| Documentation and download available at https://www.FreeRTOS.org/ |
| |
| Changes between FreeRTOS V11.0.1 and FreeRTOS V11.1.0 released April 22, 2024 |
| |
| + Add ARMv7-R port with Memory Protection Unit (MPU) support. |
| + Add Memory Protection Unit (MPU) support to the Cortex-M0 port. |
| + Add stream batching buffer. A stream batching buffer differs from a stream |
| buffer when a task reads from a non-empty buffer: |
| - The task reading from a non-empty stream buffer returns immediately |
| regardless of the amount of data in the buffer. |
| - The task reading from a non-empty steam batching buffer blocks until the |
| amount of data in the buffer exceeds the trigger level or the block time |
| expires. |
| We thank @cperkulator for their contribution. |
| + Add the ability to change task notification index for stream buffers. We |
| thank @glemco for their contribution. |
| + Add xStreamBufferResetFromISR and xMessageBufferResetFromISR APIs to reset |
| stream buffer and message buffer from an Interrupt Service Routine (ISR). |
| We thank @HagaiMoshe for their contribution. |
| + Update all the FreeRTOS APIs to use configSTACK_DEPTH_TYPE for stack type. |
| We thank @feilipu for their contribution. |
| + Update vTaskEndScheduler to delete the timer and idle tasks, |
| once the scheduler is stopped. |
| + Make xTaskGetCurrentTaskHandleForCore() available to the single core |
| scheduler. We thank @Dazza0 for their contribution. |
| + Update uxTaskGetSystemState to not use the pxIndex member of the List_t |
| structure while iterating ready tasks list. The reason is that pxIndex |
| member must only used to select next ready task to run. We thank |
| @gemarcano for their inputs. |
| + Add a config option to the FreeRTOS SMP Kernel to set the default core |
| affinity mask for tasks created without an affinity mask. We thank @go2sh |
| for their contribution. |
| + Add configUSE_EVENT_GROUPS and configUSE_STREAM_BUFFERS configuration |
| constants to control the inclusion of event group and stream buffer |
| functionalities. |
| + Code changes to comply with MISRA C 2012. |
| + Add 64-bit support to the FreeRTOS Windows Simulator port. We thank @watsk |
| and @josesimoes for their contributions. |
| + Add support for 64-bit Microblaze processor to the MicroblazeV9 port. We |
| thank @mubinsyed for their contribution. |
| + Add support for MSP430 Embedded Application Binary Interface (EABI) to |
| the MSP430F449 port to make it work with both MSP430 GCC and MSPGCC |
| compilers. We thank @Forty-Bot for their contribution. |
| + Update xPortIsAuthorizedToAccessBuffer() on FreeRTOS ports with MPU |
| support to grant an unprivileged task access to all the memory before the |
| scheduler is started. |
| + Update the POSIX port to pass the FreeRTOS task name to pthread for |
| readable output in debuggers. We thank @Mixaill for their contribution. |
| + Update the POSIX port to ignore the user specified stack memory and only |
| pass the stack size to the pthread API to avoid errors caused when stack size |
| is smaller than the minimum. We thank @cmorgnaBE for their |
| contribution. |
| + Update the POSIX port to use a timer thread for tick interrupts instead of |
| POSIX timers to address issues with signal handling in non-FreeRTOS |
| pthreads. We thank @cmorgnaBE for their contribution. |
| + Update ARM_TFM port to support TF-Mv2.0.0 release of trusted-firmware-m. |
| We thanks @urutva for their contribution. |
| + Remove redundant constant pools in ARMv8 ports. We thank @urutva for their |
| contribution. |
| + Add APIs to reset the internal state of kernel modules. These APIs are |
| primarily intended to be used in the testing frameworks that restart the |
| scheduler. |
| + Use kernel provided implementations of vApplicationGetIdleTaskMemory() and |
| vApplicationGetTimerTaskMemory() in the RP2040 port. We thank @dpslwk for |
| their contribution. |
| + Fix atomic enter/exit critical section macro definitions in atomic.h for |
| ports that support nested interrupts. We thank @sebunger for their |
| contribution. |
| + Fix compiler warnings in the MSP430F449 port when compiled with the |
| MSP430 GCC compiler. We thank @Forty-Bot for their contribution. |
| + Update the scheduler suspension usage in ulTaskGenericNotifyTake and |
| xTaskGenericNotifyWait() to enhance code readability. We thank @Dazza0 for |
| their contribution. |
| + Add support for latest version of MPU wrappers( mpu_wrappers_v2) in CMake. |
| We thank @IsaacDynamo for their contribution. |
| + Update CMake support to create only one static library containing both the |
| kernel common code and the kernel port code. We thank @barnatahmed for |
| their contribution. |
| |
| Changes between FreeRTOS V11.0.0 and FreeRTOS V11.0.1 released December 21, 2023 |
| |
| + Updated the SBOM file. |
| |
| Changes between FreeRTOS V10.6.2 and FreeRTOS V11.0.0 released December 18, 2023 |
| |
| + SMP merged into the mainline: While FreeRTOS introduced Asymmetric |
| Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the |
| first to merge Symmetric Multiprocessing (SMP) support into the mainline |
| release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks |
| across multiple identical processor cores. We thank Mike Bruno and Jerry |
| McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of |
| Espressif Systems for their contributions. |
| + Switch MISRA compliance checking from PC Lint to Coverity, and update from |
| MISRA C:2004 to MISRA C:2012. |
| + Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of |
| each configuration item. Application writers can use this template as a |
| starting point to create the FreeRTOSConfig.h file for their application. |
| + Add a template FreeRTOS port which can be used as a starting point for |
| developing a new FreeRTOS port. |
| + Add bounds checking and obfuscation to internal heap block pointers in |
| heap_4.c and heap_5.c to help catch pointer corruptions. The application can |
| enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their |
| FreeRTOSConfig.h. We thank @oliverlavery for their contribution. |
| + Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf |
| with snprintf. |
| + Add trace macros to ports that enable tracing the interaction of ISRs with |
| scheduler events. We thank @conara for their contribution. |
| + Add trace macros that enable tracing of entering and exiting all APIs. We |
| thank @Techcore123 for their contribution. |
| + Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the |
| base priority of a task. The base priority of a task is the priority that |
| was last assigned to the task - which due to priority inheritance, may not |
| be the current priority of the task. |
| + Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in |
| milliseconds. We thank @Dazza0 for their contribution. |
| + Add default implementations of vApplicationGetIdleTaskMemory and |
| vApplicationGetTimerTaskMemory. The application can enable these default |
| implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their |
| FreeRTOSConfig.h. We thank @mdnr-g for their contribution. |
| + Update vTaskGetInfo to include start and end of the stack whenever both |
| values are available. We thank @vinceburns for their contribution. |
| + Prevent tasks waiting for a notification from being resumed by calls to |
| vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their |
| contribution. |
| + Add asserts to validate that the application has correctly installed |
| FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices. |
| We thank @jefftenney for their contribution. |
| + Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and |
| Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64 |
| architecture. We thank @urutva for their contribution. |
| + Add CMake support to allow the application writer to select the RISC-V |
| chip extension. We thank @JoeBenczarski for their contribution. |
| + Add CMake support to allow the application writer to build an application |
| with static allocation only. We thank @conara for their contribution. |
| + Make taskYIELD available to unprivileged tasks for ARMv8-M ports. |
| + Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their |
| contribution. |
| + Update the SysTick setup code for ARMv8-M ports to first configure the clock |
| source and then enable SysTick. This is needed to address a bug in QEMU |
| versions older than 7.0.0, which causes an emulation error if SysTick is |
| enabled without first selecting a valid clock source. We thank @jefftenney |
| for their contribution. |
| + Add the port-optimized task selection algorithm optionally available for |
| ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their |
| contribution. |
| + Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing |
| unnecessary steps while splitting a large memory block into two. We thank |
| @Moral-Hao for their contribution. |
| + Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and |
| heap_5.c by moving the size calculation out of the critical section. We thank |
| @Moral-Hao for their contribution. |
| + Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic |
| operation of traversing a linked link from a critical section. We thank |
| @karver8 for their contribution. |
| + Fix stack end and stack size computation in POSIX port to meet the stack |
| alignment requirements on MacOS. We thank @tegimeki for their contribution. |
| + Update the vTaskPrioritySet implementation to use the new priority when the |
| task has inherited priority from a mutex it is holding, and the new priority |
| is bigger than the inherited priority. We thank @Moral-Hao for their |
| contribution. |
| + Add stack alignment adjustment if stack grows upwards. We thank @ivq for |
| their contribution. |
| + Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is |
| selected as the C library implementation to ensure that |
| pxPortInitialiseStack does not overwrite the data in the TLS block portion |
| of the stack. We thank @bebebib-rs for their contribution. |
| + Fix vPortEndScheduler() for the MSVC port so that the function |
| prvProcessSimulatedInterrupts is not stuck in an infinite loop when the |
| scheduler is stopped. We thank @Ju1He1 for their contribution. |
| + Add the Pull Request (PR) Process explaining the stages a PR goes through. |
| |
| Changes between FreeRTOS V10.6.1 and FreeRTOS V10.6.2 released November 29, 2023 |
| |
| + Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c) |
| introduced in version 10.6.0: |
| - Introduce Access Control List (ACL) feature to allow the application |
| writer to control an unprivileged task’s access to kernel objects. |
| - Update the system call entry mechanism to only require one Supervisor |
| Call (SVC) instruction. |
| - Wrap parameters for system calls with more than four parameters in a |
| struct to avoid special handling during system call entry. |
| - Fix 2 possible integer overflows. |
| - Convert some asserts to run time parameter checks. |
| |
| Changes between FreeRTOS V10.6.0 and FreeRTOS V10.6.1 released August 17, 2023 |
| |
| + Add runtime parameter checks to functions in mpu_wrappers_v2.c file. |
| The same checks are already performed in API implementations using |
| asserts. |
| We thank the following people for their inputs in these changes: |
| - Lan Luo, Zixia Liu of School of Computer Science and Technology, |
| Anhui University of Technology, China. |
| - Xinwen Fu of Department of Computer Science, University of |
| Massachusetts Lowell, USA. |
| - Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of |
| Computer Science and Engineering, Southeast University, China. |
| |
| Changes between FreeRTOS V10.5.1 and FreeRTOS 10.6.0 released July 13, 2023 |
| |
| + Add a new MPU wrapper that places additional restrictions on unprivileged |
| tasks. The following is the list of changes introduced with the new MPU |
| wrapper: |
| |
| 1. Opaque and indirectly verifiable integers for kernel object handles: |
| All the kernel object handles (for example, queue handles) are now |
| opaque integers. Previously object handles were raw pointers. |
| 2. Save the task context in Task Control Block (TCB): When a task is |
| swapped out by the scheduler, the task's context is now saved in its |
| TCB. Previously the task's context was saved on its stack. |
| 3. Execute system calls on a separate privileged only stack: FreeRTOS |
| system calls, which execute with elevated privilege, now use a |
| separate privileged only stack. Previously system calls used the |
| calling task's stack. The application writer can control the size of |
| the system call stack using new configSYSTEM_CALL_STACK_SIZE config |
| macro. |
| 4. Memory bounds checks: FreeRTOS system calls which accept a pointer |
| and de-reference it, now verify that the calling task has required |
| permissions to access the memory location referenced by the pointer. |
| 5. System calls restrictions: The following system calls are no longer |
| available to unprivileged tasks: |
| - vQueueDelete |
| - xQueueCreateMutex |
| - xQueueCreateMutexStatic |
| - xQueueCreateCountingSemaphore |
| - xQueueCreateCountingSemaphoreStatic |
| - xQueueGenericCreate |
| - xQueueGenericCreateStatic |
| - xQueueCreateSet |
| - xQueueRemoveFromSet |
| - xQueueGenericReset |
| - xTaskCreate |
| - xTaskCreateStatic |
| - vTaskDelete |
| - vTaskPrioritySet |
| - vTaskSuspendAll |
| - xTaskResumeAll |
| - xTaskGetHandle |
| - xTaskCallApplicationTaskHook |
| - vTaskList |
| - vTaskGetRunTimeStats |
| - xTaskCatchUpTicks |
| - xEventGroupCreate |
| - xEventGroupCreateStatic |
| - vEventGroupDelete |
| - xStreamBufferGenericCreate |
| - xStreamBufferGenericCreateStatic |
| - vStreamBufferDelete |
| - xStreamBufferReset |
| Also, an unprivileged task can no longer use vTaskSuspend to suspend |
| any task other than itself. |
| |
| We thank the following people for their inputs in these enhancements: |
| - David Reiss of Meta Platforms, Inc. |
| - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling |
| of School of Computer Science and Engineering, Southeast University, |
| China. |
| - Xinwen Fu of Department of Computer Science, University of |
| Massachusetts Lowell, USA. |
| - Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of |
| Colorado Boulder, USA. |
| + Add Cortex-M35P port. Contributed by @urutva. |
| + Add embedded extension (RV32E) support to the IAR RISC-V port. |
| + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by |
| @chrisnc. |
| + Add APIs to get the application supplied buffers from statically |
| created kernel objects. The following new APIs are added: |
| - xTaskGetStaticBuffers |
| - xQueueGetStaticBuffers |
| - xQueueGenericGetStaticBuffers |
| - xSemaphoreGetStaticBuffer |
| - xEventGroupGetStaticBuffer |
| - xStreamBufferGetStaticBuffers |
| - xMessageBufferGetStaticBuffers |
| These APIs enable the application writer to obtain static buffers from |
| the kernel object and free/reuse them at the time of deletion. Earlier |
| the application writer had to maintain the association of static buffers |
| and the kernel object in the application. Contributed by @Dazza0. |
| + Add Thread Local Storage (TLS) support using picolibc function. Contributed |
| by @keith-packard. |
| + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result, |
| the number of bits in an event group also increases with big data type. Contributed |
| by @Hadatko. |
| + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready |
| tasks. Contributed by @Dazza0. |
| + Update heap_4 and heap_5 to add padding only if the resulting block is not |
| already aligned. |
| + Fix the scheduler logic in a couple of places to not preempt a task when an |
| equal priority task becomes ready. |
| + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden. |
| + Fix clang compiler warnings. Contributed by @phelter. |
| + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from |
| interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY. |
| Contributed by @urutva. |
| + Add xPortIsInsideInterrupt API to ARM_CM0 ports. |
| + Fix build warning in MSP430X port when large data model is used. |
| + Add the ability to use Cortex-R5 port on the parts without FPU. |
| + Fix build warning in heap implementations on PIC24/dsPIC. |
| + Update interrupt priority asserts for Cortex-M ports so that these do not fire |
| on QEMU which does not implement PRIO bits. |
| + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority. |
| configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings |
| these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc. |
| + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed |
| by @jacky309. |
| + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain. |
| + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu. |
| + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate. |
| |
| Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022 |
| + Updated the kernel version in manifest and SBOM |
| |
| Changes between FreeRTOS V10.4.6 and FreeRTOS V10.5.0 released September 16 2022 |
| |
| + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that |
| already independently gained the ability to execute injected code to |
| read from or write to arbitrary addresses by passing a negative argument |
| as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or |
| vTaskSetThreadLocalStoragePointer respectively. A check has been added to |
| ensure that passing a negative argument as the xIndex parameter does not |
| cause arbitrary read or write. |
| We thank Certibit Consulting, LLC for reporting this issue. |
| + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task |
| to invoke any function with privilege by passing it as a parameter to |
| MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, |
| MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate |
| and MPU_xTaskCreateStatic have been updated to only allow creation of |
| unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and |
| MPU_xTimerPendFunctionCall APIs have been removed. |
| We thank Huazhong University of Science and Technology for reporting |
| this issue. |
| + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that |
| already independently gained the ability to execute injected code to |
| achieve further privilege escalation by branching directly inside a |
| FreeRTOS MPU API wrapper function with a manually crafted stack frame. |
| The local stack variable `xRunningPrivileged` has been removed so that |
| a manually crafted stack frame cannot be used for privilege escalation |
| by branching directly inside a FreeRTOS MPU API wrapper. |
| We thank Certibit Consulting, LLC, Huazhong University of Science and |
| Technology and the SecLab team at Northeastern University for reporting |
| this issue. |
| + ARMv7-M MPU ports: It was possible to configure overlapping memory |
| protection unit (MPU) regions such that an unprivileged task could access |
| privileged data. The kernel now uses highest numbered MPU regions for |
| kernel protections to prevent such MPU configurations. |
| We thank the SecLab team at Northeastern University for reporting this |
| issue. |
| + Add support for ARM Cortex-M55. |
| + Add support for ARM Cortex-M85. Contributed by @gbrtth. |
| + Add vectored mode interrupt support to the RISC-V port. |
| + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port. |
| Contributed by @Limoto. |
| + Heap improvements: |
| - Add a check to heap_2 to track if a memory block is allocated to |
| the application or not. The MSB of the size field is used for this |
| purpose. The same check already exists in heap_4 and heap_5. This |
| check prevents double free errors. |
| - Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4 |
| and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using |
| vPortFree() is automatically cleared to zero. |
| - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same |
| signature as the standard library calloc function. |
| - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by |
| @Octaviarius. |
| + Add the ability to override send and receive completed callbacks for each |
| instance of a stream buffer or message buffer. Earlier there could be |
| one send and one receive callback for all instances of stream and message |
| buffers. Having separate callbacks per instance allows different message |
| and stream buffers to be used differently - for example, some for inter core |
| communication and others for same core communication. |
| The feature can be controlled by setting the configuration option |
| configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1, |
| APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback() |
| (and likewise APIs for message buffer) can be used to create a stream buffer |
| or message buffer instance with application provided callback overrides. When |
| the option is set to 0, then the default callbacks as defined by |
| sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain |
| backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The |
| functionality is currently not supported for MPU enabled ports. |
| + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it |
| is not tied to newlib and can be used with other c-runtime libraries also. |
| The default behavior for newlib support is kept same for backward |
| compatibility. |
| + Add support to build and link FreeRTOS using CMake build system. Contributed |
| by @yhsb2k. |
| + Add support to generate Software Bill of Materials (SBOM) for every release. |
| + Add support for 16 MPU regions to the GCC Cortex-M33 ports. |
| + Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports. |
| The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND |
| when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core. |
| + Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support |
| the case when the SysTick timer is not clocked from the same source as the CPU. |
| + Add hardware stack protection support to MicroBlazeV9 port. This ensures that |
| the CPU immediately raises Stack Protection Violation exception as soon as any |
| task violates its stack limits. Contributed by @uecasm. |
| + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this |
| option is set to 1, ListItem_t and MiniLitItem_t remain separate types. |
| However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t |
| are both typedefs of the same struct xLIST_ITEM. This addresses some issues |
| observed when strict-aliasing and link time optimization are enabled. |
| To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1. |
| + Simplify prvInitialiseNewTask to memset newly allocated TCB structures |
| to zero, and remove code that set individual structure members to zero. |
| + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds |
| without any warning with -Wmissing-prototypes compiler option. |
| + Add top of stack and end of stack to the task info report obtained using |
| vTaskGetInfo(). Contributed by @shreyasbharath. |
| + Add a cap to the cRxLock and cTxLock members of the queue data structure. |
| These locks count the number items received and sent to the queue while |
| the queue was locked. These are later used to unblock tasks waiting on |
| the queue when the queue is unlocked. This PR caps the values of the |
| cRxLock and cTxLock to the number of tasks in the system because we cannot |
| unblock more tasks than there are in the system. Note that the same assert |
| could still be triggered is the application creates more than 127 tasks. |
| + Changed uxAutoReload parameter in timer functions to xAutoReload. The |
| type is now BaseType_t. This matches the type of pdTRUE and pdFALSE. |
| The new function xTimerGetAutoReload() provides the auto-reload state as |
| a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the |
| original UBaseType_t return value. |
| + Fix support for user implementations of tickless idle that call |
| vTaskStepTick() with xExpectedIdleTime ticks to step. The new code |
| ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick() |
| instead of inside vTaskStepTick(). This fixes the typical case where a task |
| wakes up one tick late and a rare case assertion failure when xTickCount\ |
| rolls over. Contributed by @jefftenney. |
| + Fix deadlock in event groups when pvPortMalloc and vPortFree functions |
| are protected with a mutex. Contributed by @clemenskresser. |
| + Fix a warning in tasks.c when compiled with -Wduplicated-branches |
| GCC option. Contributed by @pierrenoel-bouteville-act. |
| + Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION |
| is set to zero. Contributed by @rdpoor. |
| + Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly |
| copies length on big endian platforms too. |
| + Remove the need for INCLUDE_vTaskSuspend to be set to 1 |
| when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv. |
| + Update the RL78 IAR port to the latest version of IAR which uses the |
| industry standard ELF format as opposed to earlier UBROF object format. |
| Contributed by @felipe-iar. |
| + Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This |
| allows the PIC24 family of 16 bit processors to read the tick count without |
| a critical section when the tick count is also 16 bits. |
| + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when |
| Link Time Optimization is enabled. Contributed by @niniemann. |
| + Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform. |
| Contributed by @cmdrf. |
| + Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is |
| 8-byte aligned. This fixes the unaligned access exception. Contributed |
| by @Atomar25. |
| + Fix Interrupt Handler Register Function and Exception Process in NiosII |
| Port. Contributed by @ghost. |
| + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore |
| interrupt acknowledge register. This ensures that the SRE port behavior |
| matches the Memory Mapped IO port. Contributed by @sviaunxp. |
| + Update the uncrustify config file to match the version of the uncrustify |
| used in the CI Action. Also, pin the version of uncrustify in CI. Contributed |
| by @swaldhoer. |
| |
| Changes between FreeRTOS V10.4.5 and FreeRTOS V10.4.6 released November 12 2021 |
| |
| + ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the |
| internal functions xPortRaisePrivilege and vPortResetPrivilege by changing |
| them to macros. |
| + Introduce a new config configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which |
| enables developers to prevent critical sections from unprivileged tasks. |
| It defaults to 1 for backward compatibility. Application should set it to |
| 0 to disable critical sections from unprivileged tasks. |
| |
| 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. |