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15 Espressif Systems for their contributions.
20 starting point to create the FreeRTOSConfig.h file for their application.
21 + Add a template FreeRTOS port which can be used as a starting point for
26 FreeRTOSConfig.h. We thank @oliverlavery for their contribution.
30 scheduler events. We thank @conara for their contribution.
32 thank @Techcore123 for their contribution.
38 milliseconds. We thank @Dazza0 for their contribution.
42 FreeRTOSConfig.h. We thank @mdnr-g for their contribution.
44 values are available. We thank @vinceburns for their contribution.
45 + Prevent tasks waiting for a notification from being resumed by calls to
46 vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their
49 FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices.
50 We thank @jefftenney for their contribution.
53 architecture. We thank @urutva for their contribution.
55 chip extension. We thank @JoeBenczarski for their contribution.
57 with static allocation only. We thank @conara for their contribution.
58 + Make taskYIELD available to unprivileged tasks for ARMv8-M ports.
59 + Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their
61 + Update the SysTick setup code for ARMv8-M ports to first configure the clock
65 for their contribution.
66 + Add the port-optimized task selection algorithm optionally available for
67 ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their
71 @Moral-Hao for their contribution.
74 @Moral-Hao for their contribution.
77 @karver8 for their contribution.
79 alignment requirements on MacOS. We thank @tegimeki for their contribution.
82 is bigger than the inherited priority. We thank @Moral-Hao for their
84 + Add stack alignment adjustment if stack grows upwards. We thank @ivq for
89 of the stack. We thank @bebebib-rs for their contribution.
90 + Fix vPortEndScheduler() for the MSVC port so that the function
92 scheduler is stopped. We thank @Ju1He1 for their contribution.
103 - Wrap parameters for system calls with more than four parameters in a
113 We thank the following people for their inputs in these changes:
127 1. Opaque and indirectly verifiable integers for kernel object handles:
128 All the kernel object handles (for example, queue handles) are now
175 We thank the following people for their inputs in these enhancements:
206 + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready
221 + Update interrupt priority asserts for Cortex-M ports so that these do not fire
224 configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings
226 + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed
229 + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu.
237 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that
244 We thank Certibit Consulting, LLC for reporting this issue.
245 + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task
252 We thank Huazhong University of Science and Technology for reporting
254 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that
259 a manually crafted stack frame cannot be used for privilege escalation
262 Technology and the SecLab team at Northeastern University for reporting
266 privileged data. The kernel now uses highest numbered MPU regions for
268 We thank the SecLab team at Northeastern University for reporting this
270 + Add support for ARM Cortex-M55.
271 + Add support for ARM Cortex-M85. Contributed by @gbrtth.
273 + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port.
277 the application or not. The MSB of the size field is used for this
287 + Add the ability to override send and receive completed callbacks for each
289 one send and one receive callback for all instances of stream and message
291 and stream buffers to be used differently - for example, some for inter core
292 communication and others for same core communication.
296 (and likewise APIs for message buffer) can be used to create a stream buffer
301 functionality is currently not supported for MPU enabled ports.
304 The default behavior for newlib support is kept same for backward
308 + Add support to generate Software Bill of Materials (SBOM) for every release.
309 + Add support for 16 MPU regions to the GCC Cortex-M33 ports.
326 + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds
342 + Fix support for user implementations of tickless idle that call
356 + Remove the need for INCLUDE_vTaskSuspend to be set to 1
364 + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when
373 + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore
387 It defaults to 1 for backward compatibility. Application should set it to
396 for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type
397 (for example, uint64_t) in FreeRTOSConfig.h to override the default.
421 + Minor refactor of timers.c that obsoletes the need for the
422 tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to
463 + Changes to improve robustness and consistency for buffer allocation in
483 + Add support for ESP IDF 4.2 to ThirdParty Xtensa port.
509 https://www.freertos.org/RTOS-task-notifications.html for more information.
513 to override default memory attributes for privileged code and data
517 for more information.
525 + The prototypes for callback functions (those that start with "Application",
527 files, removing the need for application writers to add prototypes into
530 + Updates to the Synopsys ARC code, including support for EM and HS cores,
535 + Many other minor optimisations and enhancements. For full details
552 + Added RISC-V port for the IAR compiler.
554 a user reported error whereby a task continues to run for a short time
560 + The RISC-V machine timer compare register can now be for any HART, whereas
573 + Added contributed port and demo application for a T-Head (formally C-SKY)
581 application code has held interrupts disabled for an extended period.
591 + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR
654 + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for
681 local storage feature was used for this purpose.
682 + Added Xtensa port and demo application for the XCC compiler.
683 + Changed the implementation of vPortEndScheduler() for the Win32 port to
685 + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect
697 configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example,
718 We thank Ori Karliner of Zimperium zLabs Team for reporting these issues.
749 + Added demo for TI SimpleLink CC3220 MCU.
750 + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx
819 value of than than 0 when the system boots. This can be useful for
828 bytes on the main stack as it prevents space being left for a later save
833 to specify the stack size when using xTaskCreate(). For historic reasons,
863 entry address placed onto the stack of a task when the task is created for
878 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the
879 documentation page for this port before use.
884 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(),
896 + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC
903 NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details
912 a reference for projects that do not include a FreeRTOS heap.
928 even if the event the blocked task is waiting for has not occurred, or the
938 The handle returned by xTaskGetTaskHandle() can then be stored locally for
942 + Tickless idling (for low power applications) can now also be used when
959 information could only be obtained for all the tasks at once, as an array
972 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx
987 + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM
990 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ
998 + Updates to RL78 and 78K0 IAR port layers to improve support for
1011 + Add in the FreeRTOS+Trace recorder library required for streaming trace.
1015 + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with
1037 + Microblaze port: Added option for port optimised task selection.
1054 + Added demo project for the new IA32/x86 port that targets the Galileo
1057 + Added FreeRTOS BSP repository for automatic creation of FreeRTOS
1059 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7)
1069 a fail safe transactional file system ideal for applications that require
1073 + Improve the NetworkInterface.c file provided for the Windows port of
1085 + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio.
1086 + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a
1090 + Change some data types from uint32_t to size_t in preparation for 64-bit
1099 + Added demo application for TI's ARM Cortex-M4F based MSP432
1101 + Added demo application for STM32F ARM Cortex-M7 based microcontroller
1103 + Added demo application for Atmel SAMV71 ARM Cortex-M7 based
1115 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for
1125 xQueueGenericSendFromISR(). This allows for major performance
1137 + Introduced a new critical section macro for reading the tick count that
1152 + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0
1167 + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU.
1168 + Added demo application for Altera Cyclone V Cortex-A9 MPU.
1170 demo tasks for new RTOS features.
1234 + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC
1235 compiler and one for the Renesas compiler. Both demos use e2 studio.
1282 FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x,
1287 See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full
1332 moving a higher priority task out of the Blocked state. For example,
1343 + Added a port layer and a demo project for the new PIC32MZ architecture.
1358 'v'), although it will remain in the code for backward compatibility.
1366 + Added comprehensive demo for the Atmel SAM4E, including use of
1388 + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to
1390 + Add Cortex-M0 port for Keil.
1411 + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes
1413 + Added a demo for the Infineon Cortex-M0 that can be built with the IAR
1415 + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools,
1435 Compatibility information for FreeRTOS users:
1440 FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be
1443 Compatibility information for FreeRTOS port writers:
1505 runs in the FreeRTOS Windows simulator for easy and hardware independent
1512 the yield macros of Cortex-M and Cortex-R port layers. For efficiency
1546 + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a
1547 pre-processor macro for backward compatibility with the previous name.
1557 + Added support for PIC24 devices that include EDS.
1576 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to
1581 (which would not be a normal usage model for a mutex).
1585 changes are not necessary for the kernel's own implementation, and are
1591 + Added new ports and demo applications for the TI Hercules RM48 and TMS570
1619 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was
1624 can choose any register for the functions parameter (required at high
1634 + Added two new list handling macros - for internal use only in upcoming new
1639 invalid for the function to be called.
1656 The following ports have been available as separate downloads for a number
1668 The following demos have been available as separate downloads for a number
1680 + Introduced the portSETUP_TCB() macro to remove the requirement for the
1682 macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace).
1685 + Updated the FreeRTOS MPU port to be correct for changes that were
1694 + Added a NOP following each DINT instruction on MSP430 devices for strict
1698 macro free for use by FreeRTOS+Trace.
1720 settings are correct for the configured CPU frequency.
1745 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on
1760 + The previously documented fix for the bug in xTaskResumeFromISR() that
1765 created. This is because the second check is not appropriate for some
1778 obsolete for the years since the trace macros were introduced. The
1788 number. A trace tool can set and query the queue number for its own
1791 number. A trace tool can set and query the task number for its own
1803 + The value passed into tracePRIORITY_SET() has been corrected for the case
1825 provided for both the IAR and Keil toolchains.
1835 + vTaskCleanUpResources() has been removed. It has been obsolete for a
1850 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was
1852 + The PIC32 port layer has been updated in preparation for V2 of the C32
1864 for testing ports to processors that have only single precision floating
1874 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool
1876 + Added a SmartFusion demo application for all of the IAR, Keil and
1902 demonstrations are included in the demo projects for both of the new ports
1912 + Updated the MSP430X IAR port and demo project to include support for the
1914 + Added a demo project for the MSP430X that targets the MSP430X Discovery
1926 + Various cosmetic changes to prepare for a standards compliance statement
1934 environment. Demo projects are provided for both.
1935 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the
1937 + Added a demo for the low power STM32L152 microcontroller using the IAR
1939 + Added a new port for the MSP430X core using the IAR Embedded Workbench.
1951 the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for
1952 more flexibility in how the time base for the run time statistics feature
1967 has been asked for on numerous occasions to assist with initialisation
1969 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites.
1985 + Added port and demo application for the Cortus APS3 processor.
2015 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes.
2019 + Updated the startup file for the RVDS LPC21xx demo.
2023 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the
2030 + Added prototypes for all the privileged function wrappers to ensure no
2046 support. Two ports now exist for the Cortex M3, the standard FreeRTOS
2050 + Wording for the GPL exception has been (hopefully) clarified. Also the
2061 setting up the initial stack of a task - removing the need for
2076 + Added LM3Sxxxx demo for Rowley CrossWorks.
2083 + Added a new port and demo app for the Altera Nios2 soft core.
2084 + Added LPC1768 demo for IAR.
2110 + Changed the initial stack setup for the PPC405 to ensure the small data
2127 + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based
2129 + Added a new demo application for the NXP LPC1766 Cortex-M3 based
2138 + Added in the lwIP port layer for the Coldfire MCF52259.
2146 + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using
2148 + Heap_1.c and Heap_2.c used to define structures for the purpose of data
2174 + Updated the threads.js Java script used for kernel aware debugging in
2188 + Added a new port and demo application for the ColdFire V2 core using the
2192 + Stack overflow checking now works for stacks that grow up from low
2201 + Added more contributed ports, including ports for NEC and SAM9
2207 + Completely re-written port for ColdFire GCC.
2221 WEB site for full usage information.
2225 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port
2247 save and restore the floating point context respectively for those tasks
2250 adequate space above the stack for the backchain to be saved when a task
2251 started to execute for the first time.
2252 + Updated queue.c to add in the means to allow interrupt nesting and for
2260 means for kernel aware debuggers to locate queue definitions. It has no
2266 + Changed the blocktim.c test files as it is no longer legitimate for all
2287 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3
2323 for ARM.
2338 the online documentation for more information.
2341 source files. See the online documentation for more information.
2343 + Added the STM32 primer demo project for the GCC compiler and Ride IDE.
2349 + Added support for the MIPS M4K based PIC32.
2354 + Changed the method used to force a context switch within an ISR for the
2359 + Corrected the prototype for xQueueGenericSend() within queue.h.
2365 xQueueSend() function - which is maintained for backward compatibility.
2373 + Updated the GCC port for the Cortex M3 to include the
2378 + Consolidated the LM3Sxxxx EK demos for all development tools into a
2381 + Added Eclipse support for LM3Sxxxx evaluation kits.
2382 + Added Eclipse support for the Keil LPC2368 evaluation kit.
2386 + Added an lwIP demo for the STR9 - thanks ST for assistance.
2389 + Included binaries for OpenOCD FTDI and parallel port interfaces.
2395 + Added IAR lwIP demo for AVR32 UC3A.
2397 (thanks Niu Yong for making the suggestion).
2402 actually in the Suspended state (thanks Dan Searles for reporting the
2409 + Updated ustdlib.c for the GCC LM3S6965 demo.
2415 documentation pages for more information.
2418 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris
2429 + Added AVR32 AT32UC3A ports for GCC and IAR.
2438 + Added Cortex-M3 LM3S811 demos for GCC and IAR tools.
2468 for xQueueSend() and xQueueReceive() to return without having completed
2471 to be checked to determine the reason for returning. This is no longer
2502 + Added a port and demo application for the STR9 ARM9 based processors from
2510 + Added a port and demo application for the Cortex-M3 target using the IAR
2514 + The heap size defined for the lwIP Rowley demo has been reduced so that
2525 + Port and demo application added for the Tern Ethernet Engine controller.
2526 + Port and demo application added for MC9S12 using GCC, thanks to
2552 + Added a Luminary Micro port and demo for use with Rowley CrossWorks.
2559 + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers.
2583 + Changed the WinAVR makefile to make chars signed - needed for the
2603 problem for some user. Now a check is performed first to see if the
2619 Many thanks to Glen Biagioni for the provided update.
2645 + Added an IAR port for the Philips LPC2129
2653 + Added lwIP demo for AT91SAM7X using Rowley tools.
2654 + Added uIP demo for AT91SAM7X using IAR tools.
2664 get started in order for the test to function correctly.
2669 issues. Thanks to Ares.qi for his input.
2692 application for the MC9S12DP256. The new demo application is
2697 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the
2705 + Added new ports for ST Microsystems STR71x, and Freescale HCS12
2709 + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his
2712 Thomas Krutmann for this contribution.
2714 See the WEB documentation for details.
2734 efficient for that architecture. The type BaseType_t is used
2738 See the "New for V3.0.0" section of the FreeRTOS online
2739 documentation for full details of API changes.
2745 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van
2747 + The IAR port for the AVR microcontroller has been upgraded to V3.0.0
2752 For consistency, and to allow integration of the new ports, the
2760 + The demo applications for the two AVR ports no longer share the same
2767 See the "New for V3.0.0" section of the FreeRTOS online
2768 documentation for more information.
2793 version of WinAVR is required in order to create a binary suitable for
2819 This version adds support for the H8 processor.
2840 into an ASCII file). One for big endian targets and one for little endian
2854 Demo/ARM7_AT91SAM7S64_IAR for consistency.
2860 This version adds support for the Atmel SAM7 ARM7 microcontrollers
2873 Linux. Thanks to Frieder Ferlemann for this contribution.
2875 pxCreatedTask is NULL. Thanks to Kamil for this contribution.
2886 for highlighting this issue.
2890 The critical section handling functions have been changed for the GCC ARM7
2924 schemes - so you can choose the most appropriate for your application.
2927 See the "Memory Management" page of the API documentation for more details.
2931 + Replaced the portheap.c files for each demo application with one of the
2933 + Updated the portmacro.h file for each demo application to include the
2934 constants required for the new memory allocators: portTOTAL_HEAP_SIZE and
2954 + Added the first ARM7 port - thanks to Bill Knight for the assistance
2985 Espeche for the enhancement.
2994 Franco for the correction.
3012 section of the API documentation for more details.
3043 See the Configuration section on the WEB site for more information (on
3061 + The interrupt vector used for the PIC master ISR has been changed from
3076 + Modified the PIC serial Rx ISR to check for and clear overrun errors.
3094 section of www.FreeRTOS.org for details.
3126 portSTACK_GROWTH macro. This is required for the PIC port where the
3135 have been modified for use with the September 2003 build of WinAVR. No
3165 channel for transmissions. The serial driver is fully functional but still
3166 under development. Flashlite users may prefer to use V1.2.0 for now.
3170 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600.
3179 scheduled enough time for each of them to count the shared variable to
3181 + The flashlite 186 serial driver now uses a DMA channel for transmissions.
3188 need for a pointer comparison when checking if a list is empty, and so
3207 demo\common\full. The files in the full directory are for systems with
3209 minimal directory are for systems with limited RAM and no display
3227 accordance with the naming convention. For example
3234 + comtest.c now uses a psuedo random delay between sends. This allows for
3253 by the compiler. This means the initial stack setup for a task has to
3254 mimic the stack used by the compiler, which is different for debug and
3265 + portasm.h introduced. This contains macro definitions for
3280 + Prevent the call to kbhit() in main.c for debug builds as the debugger
3281 seems to have problems stepping over the call. This if for the PC port