.. _zephyr_1.6:

Zephyr Kernel 1.6.0
####################

We are pleased to announce the release of Zephyr kernel version 1.6.0. This
release introduces the unified Kernel replacing the separate nano- and
micro-kernels and simplifying the overall Zephyr architecture and programming
interfaces.
Support for the ARM Cortex-M0/M0+ family was added and board support for
Cortex-M was expanded.
Additionally, this release adds many improvements for documentation, build
infrastructure, and testing.

Major enhancements included with the release:

* Introduced the Unified Kernel; the nano and micro kernel were removed.
* The legacy API is still supported but deprecated.
* Legacy tests and samples were moved to tests/legacy and samples/legacy.
* Unified kernel documentation was added and legacy nanokernel/microkernel
  documentation was removed.
* Added support for several ARM Cortex-M boards
* Added support for USB mass storage and access to the filesystem.
* Added native Bluetooth Controller support. Currently nRF51 & nRF52 are supported.

A detailed list of changes since v1.5.0 by component follows:

Kernel
******

* Introduced the unified kernel.
* Removed deprecated Tasks IRQs.
* Removed deprecated dynamic interrupt API.
* Added DLIST to operate in all elements of a doubly-linked list.
* SLIST: Added sys_slist_get() to fetch and remove the head, also Added
  append_list and merge_slist.
* Added nano_work_pending to check if it is pending execution.
* Unified: Added support for k_malloc and k_free.
* Renamed kernel objects event to alert and memory map to memory slab.
* Changed memory pool, memory maps, message queues and event handling APIs.

Architectures
*************

* ARC: Removed CONFIG_TIMER0_CLOCK_FREQ.
* ARC: Unified linker scripts.
* ARC: Removed dynamic interrupts.
* ARM: Added choice to use floating point ABI.
* ARM: Added NXP Kinetis kconfig options to configure clocks.
* ARM: Removed dynamic interrupts and exceptions.
* ARM: Atmel: Added constants and structures for watchdog registers.
* ARM: Added support for ARM Cortex-M0/M0+.
* x86: Removed dynamic interrupts and exceptions.
* x86: Declared internal API for interrupt controllers.
* x86: Changed IRQ controller to return -1 if cannot determine source vector.
* x86: Grouped Quark SoC's under intel_quark family.
* x86: Optimized and simplified IRQ and exception stubs.

Boards
******

* Renamed board Quark SE devboard to Quark SE C1000 devboard.
* Renamed board Quark SE SSS devboard to Quark SE C1000 SS devboard.
* Quark SE C1000: Disabled IPM and enabled UART0 on the Sensor Subsystem.
* Removed basic_cortex_m3 and basic_minuteia boards.
* Arduino 101: Removed backup/restore scripts. To restore original bootloader
  use flashpack utility instead.
* Renamed nRF52 Nitrogen to 96Boards Nitrogen.
* Added ARM LTD Beetle SoC and V2M Beetle board.
* Added Texas Instruments CC3200 LaunchXL support.
* Added support for Nordic Semiconductor nRF51822.
* Added support for NXP Hexiwear board.

Drivers and Sensors
*******************

* SPI: Fixed typos in SPI port numbers.
* Pinmux: Removed Quark dev unused file.
* I2C: Added KSDK shim driver.
* Ethernet: Added KSDK shim driver.
* Flash: Added KSDK shim driver
* I2C: Changed config parameters to SoC specific.
* QMSI: Implemented suspend and resume functions QMSI shim drivers
* Added HP206C sensor.
* Changed config_info pointers to const.
* Added support for SoCWatch driver.
* Added FXOS8700 accelerometer / magnetometer sensor driver.

Networking
**********

* Minor fixes to uIP networking stack (This will be deprecated in 1.7)

Bluetooth
*********

* Added native Bluetooth Controller support. Currently nRF51 & nRF52 are supported.
* New location for Controller & Host implementations: subsys/bluetooth/
* Added raw HCI API to enable physical HCI transport for a Controller-only build.
* Added sample raw HCI apps for USB and UART.
* Added cross-transport pairing support for the Security Manager Protocol.
* Added RFCOMM support (for Bluetooth Classic)
* Added basic persistent storage support (filesystem-backed)
* Renamed bt_driver API to bt_hci_driver, in anticipation of Bluetooth radio drivers.

Build Infrastructure
********************

* Makefile: Changed outdir into board-specific directory to avoid build collisions.
* Makefile: Changed to use HOST_OS environment variable.
* Makefile: Added support for third party build systems.
* Sanity: Added support to filter using environment variables.
* Sanity: Added support for multiple toolchains.
* Sanity: Added ISSM and ARM GCC embedded toolchains to the supported toolchains.
* Sanity: Added extra arguments to be passed to the build.
* Sanity: Removed linker VMA/LMA offset check.
* Sysgen: Added --kernel_type argument.
* Modified build infrastructure to support unified kernel.
* SDK: Zephyr: Added check for minimum required version.
* Imported get_maintainer.pl from Linux kernel.

Libraries
*********

* libc: Added subset of standard types in inttypes.h.
* libc: Added support for 'z' length specifier.
* libc: Removed stddef.h which is provided by the compiler.
* libc: printf: Improved code for printing.
* printk: Added support for modifiers.
* Added CoAP implementation for Zephyr.
* File system: Added API to grow or shrink a file.
* File system: Added API to get volume statistics.
* File system: Added API to flush cache of an opened file.

HALs
****

* QMSI: Updated to version 1.3.1.
* HAL: Imported CC3200 SDK.
* Imported Nordic MDK nRF51 files.
* Imported Kinetis SDK Ethernet phy driver.
* Imported SDK RNGA driver.

Documentation
*************

* Drivers: Improved Zephyr Driver model.
* Updated device power management API.
* Unified Kernel primer.
* Moved supported board information to the wiki.zephyrproject.org site.
* Revised documentation for Kernel Event logger and Timing.

Test and Samples
****************

* Fixed incorrect printk usage.
* Removed test for dynamic exceptions.
* Added USB sample.
* Added tests and samples for CoAP client and server.
* Added philosophers unified sample.
* Removed printf/printk wrappers.
* Added Unified kernel API samples.
* Imported TinyCrypt test cases for CTR, ECC DSA and ECC DH algorithm.

Deprecations
************

* Deprecated microkernel and nanokernel APIs.
* Removed dynamic IRQs and exceptions.
* Removed Tasks IRQs.

JIRA Related Items
******************

* ``ZEP-308`` - Build System cleanup and Kernel / Application build separation
* ``ZEP-334`` - Unified Kernel
* ``ZEP-766`` - USB Mass Storage access to internal filesystem
* ``ZEP-1090`` - CPU x86 save/restore using new QMSI bootloader flow
* ``ZEP-1173`` - Add support for bonding remove
* ``ZEP-48`` - define API for interrupt controllers
* ``ZEP-181`` - Persistent storage APIs
* ``ZEP-233`` - Support USB mass storage device class
* ``ZEP-237`` - Support pre-built host tools
* ``ZEP-240`` - printk/printf usage in samples
* ``ZEP-248`` - Add a BOARD/SOC porting guide
* ``ZEP-342`` - USB DFU
* ``ZEP-451`` - Quark SE output by default redirected to IPM
* ``ZEP-521`` - ARM - add choice to floating point ABI selection
* ``ZEP-546`` - UART interrupts not triggered on ARC
* ``ZEP-584`` - warn user if SDK is out of date
* ``ZEP-592`` - Sanitycheck support for multiple toolchains
* ``ZEP-605`` - SMP over BR/EDR
* ``ZEP-614`` - Port TinyCrypt 2.0 test cases to Zephyr
* ``ZEP-622`` - Add FS API to truncate/shrink a file
* ``ZEP-627`` - Port Trickle support from Contiki into current stack
* ``ZEP-635`` - Add FS API to grow a file
* ``ZEP-636`` - Add FS API to get volume total and free space
* ``ZEP-640`` - Remove dynamic IRQs/exceptions from Zephyr
* ``ZEP-653`` - QMSI shim driver: Watchdog: Implement suspend and resume callbacks
* ``ZEP-654`` - QMSI shim driver: I2C: Implement suspend and resume callbacks
* ``ZEP-657`` - QMSI shim driver: AONPT: Implement suspend and resume callbacks
* ``ZEP-661`` - QMSI shim driver: SPI: Implement suspend and resume callbacks
* ``ZEP-688`` - unify duplicated sections of arch linker scripts
* ``ZEP-715`` - Add K64F clock configurations
* ``ZEP-716`` - Add Hexiwear board support
* ``ZEP-717`` - Add ksdk I2C shim driver
* ``ZEP-718`` - Add ksdk ethernet shim driver
* ``ZEP-721`` - Add FXOS8700 accelerometer/magnetometer sensor driver
* ``ZEP-737`` - Update host tools from upstream: fixdep.c
* ``ZEP-740`` - PWM API: Check if 'flags' argument is really required
* ``ZEP-745`` - Revisit design of PWM Driver API
* ``ZEP-750`` - Arduino 101 board should support one configuration using original bootloader
* ``ZEP-758`` - Rename Quark SE Devboard to its official name: Quark SE C1000
* ``ZEP-767`` - Add FS API to flush cache of an open file
* ``ZEP-775`` - Enable USB CDC by default on Arduino 101 and redirect serial to USB
* ``ZEP-783`` - ARM Cortex-M0/M0+ support
* ``ZEP-784`` - Add support for Nordic Semiconductor nRF51822 SoC
* ``ZEP-850`` - remove obsolete boards basic_minuteia and basic_cortex_m3
* ``ZEP-906`` - [unified] Add scheduler time slicing support
* ``ZEP-907`` - Test memory pool support (with mailboxes)
* ``ZEP-908`` - Add task offload to fiber support
* ``ZEP-909`` - Adapt tickless idle + power management for ARM
* ``ZEP-910`` - Adapt tickless idle for x86
* ``ZEP-912`` - Finish renaming kernel object types
* ``ZEP-916`` - Eliminate kernel object API anomalies
* ``ZEP-920`` - Investigate malloc/free support
* ``ZEP-921`` - Miscellaneous documentation work
* ``ZEP-922`` - Revise documentation for Kernel Event Logger
* ``ZEP-923`` - Revise documentation for Timing
* ``ZEP-924`` - Revise documentation for Interrupts
* ``ZEP-925`` - API changes to message queues
* ``ZEP-926`` - API changes to memory pools
* ``ZEP-927`` - API changes to memory maps
* ``ZEP-928`` - API changes to event handling
* ``ZEP-930`` - Cut over to unified kernel
* ``ZEP-933`` - Unified kernel ARC port
* ``ZEP-934`` - NIOS_II port
* ``ZEP-935`` - Kernel logger support (validation)
* ``ZEP-954`` - Update device PM API to allow setting additional power states
* ``ZEP-957`` - Create example sample for new unified kernel API usage
* ``ZEP-959`` - sync checkpatch.pl with upstream Linux
* ``ZEP-966`` - need support for EM7D SOC on em_starterkit
* ``ZEP-975`` - DNS client port to new IP stack
* ``ZEP-981`` - Add doxygen documentation to both include/kernel.h and include/legacy.h
* ``ZEP-989`` - Cache next ready thread instead of finding out the long way
* ``ZEP-993`` - Quark SE (x86): Refactor save/restore execution context feature
* ``ZEP-994`` - Quark SE (ARC): Add PMA sample
* ``ZEP-996`` - Refactor save/restore feature from i2c_qmsi driver
* ``ZEP-997`` - Refactor save/restore feature from spi_qmsi driver
* ``ZEP-998`` - Refactor save/restore feature from uart_qmsi driver
* ``ZEP-999`` - Refactor save/restore feature from gpio_qmsi driver
* ``ZEP-1000`` - Refactor save/restore feature from rtc_qmsi driver
* ``ZEP-1001`` - Refactor save/restore feature from wdt_qmsi driver
* ``ZEP-1002`` - Refactor save/restore feature from counter_qmsi_aonpt driver
* ``ZEP-1004`` - Extend counter_qmsi_aon driver to support save/restore peripheral context
* ``ZEP-1005`` - Extend dma_qmsi driver to support save/restore peripheral context
* ``ZEP-1006`` - Extend soc_flash_qmsi driver to support save/restore peripheral context
* ``ZEP-1008`` - Extend pwm_qmsi driver to support save/restore peripheral context
* ``ZEP-1023`` - workq in Kernel primer for unified kernel
* ``ZEP-1030`` - Enable QMSI shim drivers of SoC peripherals on the sensor subsystem
* ``ZEP-1043`` - Update QMSI to 1.2
* ``ZEP-1045`` - Add/Enhance shim layer to wrap SOC specific PM implementations
* ``ZEP-1046`` - Implement RAM sharing between bootloader and Zephyr
* ``ZEP-1047`` - Adapt to new PM related boot flow changes in QMSI boot loader
* ``ZEP-1106`` - Fix all test failures from TCF
* ``ZEP-1107`` - Update QMSI to 1.3
* ``ZEP-1109`` - Texas Instruments CC3200 LaunchXL Support
* ``ZEP-1119`` - move top level usb/ to sys/usb
* ``ZEP-1120`` - move top level fs/ to sys/fs
* ``ZEP-1121`` - Add config support for enabling SoCWatch in Zephyr
* ``ZEP-1140`` - Add a unified kernel version of power_mgr sample app for testing PM code with the new kernel
* ``ZEP-1188`` - Add an API to retrieve pending interrupts for wake events
* ``ZEP-1191`` - Create wiki page for Hexiwear board
* ``ZEP-1235`` - Basic shell support for file system browsing
* ``ZEP-1245`` - ARM LTD V2M Beetle Support
* ``ZEP-1313`` - porting and user guides must include a security section
* ``ZEP-1386`` - Revise power management document to reflect latest changes
* ``ZEP-199`` - Zephyr driver model is undocumented
* ``ZEP-436`` - Test case tests/kernel/test_mem_safe fails on ARM hardware
* ``ZEP-471`` - Ethernet packet with multicast address is not working
* ``ZEP-472`` - Ethernet packets are getting missed if sent in quick succession.
* ``ZEP-517`` - build on windows failed "zephyr/Makefile:869: \*\*\* multiple target patterns"
* ``ZEP-528`` - ARC has 2 almost identical copies of the linker script
* ``ZEP-577`` - Sample application source does not compile on Windows
* ``ZEP-601`` - enable CONFIG_DEBUG_INFO
* ``ZEP-602`` - unhandled CPU exceptions/interrupts report wrong faulting vector if triggered by CPU
* ``ZEP-615`` - Un-supported flash erase size listed in SPI flash w25qxxdv driver header file
* ``ZEP-639`` - device_pm_ops structure should be defined as static
* ``ZEP-686`` - docs: Info in "Application Development Primer" and "Developing an Application and the Build System" is largely duplicated
* ``ZEP-698`` - samples/task_profiler issues
* ``ZEP-707`` - mem_safe test stomps on top of .data and bottom of .noinit
* ``ZEP-724`` - build on windows failed: 'make: execvp: uname: File or path name too long'
* ``ZEP-733`` - Minimal libc shouldn't be providing stddef.h
* ``ZEP-762`` - unexpected "abspath" and "notdir" from mingw make system
* ``ZEP-777`` - samples/driver/i2c_stts751: kconfig build warning from "select DMA_QMSI"
* ``ZEP-778`` - Samples/drivers/i2c_lsm9ds0: kconfig build warning from "select DMA_QMSI"
* ``ZEP-779`` - Using current MinGW gcc version 5.3.0 breaks Zephyr build on Windows
* ``ZEP-845`` - UART for ARC on Arduino 101 behaves unexpectedly
* ``ZEP-905`` - hello_world compilation for arduino_due target fails when using CROSS_COMPILE
* ``ZEP-940`` - Fail to get ATT response
* ``ZEP-950`` - USB: Device is not listed by USB20CV test suite
* ``ZEP-961`` - samples: other cases cannot execute after run aon_counter case
* ``ZEP-967`` - Sanity doesn't build 'samples/usb/dfu' with assertions (-R)
* ``ZEP-970`` - Sanity doesn't build 'tests/kernel/test_build' with assertions (-R)
* ``ZEP-982`` - Minimal libc has EWOULDBLOCK != EAGAIN
* ``ZEP-1014`` - [TCF] tests/bluetooth/init build fail
* ``ZEP-1025`` - Unified kernel build sometimes breaks on a missing .d dependency file.
* ``ZEP-1027`` - Documentation for GCC ARM is not accurate
* ``ZEP-1031`` - qmsi: dma: driver test fails with LLVM
* ``ZEP-1048`` - grove_lcd sample: sample does not work if you disable serial
* ``ZEP-1051`` - mpool allocation failed after defrag twice...
* ``ZEP-1062`` - Unified kernel isn't compatible with CONFIG_NEWLIB_LIBC
* ``ZEP-1074`` - ATT retrying misbehaves when ATT insufficient Authentication is received
* ``ZEP-1076`` - "samples/philosophers/unified" build failed with dynamic stack
* ``ZEP-1077`` - "samples/philosophers/unified" build warnings with NUM_PHIL<6
* ``ZEP-1079`` - Licensing not clear for imported components
* ``ZEP-1097`` - ENC28J60 driver fails on concurrent tx and rx
* ``ZEP-1098`` - ENC28J60 fails to receive big data frames
* ``ZEP-1100`` - Current master still identifies itself as 1.5.0
* ``ZEP-1101`` - SYS_KERNEL_VER_PATCHLEVEL() and friends artificially limit version numbers to 4 bits
* ``ZEP-1124`` - tests/kernel/test_sprintf/microkernel/testcase.ini#test failure on frdm_k64f
* ``ZEP-1130`` - region 'RAM' overflowed occurs while building test_hmac_prng
* ``ZEP-1138`` - Received packets not being passed to upper layer from IP stack when using ENC28J60 driver
* ``ZEP-1139`` - Fix build error when power management is built with unified kernel
* ``ZEP-1141`` - TinyCrypt SHA256 test fails with system crash using unified kernel type
* ``ZEP-1144`` - TinyCrypt AES128 fixed-key with variable-text test fails using unified kernel type
* ``ZEP-1145`` - system hang after TinyCrypt HMAC test
* ``ZEP-1146`` - zephyrproject.org home page needs technical scrub for 1.6 release
* ``ZEP-1149`` - port ztest framework to unified kernel
* ``ZEP-1154`` - tests/samples failing with unified kernel
* ``ZEP-1155`` - Fix filesystem API namespace
* ``ZEP-1163`` - LIB_INCLUDE_DIR is clobbered in Makefile second pass
* ``ZEP-1164`` - ztest skip waiting the test case to finish its execution
* ``ZEP-1179`` - Build issues when compiling with LLVM from ISSM (icx)
* ``ZEP-1182`` - kernel.h doxygen show unexpected "asm" blocks
* ``ZEP-1183`` - btshell return "panic: errcode -1" when init bt
* ``ZEP-1195`` - Wrong ATT error code passed to the application
* ``ZEP-1199`` - [L2CAP] No credits to receive packet
* ``ZEP-1219`` - [L2CAP] Data sent exceeds maximum PDU size
* ``ZEP-1221`` - Connection Timeout during pairing
* ``ZEP-1226`` - cortex M7 port assembler error
* ``ZEP-1227`` - ztest native testing not working in unified kernel
* ``ZEP-1232`` - Daily build is failing asserts
* ``ZEP-1234`` - Removal of fiber* APIs due to unified migration breaks USB mass storage patchset
* ``ZEP-1247`` - Test tests/legacy/benchmark/latency_measure is broken for daily sanitycheck
* ``ZEP-1252`` - Test test_chan_blen_transfer does not build for quark_d2000_crb
* ``ZEP-1277`` - Flash driver (w25qxxdv) erase function is not checking for offset alignment
* ``ZEP-1278`` - Incorrect boundary check in flash driver (w25qxxdv) for erase offset
* ``ZEP-1287`` - ARC SPI 1 Port is not working
* ``ZEP-1289`` - Race condition with k_sem_take
* ``ZEP-1291`` - libzephyr.a dependency on phony "gcc" target
* ``ZEP-1293`` - ENC28J60 driver doesn't work on Arduino 101
* ``ZEP-1295`` - incorrect doxygen comment in kernel.h:k_work_pending()
* ``ZEP-1297`` - test/legacy/kernel/test_mail: failure on ARC platforms
* ``ZEP-1299`` - System can't resume completely with DMA suspend and resume operation
* ``ZEP-1302`` - ENC28J60 fails with rx/tx of long frames
* ``ZEP-1303`` - Configuration talks about >32 thread prios, but the kernel does not support it
* ``ZEP-1309`` - ARM uses the end of memory for its init stack
* ``ZEP-1310`` - ARC uses the end of memory for its init stack
* ``ZEP-1312`` - ARC: software crashed at k_mbox_get() with async sending a message
* ``ZEP-1319`` - Zephyr is unable to compile when CONFIG_RUNTIME_NMI is enabled on ARM platforms
* ``ZEP-1341`` - power_states test app passes wrong value as power state to post_ops functions
* ``ZEP-1343`` - tests/drivers/pci_enum: failing on QEMU ARM and X86 due to missing commit
* ``ZEP-1345`` - cpu context save and restore could corrupt stack
* ``ZEP-1349`` - ARC sleep needs to pass interrupt priority threshold when interrupts are enabled
* ``ZEP-1353`` - FDRM k64f Console output broken on normal flash mode

Known Issues
************

* ``ZEP-1405`` - function l2cap_br_conn_req in /subsys/bluetooth/host/l2cap_br.c
  references uninitialized pointer