |
vTaskResume () | |
vTaskSuspendAll () | |
vTaskResumeAll () | |
+ Added conditional compilation options that allow the components of the | |
kernel that are unused by an application to be excluded from the build. | |
See the Configuration section on the WEB site for more information (on | |
the API pages). The macros have been added to each portmacro.h file ( | |
sometimes called prtmacro.h). | |
+ Rearranged tasks.c. | |
+ Added demo application file dynamic.c. | |
+ Updated the PC demo application to make use of dynamic.c. | |
+ Updated the documentation contained in the kernel header files. | |
+ Creating a task now causes a context switch if the task being created | |
has a higher priority than the calling task - assuming the kernel is | |
running. | |
+ vTaskDelete() now only causes a context switch if the calling task is | |
the task being deleted. | |
Changes between V1.2.5 and V1.2.6 - Released December 31, 2003 | |
Barring the change to the interrupt vector (PIC port) these are minor | |
enhancements. | |
+ The interrupt vector used for the PIC master ISR has been changed from | |
0x18 to 0x08 - where it should have always been. The incorrect address | |
still works but probably executes a number of NOP's before getting to the | |
ISR. | |
+ Changed the baud rate used by the AVR demo application to 38400. This | |
has an error percentage of less than one percent with an 8MHz clock. | |
+ Raised the priority of the Rx task in demo\full\comtest.c. This only | |
affects the Flashlite and PC ports. This was done to prevent the Rx | |
buffer becoming full. | |
+ Reverted the Flashlite COM port driver back so it does not use the DMA. | |
The DMA appears to miss characters under stress. The Borland Flashlite | |
port was also calculating a register value incorrectly resulting in the | |
wrong DMA source address being used. The same code worked fine when | |
compiling with Open Watcom. Other minor enhancements were made to the | |
interrupt handling. | |
+ Modified the PIC serial Rx ISR to check for and clear overrun errors. | |
Overrun errors seem to prevent any further characters being received. | |
+ The PIC demo projects now have some optimisation switched on. | |
Changes between V1.2.4 and V1.2.5 | |
Small fix made to the PIC specific port.c file described below. | |
+ Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global | |
interrupt flag setting. Using the two bits defined within | |
portINITAL_INTERRUPT_STATE was causing the w register to get clobbered | |
before the test was performed. | |
Changes between V1.2.3 and V1.2.4 | |
V1.2.4 contains a release version of the PIC18 port. | |
An optional exception has been included with the GPL. See the licensing | |
section of www.FreeRTOS.org for details. | |
+ The function xPortInitMinimal() has been renamed to | |
xSerialPortInitMinimal() and the function xPortInit() has been renamed | |
to xSerialPortInit(). | |
+ The function sSerialPutChar() has been renamed cSerialPutChar() and | |
the function return type chaned to portCHAR. | |
+ The integer and flop tasks now include calls to tskYIELD(), allowing | |
them to be used with the cooperative scheduler. | |
+ All the demo applications now use the integer and comtest tasks when the | |
cooperative scheduler is being used. Previously they were only used with | |
the preemptive scheduler. | |
+ Minor changes made to operation of minimal versions of comtest.c and | |
integer.c. | |
+ The ATMega port definition of portCPU_CLOSK_HZ definition changed to | |
8MHz base 10, previously it base 16. | |
Changes between V1.2.2a and V1.2.3 | |
The only change of any significance is to the license, which has changed | |
from the Open Software License to the GNU GPL. | |
The zip file also contains a pre-release version of the PIC18 port. This | |
has not yet completed testing and as such does not constitute part of the | |
V1.2.3 release. It is still however covered by the GNU GPL. | |
There are minor source code changes to accommodate the PIC C compiler. | |
These mainly involve more explicit casting. | |
+ sTaskCreate() has been modified slightly to make use of the | |
portSTACK_GROWTH macro. This is required for the PIC port where the | |
stack grows in the opposite direction to the other existing ports. | |
+ prvCheckTasksWaitingTermination() has been modified slightly to bring | |
the decrementing of usCurrentNumberOfTasks within the critical section, | |
where it should have been since the creation of an eight bit port. | |
Changes between V1.2.2 and V1.2.2a | |
The makefile and buildcoff.bat files included with the AVR demo application | |
have been modified for use with the September 2003 build of WinAVR. No | |
source files have changed. | |
Changes between V1.2.1 and V1.2.2 | |
There are only minor changes here to allow the PC and Flashlite 186 ports | |
to use the Borland V4.52 compiler, as supplied with the Flashlite 186 | |
development kit. | |
+ Introduced a BCC directory under source\portable. This contains all the | |
files specific to the Borland compiler port. | |
+ Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS. | |
+ Modified comtest.c to increase the rate at which the string is | |
transmitted and received on the serial port. The Flashlite 186 demo | |
app baud rate has also been increased. | |
+ The values of the constants used in both integer.c files have been | |
increased to force the Borland compiler to use 32 bit values. The | |
Borland optimiser placed the previous values in 16 bit registers, and in | |
So doing invalidated the test. | |
Changes between V1.2.0 and V1.2.1 | |
This version includes some minor changes to the list implementation aimed | |
at improving the context switch time - with is now approximately 10% faster. | |
Changes include the removal of some null pointer assignment checks. These | |
were redundant where the scheduler uses the list functions, but means any | |
user application choosing to use the same list functions must now check | |
that no NULL pointers are passed as a parameter. | |
The Flashlite 186 serial port driver has also been modified to use a DMA | |
channel for transmissions. The serial driver is fully functional but still | |
under development. Flashlite users may prefer to use V1.2.0 for now. | |
Details: | |
+ Changed the baud rate for the ATMega323 serial test from 19200 to 57600. | |
+ Use vSerialPutString() instead of single character puts in | |
Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial | |
driver. Also the check variable only stops incrementing after two | |
consecutive failures. | |
+ semtest.c creates four tasks, two of which operate at the idle priority. | |
The tasks that operate at the idle priority now use a lower expected | |
count than those running at a higher priority. This prevents the low | |
priority tasks from signalling an error because they have not been | |
scheduled enough time for each of them to count the shared variable to | |
the higher original value. | |
+ The flashlite 186 serial driver now uses a DMA channel for transmissions. | |
+ Removed the volatile modifier from the list function parameters. This was | |
only ever included to prevent compiler warnings. Now warnings are | |
removed by casting parameters where the calls are made. | |
+ prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been | |
removed from list.c and added as macros in list.h. | |
+ usNumberOfItems has been added to the list structure. This removes the | |
need for a pointer comparison when checking if a list is empty, and so | |
is slightly faster. | |
+ Removed the NULL check in vListRemove(). This makes the call faster but | |
necessitates any application code utilising the list implementation to | |
ensure NULL pointers are not passed. | |
+ Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds | |
per tick). This is what it always should have been. | |
Changes between V1.01 and V1.2.0 | |
The majority of these changes were made to accommodate the 8bit AVR port. | |
The scheduler workings have not changed, but some of the data types used | |
have been made more friendly to an eight bit environment. | |
Details: | |
+ Changed the version numbering format. | |
+ Added AVR port. | |
+ Split the directory demo\common into demo\common\minimal and | |
demo\common\full. The files in the full directory are for systems with | |
a display (currently PC and Flashlite 186 demo's). The files in the | |
minimal directory are for systems with limited RAM and no display | |
(currently MegaAVR). | |
+ Minor changes to demo application function prototypes to make more use | |
of 8bit data types. | |
+ Within the scheduler itself the following functions have slightly | |
modified declarations to make use of 8bit data types where possible: | |
xQueueCreate(), | |
sQueueReceive(), | |
sQUeueReceive(), | |
usQueueMessageWaiting(), | |
sQueueSendFromISR(), | |
sSemaphoreTake(), | |
sSemaphoreGive(), | |
sSemaphoreGiveFromISR(), | |
sTaskCreate(), | |
sTaskMoveFromEventList(). | |
Where the return type has changed the function name has also changed in | |
accordance with the naming convention. For example | |
usQueueMessageWaiting() has become ucQueueMessageWaiting(). | |
+ The definition tskMAX_PRIORITIES has been moved from task.h to | |
portmacro.h and renamed portMAX_PRIORITIES. This allows different | |
ports to allocate a different maximum number of priorities. | |
+ By default the trace facility is off, previously USE_TRACE_FACILITY | |
was defined. | |
+ comtest.c now uses a psuedo random delay between sends. This allows for | |
better testing as the interrupts do not arrive at regular intervals. | |
+ Minor change to the Flashlite serial port driver. The driver is written | |
to demonstrate the scheduler and is not written to be efficient. | |
Changes between V1.00 and V1.01 | |
These changes improve the ports. The scheduler itself has not changed. | |
Improved context switch mechanism used when performing a context | |
switch from an ISR (both the tick ISR and the serial comms ISR's within | |
the demo application). The new mechanism is faster and uses less stack. | |
The assembler file portasm.asm has been replaced by a header file | |
portasm.h. This includes a few assembler macro definitions. | |
All saving and restoring of registers onto/off of the stack is now handled | |
by the compiler. This means the initial stack setup for a task has to | |
mimic the stack used by the compiler, which is different for debug and | |
release builds. | |
Slightly changed the operation of the demo application, details below. | |
Details: | |
+ portSWITCH_CONTEXT() replaced by vPortFirstContext(). | |
+ pxPortInitialiseStack() modified to replicate the stack used by the | |
compiler. | |
+ portasm.asm file removed. | |
+ portasm.h introduced. This contains macro definitions for | |
portSWITCH_CONTEXT() and portFIRST_CONTEXT(). | |
+ Context switch from ISR now uses the compiler generated interrupt | |
mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving | |
the save/restore to compiler generated code. | |
+ Calls to taskYIELD() during ISR's have been replaced by calling the | |
simpler and faster portSWITCH_CONTEXT(). | |
+ The Flashlite 186 port now uses 186 instruction set (used to use 80x86 | |
instructions only). | |
+ The blocking queue tasks within the demo application did not operate | |
quite as described. This has been corrected. | |
+ The priority of the comtest Rx task within the demo application has been | |
lowered. Received characters are now processed (read from the queue) at | |
the idle priority, allowing low priority tasks to run evenly at times of | |
a high communications overhead. | |
+ Prevent the call to kbhit() in main.c for debug builds as the debugger | |
seems to have problems stepping over the call. This if for the PC port | |
only. | |