Lines Matching full:the
5 + Updated the SBOM file.
9 + SMP merged into the mainline: While FreeRTOS introduced Asymmetric
10 Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the
11 first to merge Symmetric Multiprocessing (SMP) support into the mainline
12 release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks
20 starting point to create the FreeRTOSConfig.h file for their application.
24 heap_4.c and heap_5.c to help catch pointer corruptions. The application can
27 + Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf
29 + Add trace macros to ports that enable tracing the interaction of ISRs with
33 + Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the
34 base priority of a task. The base priority of a task is the priority that
35 was last assigned to the task - which due to priority inheritance, may not
36 be the current priority of the task.
40 vApplicationGetTimerTaskMemory. The application can enable these default
43 + Update vTaskGetInfo to include start and end of the stack whenever both
48 + Add asserts to validate that the application has correctly installed
54 + Add CMake support to allow the application writer to select the RISC-V
56 + Add CMake support to allow the application writer to build an application
61 + Update the SysTick setup code for ARMv8-M ports to first configure the clock
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
69 + Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing
72 + Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and
73 heap_5.c by moving the size calculation out of the critical section. We thank
75 + Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic
78 + Fix stack end and stack size computation in POSIX port to meet the stack
80 + Update the vTaskPrioritySet implementation to use the new priority when the
81 task has inherited priority from a mutex it is holding, and the new priority
82 is bigger than the inherited priority. We thank @Moral-Hao for their
87 selected as the C library implementation to ensure that
88 pxPortInitialiseStack does not overwrite the data in the TLS block portion
89 of the stack. We thank @bebebib-rs for their contribution.
90 + Fix vPortEndScheduler() for the MSVC port so that the function
91 prvProcessSimulatedInterrupts is not stuck in an infinite loop when the
93 + Add the Pull Request (PR) Process explaining the stages a PR goes through.
97 + Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c)
99 - Introduce Access Control List (ACL) feature to allow the application
101 - Update the system call entry mechanism to only require one Supervisor
111 The same checks are already performed in API implementations using
113 We thank the following people for their inputs in these changes:
124 tasks. The following is the list of changes introduced with the new MPU
128 All the kernel object handles (for example, queue handles) are now
130 2. Save the task context in Task Control Block (TCB): When a task is
131 swapped out by the scheduler, the task's context is now saved in its
132 TCB. Previously the task's context was saved on its stack.
135 separate privileged only stack. Previously system calls used the
136 calling task's stack. The application writer can control the size of
137 the system call stack using new configSYSTEM_CALL_STACK_SIZE config
140 and de-reference it, now verify that the calling task has required
141 permissions to access the memory location referenced by the pointer.
142 5. System calls restrictions: The following system calls are no longer
175 We thank the following people for their inputs in these enhancements:
185 + Add embedded extension (RV32E) support to the IAR RISC-V port.
188 + Add APIs to get the application supplied buffers from statically
189 created kernel objects. The following new APIs are added:
197 These APIs enable the application writer to obtain static buffers from
198 the kernel object and free/reuse them at the time of deletion. Earlier
199 the application writer had to maintain the association of static buffers
200 and the kernel object in the application. Contributed by @Dazza0.
204 the number of bits in an event group also increases with big data type. Contributed
208 + Update heap_4 and heap_5 to add padding only if the resulting block is not
210 + Fix the scheduler logic in a couple of places to not preempt a task when an
215 interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY.
219 + Add the ability to use Cortex-R5 port on the parts without FPU.
223 + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority.
225 these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc.
230 + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate.
233 + Updated the kernel version in manifest and SBOM
238 already independently gained the ability to execute injected code to
240 as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or
242 ensure that passing a negative argument as the xIndex parameter does not
255 already independently gained the ability to execute injected code to
258 The local stack variable `xRunningPrivileged` has been removed so that
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
272 + Add vectored mode interrupt support to the RISC-V port.
277 the application or not. The MSB of the size field is used for this
278 purpose. The same check already exists in heap_4 and heap_5. This
281 and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using
283 - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same
284 signature as the standard library calloc function.
285 - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by
287 + Add the ability to override send and receive completed callbacks for each
293 The feature can be controlled by setting the configuration option
294 configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1,
298 the option is set to 0, then the default callbacks as defined by
300 backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
302 + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it
304 The default behavior for newlib support is kept same for backward
309 + Add support for 16 MPU regions to the GCC Cortex-M33 ports.
311 The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND
314 the case when the SysTick timer is not clocked from the same source as the CPU.
316 the CPU immediately raises Stack Protection Violation exception as soon as any
318 + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this
321 are both typedefs of the same struct xLIST_ITEM. This addresses some issues
326 + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds
328 + Add top of stack and end of stack to the task info report obtained using
330 + Add a cap to the cRxLock and cTxLock members of the queue data structure.
331 These locks count the number items received and sent to the queue while
332 the queue was locked. These are later used to unblock tasks waiting on
333 the queue when the queue is unlocked. This PR caps the values of the
334 cRxLock and cTxLock to the number of tasks in the system because we cannot
335 unblock more tasks than there are in the system. Note that the same assert
336 could still be triggered is the application creates more than 127 tasks.
337 + Changed uxAutoReload parameter in timer functions to xAutoReload. The
338 type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
339 The new function xTimerGetAutoReload() provides the auto-reload state as
340 a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
343 vTaskStepTick() with xExpectedIdleTime ticks to step. The new code
345 instead of inside vTaskStepTick(). This fixes the typical case where a task
356 + Remove the need for INCLUDE_vTaskSuspend to be set to 1
358 + Update the RL78 IAR port to the latest version of IAR which uses the
362 allows the PIC24 family of 16 bit processors to read the tick count without
363 a critical section when the tick count is also 16 bits.
369 8-byte aligned. This fixes the unaligned access exception. Contributed
374 interrupt acknowledge register. This ensures that the SRE port behavior
375 matches the Memory Mapped IO port. Contributed by @sviaunxp.
376 + Update the uncrustify config file to match the version of the uncrustify
377 used in the CI Action. Also, pin the version of uncrustify in CI. Contributed
382 + ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the
395 the type used to hold run time statistic counters. Defaults to uint32_t
397 (for example, uint64_t) in FreeRTOSConfig.h to override the default.
398 + Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing
399 ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns
400 the raw run time counter value, the new function returns the percentage of
401 the entire run time consumed by the idle task. Note the amount of idle
402 time is only a good measure of the slack time in a system if there are no
403 other tasks executing at the idle priority, tickless idle is not used, and
405 + ARMv8-M secure-side port: Tasks that call secure functions from the
407 contexts - one on the non-secure side and one on the secure-side. Previous
408 versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures
409 that reference secure-side contexts at run time. Now the structures are
410 allocated statically at compile time. The change necessitates the
411 introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant,
412 which sets the number of statically allocated secure contexts.
414 Applications that only use FreeRTOS code on the non-secure side, such as
415 those running third-party code on the secure side, are not affected by
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
425 again immediately rather than executing again the next time the command
427 + Fix a race condition in the message buffer implementation. The
429 two distinct operations, which both modify the size of the buffer. If a
430 context switch occurs after adding or removing the length bytes, but
431 before adding or removing the data bytes, then another task may observe
432 the message buffer in an invalid state.
433 + The xTaskCreate() and xTaskCreateStatic() functions accept a task priority
434 as an input parameter. The priority has always been silently capped to
439 + Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration
440 constant that enables the stack allocated to tasks to come from a heap other
441 than the heap used by other memory allocations. This enables stacks to be
443 + If there is an attempt to add the same queue or semaphore handle to the
445 entries. Now if this is done the first entry is overwritten rather than
447 + Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from
449 + Correct a build error in the POSIX port.
454 + Go look at the smp branch to see the progress towards the Symetric
459 …V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries…
464 the heap, queue and stream buffer.
465 + The following functions can no longer be called from unprivileged code.
475 + Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked
476 between the first task starting to execute and that task making
479 vTaskDelayUntil(), with the addition of returning a value to
480 indicating whether or not the function placed the calling task into
481 the Blocked state or not.
482 + Update WolfSSL to 4.5.0 and add the FIPS ready demo.
493 + Fixed an incorrectly named parameter that prevented the
494 ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the
506 an array of notifications. The direct to task notification API has been
507 extended with API functions postfixed with "Indexed" to enable the API to
510 + Kernel ports that support memory protection units (MPUs): The ARMv7-M and
511 ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M
512 MPU ports now support devices that have 16 MPU regions, have the ability
514 regions, and have the ability to place the FreeRTOS kernel code outside of
515 the Flash memory. The ARMv8-M MPU ports now support tickless idle mode.
521 + Code formatting is now automated to facilitate the increase in
522 collaborative development in Git. The auto-formated code is not identical
523 to the original formatting conventions. Most notably spaces are now used
525 + The prototypes for callback functions (those that start with "Application",
526 such as vApplicationStackOverflowHook()) are now in the FreeRTOS header
527 files, removing the need for application writers to add prototypes into
528 the C files in which they define the functions.
530 + Updates to the Synopsys ARC code, including support for EM and HS cores,
533 the same way the Windows port layer enables FreeRTOS to run on Windows
543 + ./FreeRTOS-Labs directory was removed from this file. The libraries it
552 + Added RISC-V port for the IAR compiler.
553 + Update the Windows simulator port to use a synchronous object to prevent
555 after being moved to the Blocked state. Note we were not able to
556 replicate the reported issue and it likely depends on your CPU model.
559 the interrupt stack to be statically allocated.
560 + The RISC-V machine timer compare register can now be for any HART, whereas
562 + Update the sequence used to update the 64-bit machine timer
565 + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler
567 + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to
568 match that of the ARMv8-M ports whereby privilege escalations can only
569 originate from within the kernel's own memory segment. Added
571 + Update existing MPU ports to correctly disable the MPU before it is
578 + Added the vPortGetHeapStats() API function which returns information on
579 the heap_4 and heap_5 state.
580 + Added xTaskCatchUpTicks(), which corrects the tick count value after the
587 has the same type as variables with which it is compared to, and therefore
588 also renamed the variable xPendingTicks.
589 + Update Keil projects that use the MPU so memory regions come from linker
600 + Added ARM Cortex-M23 port layer to complement the pre-existing ARM
602 + The RISC-V port now automatically switches between 32-bit and 64-bit
604 + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering
606 + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and
607 prevent the secure side builds from removing symbols required by the
609 + Introduced the portARCH_NAME to provide additional data to select semi-
611 + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before
612 updating the MPU registers.
624 + Update the method used to detect if a timer is active. Previously the
627 re-added to a list, so now the timer's active status is stored separately.
631 + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas
634 + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged
636 + Added uxTaskGetStackHighWaterMark2() function to enable the return type to
639 uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the
640 user to determine the return type.
642 of static memory only and dynamic memory only builds. As a result the
646 + Change the method used to determine if a timer is active or not from just
647 seeing if it is referenced from the active timer list to storing its
648 active state explicitly. The change prevents the timer reporting that it
650 + The pcName parameter passed into the task create functions can be NULL,
653 in xTaskRemoveFromEventList() if the scheduler is not suspended.
662 + Updated to the latest trace recorder code.
663 + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code.
665 broke debug scenarios that require the static qualifier to be removed.
671 + Update lint checked MISRA compliance to use the latest MISRA standard, was
672 previously using the original MISRA standard.
676 debuggers). Note this required the pvContainer member of a ListItem_t
680 functionality in a more user friendly way - previously the generic thread
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
686 the read modify write access to an internal Microblaze register.
687 + Fix minor niggles when the MPU is used with regards to prototype
689 + The usStackHighWaterMark member of the TaskStatus_t structure now has type
691 made when the configSTACK_DEPTH_TYPE type (which gets around the previous
693 + Added the xMessageBufferNextLengthBytes() API function and likewise stream
695 + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes
696 used to hold the length of a message in the message buffer to be reduced.
699 saving 3 bytes each time a message is written into the message buffer
701 + Updated the StaticTimer_t structure to ensure it matches the size of the
702 Timer_t structure when the size of TaskFunction_t does not equal the size
704 + Update various Xilinx demos to use 2018.1 version of the SDK tools.
707 FreeRTOS+TCP, which was brought into the main download in FreeRTOS
709 FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP.
726 + Correct formatting in vTaskList() helper function when it prints the state
727 of the currently executing task.
731 - Improve the formatting of text that displays the available netword
738 The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license
744 + Move FreeRTOS+TCP into the main repository, along with the basic Win32
753 in the MPU port.
761 + Optimisations to the implementation of the standard tickless idle mode on
763 + Improvements to the Win32 port including using higher priority threads.
767 + The uxNumberOfItems member of List_t is now volatile - solving an issue
768 when the IAR compiler was used with maximum optimization.
769 + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start
775 will be included at the bottom of tasks.c. Functions defined in that
780 defined by a user in FreeRTOSConfig.h. The macro is called before
781 assessing whether to enter tickless idle mode or not. If the macro sets
783 to abort tickless idle mode entry before the tickless idle function is
784 even called - previously it was only possible to abort from within the
787 to use the same print formatter.
789 max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the
790 application writer defines the same macros in FreeRTOSConfig.h.
791 + Corrected the definition of StaticTask_t in the case where
794 which can be defined to strings in FreeRTOSConfig.h to change the default
795 names of the timer service and idle tasks respectively.
796 + Only fill the stack of a newly created task with a known value if stack
797 checking, or high water mark checking/viewing, is in use - removing the
800 with the MPU.
804 + Updated trace recorder files to the latest version.
808 + Priority dis-inheritance behaviour has been enhanced in the case where a
810 timed out before it was able to obtain the mutex (causing the task that
811 holds the mutex to have its priority raised, then lowered again, in
812 accordance with the priority inheritance protocol).
813 + Split the overloaded xQueueGenericReceive() function into three separate
815 + Allow the default human readable text names given to the Idle and Timer
816 tasks to be overridden by defining the configIDLE_TASK_NAME and
818 + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a
819 value of than than 0 when the system boots. This can be useful for
822 + Ensure the Cortex-M SysTick count is cleared to zero before starting the
824 + Add configASSERT() into ARM Cortex-M ports to check the number of priority
826 + Clear the 'control' register before starting ARM Cortex-M4F ports in case
827 the FPU is used before the scheduler is started. This just saves a few
828 bytes on the main stack as it prevents space being left for a later save
832 + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used
833 to specify the stack size when using xTaskCreate(). For historic reasons,
834 when FreeRTOS was only used on small MCUs, the type was set to uint16_t,
838 + Increase the priority of the Windows threads used by the Win32 port. As
839 all the threads run on the same core, and the threads run with very high
840 priority, there is a risk that the host will become unresponsive, so also
841 prevent the Windows port executing on single core hosts.
849 + The prototype of the new xTaskCreateStatic() API function was modified to
851 "CreateStatic()" API functions. The stack size parameter in
852 xTaskCreateStatic() is now uint32_t, which changes the prototype of the
853 callback functions. See the following URL:
855 + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT
862 + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task
863 entry address placed onto the stack of a task when the task is created for
864 strict compliance with the ARM Cortex-M3/4/7 architecture documentation
865 (no noticeable effect unless using the QMEU emulator).
866 + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only
868 + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0
869 API (other than static object creation) and added the
871 demonstrate how to use the updated MPU port.
872 + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the
874 + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the
876 + Win32 ports: Reduce the amount of stack used and change the way Windows
877 threads are deleted to increase the maximum execution time.
878 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the
880 + MPS430X IAR port: Update to be compatible with the latest EW430 tools
884 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(),
885 xTaskGetTaskHandle() now has the alias xTaskGetHandle() and
892 + Update Xilinx SDK projects to use the 2016.1 version of the SDK.
893 + Remove dependency on legacy IO libraries from the PIC32 demos.
894 + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution.
895 + Update the MSP432 libraries to the latest version.
898 + Move the Atmel SAMA5D2 demo into the main distribution.
905 + The functions that create RTOS objects using static memory allocation have
908 + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to
910 defined. The Win32 example located in the
916 + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions.
926 + Major new features - Added the xTaskAbortDelay() API function which allows
927 one task to force another task to immediately leave the Blocked state,
928 even if the event the blocked task is waiting for has not occurred, or the
931 + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS
932 daemon task (which used to be called the timer service task) starts
933 running. This is useful if the application includes initialisation code
934 that would benefit from executing after the scheduler has been started.
935 + Added the xTaskGetTaskHandle() API function, which obtains a task handle
936 from the task's name. xTaskGetTaskHandle() uses multiple string compare
938 The handle returned by xTaskGetTaskHandle() can then be stored locally for
940 + Added the pcQueueGetQueueName() API function, which obtains the name of
941 a queue from the queue's handle.
944 + If one task deletes another task, then the stack and TCB of the deleted
945 task is now freed immediately. If a task deletes itself, then the stack
946 and TCB of the deleted task are freed by the Idle task as before.
947 + If a task notification is used to unblock a task from an ISR, but the
949 that will then occur during the next tick interrupt.
950 + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP
952 configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare
953 the array that will be used as the FreeRTOS heap, and in-so-doing, place
954 the heap at a specific memory location.
956 TaskStatus_t now includes the bae address of the task's stack.
957 + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t
959 information could only be obtained for all the tasks at once, as an array
961 + Added the uxSemaphoreGetCount() API function.
967 Further demo applications will be added prior to the final FreeRTOS V9
972 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx
982 + Fix bug identified in a modification made in V8.2.2 to the software timer
990 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ
992 + Zynq7000 port layer now declares the functions that setup and clear the
993 tick interrupt as weak symbols so they can be overridden by the
994 application, and uses a global XScuGic object so the same object can be
995 used by the application code.
996 + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is
997 currently the only port that uses it.
1002 + License simplifications. See /FreeRTOS/License/license.txt in the
1011 + Add in the FreeRTOS+Trace recorder library required for streaming trace.
1027 protected systems, have been added to the newer event group and software
1029 + Add the errno definitions used by FreeRTOS+ components into projdefs.h.
1030 + Remove the restriction that prevented tick-less idle implementations
1031 waiting indefinitely when software timers were used in the same
1033 + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of
1035 + Add additional NOPs to the MSP430X port layers to ensure strict compliance
1036 with the hardware documentation.
1038 + Microblaze port: Previously tasks inherited the exception enable state
1039 at the time the task was created. Now all tasks are created with
1040 exceptions enabled if the Microblaze design supports exceptions.
1041 + Windows port: Add additional safe guards to ensure the correct start up
1043 + Windows port: Improve the implementation of the port optimised task
1046 + Simplify the code that creates a queue.
1048 + Ensure none of the variables in the common kernel files are initialised to
1054 + Added demo project for the new IA32/x86 port that targets the Galileo
1058 applications in the Xilinx SDK.
1059 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7)
1060 + Update Xilinx SDK projects to use version 2015.2 of the SDK.
1066 + Updated FreeRTOS+Trace recorder library, which requires an update to the
1072 users to place the output buffer at a fixed memory address.
1073 + Improve the NetworkInterface.c file provided for the Windows port of
1081 + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID()
1082 function to allow the timer's ID to be used as timer local storage.
1083 + Fixed a potential issue related to the use of queue sets from an ISR.
1084 + Some updates to the Xilinx Microblaze GCC port.
1088 use the ARM Cortex-M4F port.
1089 + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0.
1092 + Update the PIC32 port to remove deprecation warnings output by the latest
1095 overwrite items in two queues that are part of the same set.
1105 + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and
1106 runs on the KC705 evaluation board (Kintex FPGA).
1110 Changes between release candidate 1 and the official release are restricted
1115 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for
1119 This header file must be present to build. Note some of the obsolete
1126 enhancements at the expense of some additional code size if both functions
1127 are used in the same application. NOTE: In most uses cases such use of
1130 + The TCB is now always allocated such that the task's stack grows away from
1131 the TCB (improves debugging of stack overflows as the overflow will not
1132 overwrite the task's name).
1134 enhancements at the cost of a little additional code space).
1136 allocates both the queue structure and the queue storage area.
1137 + Introduced a new critical section macro for reading the tick count that
1138 defines away to nothing in cases where the width of the tick allows the
1141 + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the
1143 control the location of the heap.
1145 include known values in both list and list item structures. The values
1146 are intended to assist debugging. If the values get overwritten then it
1147 is likely application code has written over RAM used by the kernel.
1148 + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of
1149 the interrupt control register to detect taskENTER_CRITICAL() being called
1154 + Cortex-A5 GIC-less port no longer passes the address of the interrupting
1155 peripheral into the interrupt handler.
1156 + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack
1157 belonging to a task when the task was deleted, even when the stack was
1175 + Make the interrupt queue tests more tolerant to heave CPU loads.
1176 + Updated MSVC FreeRTOS simulator demo to include the latest standard test
1178 + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC
1180 + Updated all demos that use FreeRTOS+Trace to work with the latest trace
1186 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the
1188 not support the definition.
1192 By popular requests - a minor patch to V8.1.0 to re-instate the ability to
1200 + Improved the priority inheritance algorithms to assist integration with
1201 off the shelf middleware that may hold multiple mutexes simultaneously.
1202 + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to
1205 the first being when a task incorrectly attempts to exit its implementing
1206 function and the second being when a non interrupt safe API function is
1213 + Simplify the alignment checks in heap_4.c.
1214 + Update the MSVC Windows simulator demo to use heap_5.c in place of
1216 + Updated standard demo test code to test the new priority inheritance
1218 + Updated the standard demo tasks to make use of stdint and the FreeRTOS
1220 + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive
1223 + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an
1224 incorrect value being written to the basepri register. This only effects
1225 users of the Tasking compiler.
1226 + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP
1229 + Updated the CCS Cortex-R4 port to enable it to be built with the latest
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.
1237 The new port is demonstrated on an Atmel SAMA5D3 XPlained board.
1241 + Update CyaSSL to the latest version.
1242 + Updated the FreeRTOS+ components supplied directly by Real Time Engineers
1243 Ltd. to make use of stdint and the FreeRTOS specific typedefs that were
1245 + Rework and simplify the FreeRTOS+FAT SL RAM disk driver.
1249 + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK
1250 hardware in place of the previously targeted Renesas internal (not
1257 + Minor fixes to the event group functionality that was released in V8.0.0.
1258 The 'clear bits from ISR' functionality is now implemented using a
1259 deferred interrupt callback instead of a function, and the 'wait bits' and
1261 returning a value in every possible path through the respective functions.
1262 + Ensure the updating of internal control data is protected by a critical
1264 + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file
1265 when the offset was not a multiple of the sector size.
1267 even when only the lest significant byte of the register is implemented.
1271 + Updated the XMC4200 IAR project so it links with version 7.x of the IAR
1283 although a change to the type used to reference character strings may result
1285 after the upgrade, and an updated typedef naming convention means use of the
1298 + Previously, when a task left the Blocked state, a context switch was
1299 performed if the priority of the unblocked task was greater than or equal
1300 to the priority of the Running task. Now a context switch is only
1301 performed if the priority of the unblocked task is greater than the
1302 priority of the Running task.
1303 + New low power tickless demonstration project that targets the ST STM32L
1307 + Small change to the tickless low power implementation on the SAM4L to
1308 ensure the alarm value (compare match value) cannot be set to zero when a
1310 other than the RTOS tick.
1311 + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse
1312 resource filters and match the functionality of the MSVC equivalent.
1316 + Remove one level of indirection when accepting interrupts on the PIC32MZ.
1323 V7.6.0 changes some behaviour when the co-operative scheduler is used (when
1324 configUSE_PREEMPTION is set to 0). It is important to note that the
1325 behaviour of the pre-emptive scheduler is unchanged - the following
1330 the Blocked state, or explicitly calls taskYIELD(). This differs from
1332 moving a higher priority task out of the Blocked state. For example,
1334 writing to a queue, then the scheduler would switch to the higher priority
1336 writing to a queue, task B will not start running until task A enters the
1338 set to 0, so the normal pre-emptive scheduler is being used, then task B
1339 will start running immediately that it is moved out of the Blocked state].
1343 + Added a port layer and a demo project for the new PIC32MZ architecture.
1344 + Update the PIC32MX port layer to re-introduce some ehb instructions that
1345 were previously removed, add the ability to catch interrupt stack
1347 add the ability to catch an application task incorrectly attempting to
1349 + Make dramatic improvements to the performance of the Win32 simulator port
1353 + Slight improvement to the Cortex-M4F port layers where previously one
1355 + Introduce the xSemaphoreCreateBinary() API function to ensure consistency
1356 in the semantics of how each semaphore type is created. It is no longer
1357 recommended to use vSemaphoreCreateBinary() (the version prefixed with a
1358 'v'), although it will remain in the code for backward compatibility.
1359 + Update the Cortex-M0 port layers to allow the scheduler to be started
1360 without using the SVC handler.
1361 + Added a build configuration to the PIC32MX MPLAB X demo project that
1362 targets the PIC32 USB II starter kit. Previously all the build
1363 configurations required the Explorer 16 hardware.
1364 + Some of the standard demo tasks have been updated to ensure they execute
1365 correctly with the updated co-operative scheduling behaviour.
1366 + Added comprehensive demo for the Atmel SAM4E, including use of
1377 + Prior to V7.5.x yields requested from the tick hook would occur in the
1380 + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4
1384 + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and
1386 + Improved behaviour and robustness of the default Cortex-M tickless idle
1392 + Ensure _impure_ptr is initialised before the scheduler is started.
1393 Previously it was not set until the first context switch.
1397 + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the
1398 FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction
1399 to the test that prevents the network event hook being called on the first
1400 network down event. The FreeRTOS+UDP change history is maintained
1402 + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files
1403 provided in the NXP CMSIS library, then update the interrupts used by the
1406 strings to ensure the strings can be used with the JSON descriptions used
1407 in the FreeRTOS+Nabto demos.
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,
1416 with additional build configurations to directly support the XMC4200 and
1417 XMC4400 devices, in addition to the previously supported XMC4500.
1418 + Updated the demo application.
1424 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function
1425 compatible with the STM32 standard peripheral driver library, and adds
1426 an extra critical section to the default low power tickless mode
1427 implementation. Only users of the STM32 peripheral library or the default
1437 exception; the vTaskList() and vTaskGetRunTimeStats() functions are now
1438 considered legacy, having been replaced by the single uxTaskGetSystemState()
1451 any warnings (information on the test conditions will follow).
1460 The following ports and demos, which were previously available separately,
1461 are now incorporated into the main FreeRTOS zip file download:
1478 + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
1484 interrupt that has a priority designated as above the maximum system/API
1486 + The included FreeRTOS+Trace recorder code has been updated to the latest
1487 version, and the demo applications that use the trace recorder code have
1489 + The FreeRTOS Windows Simulator (MSVC version only) has been updated to
1490 include a new basic 'blinky' build option in addition to the original
1495 + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs
1502 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2
1504 + Added FreeRTOS+FAT SL source code and demo project. The demo project
1505 runs in the FreeRTOS Windows simulator for easy and hardware independent
1510 + To ensure strict conformance with the spec and ensure compatibility with
1512 the yield macros of Cortex-M and Cortex-R port layers. For efficiency
1513 the Cortex-M port layer "yield" and "yield" from ISR are now implemented
1514 separately as the barrier instructions are not required in the ISR case.
1516 + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS
1518 + Implemented the Berkeley sockets select() function in FreeRTOS+UDP.
1521 + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the
1527 + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest
1529 + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo).
1536 + Overhauled the default tickless idle mode implementation provided with the
1538 + Enhanced tickless support in the core kernel code with the introduction of
1539 the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the
1541 + Added the QueueSet.c common demo/test file. Several demo applications
1542 have been updated to use the new demo/test tasks.
1543 + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and
1545 + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo.
1547 pre-processor macro for backward compatibility with the previous name.
1548 + Updated functions implemented in the core queue.c source file to allow
1549 queue.h to be included from the .c file directly (this prevents compiler
1551 + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function
1552 with the CLZ compiler intrinsic that is provided by the latest versions of
1553 the CCS ARM compiler.
1554 + Updated all heap_x.c implementations to replace the structure that was
1555 used to ensure the start of the heap was aligned with a more portable
1558 + Minor optimisations to the PIC32 port layer.
1559 + Minor changes to tasks.c that allow the state viewer plug-ins to display
1562 issue that could occur if the priority of the timer daemon task was set
1563 below the priority of tasks that used timer services.
1564 + Update the FreeRTOS+Trace recorder code to the latest version.
1568 + Added ability to override the default scheduler task selection mechanism
1571 doing, provide the ability to make use of architecture specific low power
1573 + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper
1575 + Added the configSYSTICK_CLOCK_HZ configuration constant.
1576 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to
1578 + Added hooks to allow basic power saving to be augmented in the application
1582 + Change the behaviour of the interrupt safe interrupt mask save and restore
1583 macros in the Cortex-M ports. The save macro now returns the previous
1584 mask value. The restore macro now uses the previous mask value. These
1585 changes are not necessary for the kernel's own implementation, and are
1586 made purely because the macros were being used by application writers.
1588 + Added port specific optimisations to the PIC32 port layer, and updated the
1590 + Added port specific optimisations to the Win32 simulator port.
1591 + Added new ports and demo applications for the TI Hercules RM48 and TMS570
1593 + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation
1595 + Updated the PIC32 MPLAB X project to manually set the compiler include
1596 paths instead of using the IDE entry box following reports that the
1604 + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+
1605 source code, and example projects that use the FreeRTOS Win32 simulator.
1608 + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller.
1609 The demo is preconfigured to build using the free Atmel Studio 6 IDE and
1612 + The last parameter in ISR safe FreeRTOS queue and semaphore functions
1615 + Update the IAR and MSP430X ports to clear all lower power mode bits before
1616 exiting the tick interrupt [bug fix].
1617 + Allow xQueueReset() to be used, even when the queues event lists are not
1619 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was
1621 + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to
1622 ensure it compiles with the latest ARM GCC compilers from Linaro.
1623 + Updated the prvReadGP() function in the NIOS II port to ensure the compiler
1624 can choose any register for the functions parameter (required at high
1626 + Add #error macros into the Keil and IAR Cortex-M ports to ensure they
1627 cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY
1629 + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and
1630 Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY
1636 + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace
1637 macros. FreeRTOS+Trace supersedes the legacy trace.
1638 + Added a configASSERT() into the vPortFree() function in heap_1.c as it is
1639 invalid for the function to be called.
1640 + Made the xRxLock and xTxLock members of the queue structure volatile.
1643 + Modify the assert() that checks to see if the priority passed into an
1644 xTaskCreate() function is within valid bounds to permit the assert to be
1645 used in the FreeRTOS MPU port.
1646 + The software timer service (daemon) task is now created in a way that
1653 The following ports are brand new:
1656 The following ports have been available as separate downloads for a number
1657 of months, but are now included in the main FreeRTOS download.
1665 The following demos are brand new:
1668 The following demos have been available as separate downloads for a number
1669 of months, but are now included in the main FreeRTOS download.
1680 + Introduced the portSETUP_TCB() macro to remove the requirement for the
1681 Windows simulator to use the traceTASK_CREATE() macro, leaving the trace
1685 + Updated the FreeRTOS MPU port to be correct for changes that were
1687 + Introduced the xQueueReset() API function.
1688 + Introduced the xSemaphoreGetMutexHolder() API function.
1689 + Tidy up various port implementations to add the static key word where
1691 + Slight change to the initial stack frame given to the RX600 ports to allow
1692 them to be used in the Eclipse based E2Studio IDE without confusing GDB.
1693 + Correct the alignment given to the initial stack of Cortex-M4F tasks.
1695 conformance with the instructions on using DINT.
1696 + Changed the implementation of thread deletes in the Win32 port to prevent
1697 the port making use of the traceTASK_DELETE() trace macros - leaving this
1699 + Made some benign changes to the RX600 Renesas compiler port layer to
1700 ensure the code can be built to a library without essential code being
1701 removed by the linker.
1702 + Reverted the change in the name of the uxTaskNumber variable made in
1703 V7.1.0 as it broke the IAR plug-in.
1708 + The command interpreter has now been formally released as FreeRTOS+CLI,
1709 and been moved out of the main FreeRTOS download, to instead be available
1710 from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus.
1711 + flash_timer.c/h has been added to the list of standard demo tasks. This
1712 performs the same functionality as the flash.c tasks, but using software
1714 + Upgraded the PIC32 demo as follows: Changes to how the library functions
1715 are called necessitated by the new compiler version, addition of MPLAB X
1719 + The MSP430X IAR and CCS demos have been updated to ensure the power
1720 settings are correct for the configured CPU frequency.
1721 + Rowley CrossWorks projects have been updated to correct the "multiple
1722 definition of ..." warnings introduced when the toolchain was updated.
1724 that build with Eclipse to include a #error statement informing the user
1725 that the CreateProjectDirectoryStructure.bat batch file needs to be
1726 executed before the projects can be opened.
1727 + Renamed directories that included "CCS4" in their name to remove the '4'
1728 and instead just be "CCS". This is because the demo was updated and
1730 + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be
1743 + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development
1745 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on
1746 the IAR STM32F407ZG-SK starter kit.
1747 + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the
1749 + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an
1754 + Removed all calls to printf() from the K60/IAR Kinetis demo so the project
1755 can execute stand alone - without being connected to the debugger.
1756 + Completed the command interpreter framework. Command handlers now receive
1757 the entire command string, giving them direct access to parameters.
1758 Utility functions are provided to check the number of parameters, and
1760 + The previously documented fix for the bug in xTaskResumeFromISR() that
1762 incorporated into the main release.
1763 + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow
1764 specific ports to skip the second stack alignment check when a task is
1765 created. This is because the second check is not appropriate for some
1766 ports - including the new TriCore port where the checked pointer does not
1768 + The portCLEAN_UP_TCB() macro has been added to allow port specific clean
1769 up when a task is deleted - again this is required by the TriCore port.
1772 (benign) correction to the prototype of the
1777 + The legacy trace mechanism has been completely removed - it has been
1778 obsolete for the years since the trace macros were introduced. The
1780 include additional queue and task information. The additional information
1781 is intended to make the trace mechanism more generic, and allow the trace
1784 - the queue structure includes an additional member to hold the queue
1787 - the queue structure includes an additional member to hold a queue
1788 number. A trace tool can set and query the queue number for its own
1789 purposes. The kernel does not use the queue number itself.
1790 - the TCB structure includes an additional member to hold a task number
1791 number. A trace tool can set and query the task number for its own
1792 purposes. The kernel does not use the task number itself.
1797 + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that
1798 indicates the type of queue, mutex, or semaphore that failed to be
1800 + The position from which traceCREATE_MUTEX() is called has been moved from
1801 after the call to xQueueGenericSend() [within the same function] to before
1802 the call. This ensures the trace events occur in the correct order.
1803 + The value passed into tracePRIORITY_SET() has been corrected for the case
1810 + The official FreeRTOS Renesas RX200 port and demo application have been
1811 incorporated into the main FreeRTOS zip file download.
1812 + The official FreeRTOS Renesas RL78 port and demo application have been
1813 incorporated into the main FreeRTOS zip file download.
1814 + The official FreeRTOS Freescale Kinetis K60 tower demo application has
1815 been incorporated into the main FreeRTOS zip file download. This includes
1817 + A new Microblaze V8 port layer has been created to replace the older, now
1818 deprecated, port layer. The V8 port supports V8.x of the Microblaze IP,
1819 including exceptions, caches, and the floating point unit. A new
1820 Microblaze demo has also been added to demonstrate the new Microblaze V8
1821 port layer. The demo application was created using V13.1 of the Xilinx
1823 + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been
1824 incorporated into the main FreeRTOS zip file download. Projects are
1825 provided for both the IAR and Keil toolchains.
1838 being generated when the size of a pointer does not match the size of
1839 the stack type. This will (has already) be used in new ports, but will
1840 not be retrofitted to existing ports until the existing port itself is
1845 + The core files have all been modified to tighten the coding standard even
1849 + All ARM IAR projects have been updated to build with the latest V6.2.x
1850 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was
1851 necessary due to a change in the way EWARM uses the CMSIS libraries.
1852 + The PIC32 port layer has been updated in preparation for V2 of the C32
1854 + The old Virtex-4 Microblaze demo has been marked as deprecated. Please
1855 use the brand new Spartan-6 port and demo in its place.
1856 + The bones of a new generic command interpreter is located in
1859 documented in full when the projects that are already using it are
1863 precision floats in place of double precision doubles. This allows the
1866 is used. Second, comtest_strings.c has been included to allow the test
1867 of UART drivers when an entire string is transmitted at once. The
1869 + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and
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
1878 + Updated the RX600 port and demo applications to take into account the
1879 different semantics required when using the latest (V1.0.2.0) version of
1880 the Renesas compiler.
1881 + Modified the RX600 Ethernet driver slightly to make it more robust under
1882 heavy load, and updated the uIP handling task to make use of the FreeRTOS
1884 + Slightly changed the PIC32 port layer to move an ehb instruction in line
1885 with the recommendations of the MIPS core manual, and ensure 8 byte stack
1887 + Changed the behaviour when tasks are suspended before the scheduler has
1889 in the suspended state. This is no longer the case.
1898 + Introduced a new common demo application file to exercise the new timer
1900 + Updated the Win32/MSVC simulator project to include the new software timer
1902 demonstrations are included in the demo projects for both of the new ports
1904 + Various enhancements to the kernel implementation in tasks.c. These are
1905 transparent to users and do not effect the pre-existing API.
1906 + Added calls to configASSERT() within the kernel code. configASSERT() is
1907 functionally equivalent to the standard C assert() macro, but does not
1908 rely on the compiler providing assert.h.
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
1915 board and uses the Code Composer Studio 4 tools. This demo includes use
1916 of the new software timer implementation.
1917 + Added an STM32F100RB demo project that targets the STM32 Discovery Board
1918 and uses the TrueStudio Eclipse based IDE from Atollic.
1919 + Removed some compiler warnings from the PSoC demo application.
1920 + Updated the PIC32 port layer to ensure the
1922 what its value is (within the valid range set by the microcontroller
1924 + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest
1927 that will be published after the software release.
1932 + Added two new Windows simulator ports. One uses the free Microsoft Visual
1933 Studio 2010 express edition, and the other the free MingW/Eclipse
1935 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the
1936 GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE.
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.
1940 + Updated all the RX62N demo projects that target the Renesas Demonstration
1941 Kit (RDK) to take into account the revered LED wiring on later hardware
1942 revisions, and the new J-Link debug interface DLL.
1943 + Updated all the RX62N demo projects so the IO page served by the example
1945 + Updated the Red Suite projects to work with the up coming Red Suite
1946 release, and to use a more recent version of the CMSIS libraries.
1947 + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro.
1948 + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED()
1950 + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment
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
1954 + Added a "cpsie i" instruction before the "svc 0" instruction used to start
1955 the scheduler in each of the Cortex M3 ports. This is to ensure that
1956 interrupts are globally enabled prior to the "svc 0" instruction being
1957 executed in cases where interrupts are left disabled by the C start up
1959 + Slight optimisation in the run time stats calculation.
1965 immediately suspended even when the kernel has not been started. This
1966 allows them to effectively start in the Suspended state - a feature that
1969 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites.
1970 + Added a STM32F103 demo application that uses the Rowley tools.
1973 + xTaskCreateGeneric() has a parameter that can be used to pass the handle
1974 of the task just created out to the calling task. The assignment to this
1975 parameter has been moved to ensure it is assigned prior to the newly
1976 created having any possibility of executing. This takes into account the
1977 case where the assignment is made to a global variable that is accessed by
1978 the newly created task.
1985 + Added port and demo application for the Cortus APS3 processor.
1989 + All the contributed files that were located in the Demo/Unsupported_Demos
1990 directory have been removed. These files are instead now available in the
1991 new Community Contributions section of the FreeRTOS website. See
1993 + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory
1994 has been upgraded to use V2.x of the Rowley Crossworks STM32 support
1997 updated over the coming months to make better use of the low power modes
1998 the EFM32 provides.
2003 + Slight modification made to the default implementation of
2005 just call pvPortMalloc() and vPortFree(). The macros are only needed to
2011 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter.
2012 Previously the parameter was blank and therefore only an implicit 0 but
2015 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes.
2016 + Updated prvListTaskWithinSingleList() is it works on processors where the
2019 + Updated the startup file for the RVDS LPC21xx demo.
2023 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the
2024 stack pointer is where the compiler expects it to be when a task first
2027 The following minor changes only effect the Cortex-M3 MPU port:
2030 + Added prototypes for all the privileged function wrappers to ensure no
2031 compile time warnings are generated no matter what the warning level
2033 + Corrected the name of portSVC_prvRaisePrivilege to
2045 + FreeRTOS V6 is the first version to include memory protection unit (MPU)
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
2051 license.txt file included in the download has been fixed (the previous
2058 call the C portion using an __asm statement. This prevents the function
2060 + ARM7 ports now automatically set the THUMB bit if necessary when
2061 setting up the initial stack of a task - removing the need for
2066 with the latest IDE versions.
2067 + The linker scripts used with command line GCC demos have been updated to
2068 include an eh_frame section to allow their use with the latest Yagarto
2069 release. Likewise the demo makefiles have been updated to include
2070 command line options to reduce or eliminate the eh_frame section all
2072 + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the
2073 various memory allocation files and into the common portable.h header
2077 + Posix simulator has been upgraded - see the corresponding WEB page on the
2083 + Added a new port and demo app for the Altera Nios2 soft core.
2095 + Corrected the parameter passed to NVIC_SetPriority() to set the MAC
2097 + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32
2098 demo application to ensure the heap space was not completely consumed
2099 before the scheduler was started.
2104 + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The
2105 original demo was configured to use engineering samples of the CPU. The
2109 + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects.
2110 + Changed the initial stack setup for the PPC405 to ensure the small data
2117 + Changed the Cortex M3 port.c asm statements to __asm so it can be
2119 + Updated the Posix/Linux simulator contributed port.
2125 + Added new (optional) feature that gathers statistics on the amount of CPU
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
2135 + Updated the Stellaris uIP WEB server demos to include the new run time
2137 presents the information in a tabular format.
2138 + Added in the lwIP port layer for the Coldfire MCF52259.
2139 + Updated the CrossWorks LPC2368 WEB server to include an image in the
2141 + Changed some of the timing in the initialisation of the LPC2368 MAC to
2143 + Minor modifications to the core uIP code to remove some compiler warnings.
2144 + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom
2145 demo to make use of the new function.
2148 + Heap_1.c and Heap_2.c used to define structures for the purpose of data
2151 + Remove the call to strncpy() used to copy the task name into the TCB when
2152 the maximum task name is configured to be 1 byte long.
2156 + Optimised the queue send and receive functions (also used by semaphores).
2157 + Replaced the standard critical sections used to protect BIOS calls in the
2158 PC port to instead use scheduler locks. This is because the BIOS calls
2167 + Added the AT91SAM9XE port and demo.
2168 + Updated the MCF52233 FEC driver to work around a silicon bug that
2169 prevents the part auto negotiating some network parameters.
2170 + Minor modifications to the MCF52233 makefile to permit it to be used
2172 + Updated the STM32 primer files to allow them to be built with the latest
2173 version of the RIDE tools.
2174 + Updated the threads.js Java script used for kernel aware debugging in
2175 the Rowley CrossWorks IDE.
2188 + Added a new port and demo application for the ColdFire V2 core using the
2190 + Replaced the ARM7 demo that used the old (and now no longer supported)
2191 Keil compiler with a new port that uses the new Keil/RVDS combo.
2194 + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct
2196 + MSP430 port layers have been updated to permit tasks to place the
2197 microcontroller into power down modes 1 to 3. The demo applications have
2198 likewise been updated to demonstrate the new feature.
2199 + Replaced the two separate MSP430/Rowley port layers with a single and more
2203 + Changed the linker script used in the LPC2368 Eclipse demo.
2208 + Bug fix: All Cortex M3 ports have a minor change to the code that sets
2209 the pending interrupt.
2212 informing users to the cause of the compilation error should the headers
2213 not be included in the correct order.
2217 Changes relating to the Cortex M3:
2219 + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3
2220 ports and demos. See the port documentation pages on the FreeRTOS.org
2223 + Ensure the Cortex M3 port works no matter where the vector table is
2225 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port
2226 (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY
2228 + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil
2229 projects to allow the WEB server to be conditionally excluded from the
2230 build and therefore allow use of the KickStart (code size limited)
2235 + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to
2237 allows the omit-frame-pointer optimisation to be turned off.
2241 + Updated the PIC32 port to allow queue API calls to be used from
2242 interrupts above the kernel interrupt priority, and to allow full
2244 + Added a new PowerPC port that demonstrates how the trace macros can be
2245 used to allow the use of a floating point co-processor. The
2247 save and restore the floating point context respectively for those tasks
2249 + BUG FIX: The first PPC405 port contained a bug in that it did not leave
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
2254 above the kernel priority. This is only supported on PIC32 ports thus
2256 + Fixed the compiler warnings that were generated when the latest version
2258 + Remove all inline usage of 'inline' from the core kernel code.
2259 + Added the queue registry feature. The queue registry is provided as a
2261 purpose unless you are using a kernel aware debugger. The queue registry
2263 + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to
2266 + Changed the blocktim.c test files as it is no longer legitimate for all
2268 + Added the IntQueue.c test file to test the calling of queue API functions
2279 The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(),
2281 update all calls to these functions to use the new calling convention! Your
2287 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3
2290 + PowerPC demo updated to use version 10.1 of the Xilinx EDK.
2291 + Efficiency gains within the PIC32 port layer.
2300 + Efficiency improvements to the Cortex-M3 port layer. NOTE: This
2301 requires that an SVC handler be installed in the application.
2302 + Efficiency improvements to the queue send and receive functions.
2305 + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex
2306 M3 port layer (bringing it up to the same standard as the IAR and GCC
2308 + Ports that used the arm-stellaris-eabi-gcc tools have been converted to
2309 use the arm-non-eabi-gcc tools.
2315 + Tidied up the capitalisation of include files to facilitate builds on
2322 + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench
2327 + Updated STR9 uIP port to manually set the net mask and gateway addresses.
2328 + Updating demos to allow more to run with the co-operative scheduler.
2329 + Fixed co-operative scheduler behaviour upon the occurrence of a tick
2330 interrupt while the scheduler was suspended.
2332 + ARM7 GCC ports no longer use the IRQ attribute.
2336 + Introduced the counting semaphore macros and demo source files. The
2337 Open Watcom PC project has been updated to include the new demo. See
2338 the online documentation for more information.
2339 + Introduced the 'alternative' queue handling API and demo source files.
2340 The Open Watcom PC project has been updated to include the new demo
2341 source files. See the online documentation for more information.
2343 + Added the STM32 primer demo project for the GCC compiler and Ride IDE.
2344 + Removed the .lock files that were mistakenly included in the V4.6.1
2349 + Added support for the MIPS M4K based PIC32.
2350 + Added 'extern "C"' to all the header files to facilitate use with C++.
2354 + Changed the method used to force a context switch within an ISR for the
2355 ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and
2358 without the -fomit-frame-pointer option, and at all optimisation levels.
2359 + Corrected the prototype for xQueueGenericSend() within queue.h.
2363 + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek()
2364 functionality. These should now be used in preference to the old
2366 + Added Mutex functionality. The behaviour of mutexes is subtly different
2367 to the already existing binary semaphores as mutexes automatically
2369 + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour
2370 of the new functionality.
2371 + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and
2373 + Updated the GCC port for the Cortex M3 to include the
2375 included in the IAR port.
2376 + Optimised the GCC and IAR port layer code - specifically the context
2378 + Consolidated the LM3Sxxxx EK demos for all development tools into a
2379 single project that automatically detects which version of the EK the
2382 + Added Eclipse support for the Keil LPC2368 evaluation kit.
2383 + Added the Demo/Drivers directory to hold code that is common to multiple
2385 + Included some minor bug fixes in the uIP 1.0 code.
2386 + Added an lwIP demo for the STR9 - thanks ST for assistance.
2387 + Updated the AVR32 port to ensure correct behaviour with full compiler
2397 (thanks Niu Yong for making the suggestion).
2401 and are the subject of a call the vTaskResume() when they are not
2402 actually in the Suspended state (thanks Dan Searles for reporting the
2409 + Updated ustdlib.c for the GCC LM3S6965 demo.
2413 + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24
2414 and dsPIC ports. See the LM3S6965 and PIC24 demo application
2416 + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC
2417 tools, and changed the demo applications.
2418 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris
2420 + Corrected bug in uIP the demos that prevented frames of approximately 1480
2422 + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org
2424 + Update to WizC PIC18 port to permit its use with version 14 of the
2432 called after the scheduler has been started.
2437 the SafeRTOS code base.
2442 + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools.
2445 + Altered the way the heap is defined in the LM3S811 Keil demo to prevent
2446 the RAM usage from counting toward the code size limit calculation.
2447 + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within
2451 Previously portMAX_DELAY was just the longest block time possible. This
2452 is still the case if configINCLUDE_vTaskSuspend is not defined.
2463 + Added the Luminary Micro Stellaris LM3S811 demo application.
2469 and without their block time expiring. The block time effectively
2470 stated a maximum block time, and the return value of the function needed
2471 to be checked to determine the reason for returning. This is no longer
2472 the case as the functions will only return once the block time has
2475 + Changed the critical section handling in the IAR AVR port to correct the
2477 + Added the LPC2138 CrossWorks demo into the zip file. Previously this was
2479 + Modified the AVR demo applications to demonstrate the use of co-routines.
2485 + Optimised vListInsert() in the case when the wake time is the maximum
2487 + Bug fix: The 'value' of the event list item is updated when the priority
2488 of a task is changed. Previously only the priority of the TCB itself was
2490 + vTaskPrioritySet() and vTaskResume() no longer use the event list item.
2491 This has not been necessary since V4.0.1 when the xMissedYield handling
2493 + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz.
2494 + When ending the scheduler - do not try to attempt a context switch when
2495 deleting the current task.
2496 + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining
2497 the length from the rx descriptor.
2502 + Added a port and demo application for the STR9 ARM9 based processors from
2504 + Slight optimisation to the vTaskPrioritySet() function.
2505 + Included the latest uIP version (1.0) in the demo/common/ethernet
2510 + Added a port and demo application for the Cortex-M3 target using the IAR
2512 + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the
2514 + The heap size defined for the lwIP Rowley demo has been reduced so that
2515 the project will link correctly when using the command line GCC tools
2516 also. The makefile has also been modified to allow debugging.
2517 + The lwIP Rowley demo not includes a 'kernel aware' debug window.
2518 + The uIP Rowley project has been updated to build with V1.6 of CrossWorks.
2519 + The second set of tasks in the blockQ demo were created the wrong way
2520 around (inconsistent to the description in the file). This has been
2525 + Port and demo application added for the Tern Ethernet Engine controller.
2528 + The function vTaskList() now suspends the scheduler rather than disabling
2529 interrupts during the creation of the task list.
2532 + Corrected the value passed to the WDG_PeriodValueConfig() library
2533 function in the STR71x demo.
2534 + The tick hook function is now called only within a tick isr. Previously
2535 it was also called when the tick function was called during the scheduler
2537 + The EMAC driver in the SAM7X lwIP demo has been made more robust as per
2538 the thread: https://sourceforge.net/forum/message.php?msg_id=3714405
2539 + In the PC ports: Add function prvSetTickFrequencyDefault() to set the
2540 DOS tick back to its proper value when the scheduler exits. Thanks
2542 + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT
2543 macro where the BP register was not popped from the stack correctly. The
2545 been corrected all the same.
2550 + Improved the ARM CORTEX M3 ports so they now only have to service
2553 + Added the xMissedYield handling to tasks.c.
2564 + An optional tick hook call is now included in the tick function.
2565 + Introduced the xMiniListItem structure and removed the list pxHead
2567 + Added the following definitions to the FreeRTOSConfig.h file included
2572 + The volatile qualification has been changed on the list members to allow
2573 the task.c code to be tidied up a bit.
2574 + The scheduler can now be started even if no tasks have been created!
2576 + A task being woken by an event will now preempt the currently running task
2577 even if its priority is only equal to the currently running task.
2581 + Updated the WinAVR demo to compile with the latest version of WinAVR
2583 + Changed the WinAVR makefile to make chars signed - needed for the
2592 + Updated the Open Watcom PC demo project to include the crflash and crhook
2594 + Updated the H8S demo to compile with the latest version of GCC.
2595 + Updated the SAM7X EMAC drivers to take into account the hardware errata
2597 + Changed the default MAC address used by some WEB server demos as the
2599 + Modified the SAM7X/IAR startup code slightly to prevent it hanging on
2600 some systems when the code is executed using a j-link debugger. The
2601 j-link macro file configures the PLL before the code executes so
2602 attempting to configure it again in the startup code was causing a
2603 problem for some user. Now a check is performed first to see if the
2607 + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler
2608 choose the register to use as a temporary register during the context
2611 + The compare match load value on LPC2000 ports now has 1 added to correct
2612 the value used.
2613 + The minimal stack depth has been increased slightly on the WIZC PIC18
2618 + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above.
2619 Many thanks to Glen Biagioni for the provided update.
2621 + Modified the SAM7X EMAC demo to default to use the MII interface rather
2622 than the RMII interface.
2623 + Modified the startup sequence of the SAM7X demo slightly to allow the
2628 + Added MII interface support to the SAM7X EMAC peripheral driver.
2629 Previously versions worked with the RMII interface only.
2630 + Added command line GCC support to the SAM7X lwIP demo. Previously the
2631 project could only be built using the CrossWorks IDE. Modifications to
2632 this end include the addition of a standard makefile and linker script to
2633 the download, and some adjustments to the stacks allocated to each task.
2634 + Changed the page returned by the lwIP WEB server demo to display the
2635 task status table rather than the TCP/IP statistics.
2636 + Corrected the capitalisation of some header file includes and makefile
2638 + The various LPC2000 ports had a mistake in the timer setup where the
2645 + Added an IAR port for the Philips LPC2129
2646 + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded
2648 + Updated the J-Link macro file included with the SAM7X uIP demo project
2649 to allow the demo board to be reset over the J-Link.
2656 + Renamed events.h to mevents.h to prevent it conflicting with the events.h
2657 generated automatically by the HCS12 processor expert utility. events.h
2658 is only used by the PC demo application.
2659 + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value
2660 expected by the compiler, and the compilers do not write to this
2662 + The HCS12 banked model demo now creates the 'suicide' tasks immediately
2663 prior to starting the scheduler. These tasks should be the last tasks to
2664 get started in order for the test to function correctly.
2671 + Added two MSP430 ports that use the Rowley CrossWorks development tools.
2672 One port just mirrors the existing GCC port. The other port was provided
2674 + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume()
2675 are called while the scheduler is locked (by a call to
2676 vTaskSuspendAll()). When this is done the subject task now starts to
2677 execute immediately when the scheduler is unlocked if it has the highest
2679 the task would not run until the next RTOS tick or call to portYIELD().
2680 + Another similar small correction ensures that in the case where more than
2681 one task is blocked on a semaphore or queue, the task with the highest
2683 + Added a couple of more test tasks to the PC demo which cover the points
2688 This release updates the HCS12 port. The common kernel code
2691 + Updated the HCS12 port to support banking and introduced a demo
2692 application for the MC9S12DP256. The new demo application is
2693 located in the Demo/HCS12_CodeWarrior_banked directory.
2694 + The name of the directory containing the MC9S12F32 demo application
2697 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the
2699 + The demo application file Demo/Common/Minimal/death.c has a slight
2706 microcontrollers. Currently the HCS12 port is limited to the small
2707 memory model. Large memory models will be supported in the next
2711 + The accuracy of the AVR port timer setup has been improved. Thanks to
2714 See the WEB documentation for details.
2715 + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks.
2716 + Slight modification to the SAM7 release build configuration to correct
2718 + Updated the MPLAB PIC18 documentation to provide extra details on linker
2733 + Each port now defines BaseType_t as the data type that is most
2734 efficient for that architecture. The type BaseType_t is used
2735 extensively in API calls necessitating the following changes to the
2738 See the "New for V3.0.0" section of the FreeRTOS online
2743 + The AT91FR40008 ARM7 port contributed by John Feller is now included
2744 in the download (thanks John!).
2745 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van
2746 Lieshout is now included in the download (thanks Marcel!).
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
2755 + The source/portable/GCC/ARM7 directory has been renamed
2756 source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming
2758 + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to
2759 accommodate the wizC/fedC PIC port.
2760 + The demo applications for the two AVR ports no longer share the same
2761 directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR
2762 directory and the IAR port in the Demo/AVR_ATMega323_IAR directory.
2767 See the "New for V3.0.0" section of the FreeRTOS online
2771 relating to the user application, and some fixed definitions relating
2772 specifically to the port being used. The application specific
2775 never be modified by the user. A 'FreeRTOSConfig.h' is now included
2777 the demo application rather than being specific to the port.
2779 + The idle task will yield when another idle priority task is ready to
2780 run. Previously the idle task would run to the end of its time slice
2782 + The idle task is now created when the scheduler is started. This
2783 requires less stack than the previous scheme where it was created upon
2784 creation of the first application task.
2785 + The function usPortCheckFreeStackSpace() has been renamed
2786 usTaskCheckFreeStackSpace() and moved from the portable layer to
2789 + The portheap.c file included with the AVR port has been deleted. The
2790 AVR demo now uses the standard heap1 sample memory allocator.
2791 + The GCC AVR port is now build using the standard make utility. The
2795 + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION
2796 constant as a parameter. Instead the constant is used directly within
2798 + The header file 'FreeRTOS.h' has been created and is used to include
2799 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary
2802 + The header file 'errors.h' has been deleted. The definitions it
2804 + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc().
2806 + When resuming the scheduler a yield is performed if either a tick has
2807 been missed, or a task is moved from the pending ready list into a
2810 + In heap1.c an overflow check has been added to ensure the next free
2812 + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO()
2814 + The MPLAB PIC port now saved the TABLAT register in interrupt service
2819 This version adds support for the H8 processor.
2823 + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each
2825 limited ports to allocate fewer characters to the task name.
2826 + AVR port - Replaced the inb() and outb() functions with direct memory
2827 access. This allows the port to be built with the 20050414 build of
2829 + GCC LPC2106 port - removed the 'static' from the definition of
2830 vNonPreemptiveTick() to allow the demo to link when using the cooperative
2832 + GCC LPC2106 port - Corrected the optimisation options in the batch files
2833 ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case
2835 + Tasks.c - The strcpy call has been removed when copying across the task
2836 name into the TCB.
2837 + Updated the trace visualisation to always be 4 byte aligned so it can be
2839 + There are now two tracecon executables (that convert the trace file binary
2843 too often in the idle task.
2844 + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt
2845 mask with the RX_DATA_BK1.
2850 + Added the API function vTaskDelayUntil(). The demo app file
2853 + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to
2855 + Modified the AT91SAM7S USB driver to allow descriptors that have
2856 a length that is an exact multiple of the FIFO to be transmitted.
2860 This version adds support for the Atmel SAM7 ARM7 microcontrollers
2861 along with the IAR development tools.
2865 + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC.
2866 + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil.
2867 + Modified the Philips ARM7 serial interrupt service routines to only
2868 process one interrupt per call. This seems to enable the ISR to
2870 + Removed the 'far' keyword from the Open Watcom portable layer source
2872 + Minor modifications to the SDCC build files to allow their use under
2883 The function cTaskResumeAll() has been modified so it can be used safely
2884 prior to the kernel being initialised. This was an issue as
2890 The critical section handling functions have been changed for the GCC ARM7
2891 port. Some optimisation levels use the stack differently to others. This
2892 means the interrupt flags cannot always be stored on the stack and are
2893 instead now stored in a variable, which is then saved as part of the
2894 tasks context. This allows the GCC ARM7 port to be used at all
2899 + MSP430 definition of usCriticalNesting now uses the volatile qualifier.
2904 + Added the Keil ARM7 port.
2905 + Slight modification to comtest.c to make the delay periods more random.
2910 + Added the MSP430 port.
2911 + Extra comments added to the GCC ARM7 port.c and portISR.c files.
2912 + The memory pool allocated within heap_1.c has been placed within a
2914 + Within the GCC ARM7 serial drivers an extra check is made to ensure
2915 the post to the queue was successful if then attempting immediately
2916 retrieve the posted character.
2917 + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS
2918 as the old name was misleading.
2923 The RTOS source code download now includes three separate memory allocation
2924 schemes - so you can choose the most appropriate for your application.
2925 These are found in the Source/Portable/MemMang directory. The demo
2926 application projects have also been updated to demonstrate the new schemes.
2927 See the "Memory Management" page of the API documentation for more details.
2929 + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang
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
2936 + Added a new test to the ARM7 demo application that tests the operation
2937 of the heap_2 memory allocator.
2942 + The ARM7 port now supports THUMB mode.
2943 + Modification to the ARM7 demo application serial port driver.
2947 + Rationalised the ARM7 port version of portEXIT_CRITICAL() -
2954 + Added the first ARM7 port - thanks to Bill Knight for the assistance
2956 + Added extra files to the Demo/Common/Minimal directory. These are
2957 equivalent to their Demo/Common/Full counterparts but with the
2958 calls to the functions defined in print.c removed.
2959 + Added TABLAT to the list of registers saved as part of a PIC18 context.
2963 + Changed the way the vector table is defined to be more portable.
2964 + Corrected the definitions of SPH and SPL in portmacro.s90.
2965 The previous definitions prevented V2.3.0 operating if the iom323.h
2970 + Added an AVR port that uses the IAR compiler.
2972 + Modified the Open Watcom project files to use 'signed' as the
2977 Ports that do not support the (non ANSI) inline keyword have the
2983 + PCLATU and PCLATH are now saved as part of the PIC18 context. This
2985 Espeche for the enhancement.
2987 + Minor changes to prevent compiler warnings when compiling the new port.
2991 + Bug fix - pxCurrentTCB is now initialised before the call to
2993 while null during the initialisation sequence. Thanks to Giuseppe
2994 Franco for the correction.
2998 V2.1.0 has significant reworks that greatly reduce the amount of time
2999 the kernel has interrupts disabled. The first section of modifications
3000 listed here must be taken into account by users. The second section
3001 are related to the kernel implementation and as such are transparent.
3005 + The typedef TickType_t has been introduced. All delay times should
3006 now use a variable of type TickType_t in place of the unsigned long's
3009 + The configuration macro USE_16_BIT_TICKS has been introduced. If set
3011 TickType_t is defined as an unsigned long. See the configuration
3012 section of the API documentation for more details.
3013 + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete.
3015 value (see the API documentation).
3016 + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type
3017 it returns now depends on the USE_16_BIT_TICKS definition.
3018 + cQueueReceive() must now >never< be used from within an ISR. Use the new
3026 be processed when the scheduler is suspended.
3027 + The list implementation has been improved to provide faster item
3029 + The scheduler now makes use of the scheduler suspend mechanism in places
3041 + Added conditional compilation options that allow the components of the
3042 kernel that are unused by an application to be excluded from the build.
3043 See the Configuration section on the WEB site for more information (on
3044 the API pages). The macros have been added to each portmacro.h file (
3048 + Updated the PC demo application to make use of dynamic.c.
3049 + Updated the documentation contained in the kernel header files.
3050 + Creating a task now causes a context switch if the task being created
3051 has a higher priority than the calling task - assuming the kernel is
3053 + vTaskDelete() now only causes a context switch if the calling task is
3054 the task being deleted.
3058 Barring the change to the interrupt vector (PIC port) these are minor
3061 + The interrupt vector used for the PIC master ISR has been changed from
3062 0x18 to 0x08 - where it should have always been. The incorrect address
3063 still works but probably executes a number of NOP's before getting to the
3065 + Changed the baud rate used by the AVR demo application to 38400. This
3067 + Raised the priority of the Rx task in demo\full\comtest.c. This only
3068 affects the Flashlite and PC ports. This was done to prevent the Rx
3070 + Reverted the Flashlite COM port driver back so it does not use the DMA.
3071 The DMA appears to miss characters under stress. The Borland Flashlite
3072 port was also calculating a register value incorrectly resulting in the
3073 wrong DMA source address being used. The same code worked fine when
3074 compiling with Open Watcom. Other minor enhancements were made to the
3076 + Modified the PIC serial Rx ISR to check for and clear overrun errors.
3078 + The PIC demo projects now have some optimisation switched on.
3083 Small fix made to the PIC specific port.c file described below.
3085 + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global
3086 interrupt flag setting. Using the two bits defined within
3087 portINITAL_INTERRUPT_STATE was causing the w register to get clobbered
3088 before the test was performed.
3092 V1.2.4 contains a release version of the PIC18 port.
3093 An optional exception has been included with the GPL. See the licensing
3096 + The function xPortInitMinimal() has been renamed to
3097 xSerialPortInitMinimal() and the function xPortInit() has been renamed
3099 + The function sSerialPutChar() has been renamed cSerialPutChar() and
3100 the function return type chaned to portCHAR.
3101 + The integer and flop tasks now include calls to tskYIELD(), allowing
3102 them to be used with the cooperative scheduler.
3103 + All the demo applications now use the integer and comtest tasks when the
3105 the preemptive scheduler.
3108 + The ATMega port definition of portCPU_CLOSK_HZ definition changed to
3115 The only change of any significance is to the license, which has changed
3116 from the Open Software License to the GNU GPL.
3118 The zip file also contains a pre-release version of the PIC18 port. This
3119 has not yet completed testing and as such does not constitute part of the
3120 V1.2.3 release. It is still however covered by the GNU GPL.
3122 There are minor source code changes to accommodate the PIC C compiler.
3125 + sTaskCreate() has been modified slightly to make use of the
3126 portSTACK_GROWTH macro. This is required for the PIC port where the
3127 stack grows in the opposite direction to the other existing ports.
3129 the decrementing of usCurrentNumberOfTasks within the critical section,
3130 where it should have been since the creation of an eight bit port.
3134 The makefile and buildcoff.bat files included with the AVR demo application
3135 have been modified for use with the September 2003 build of WinAVR. No
3140 There are only minor changes here to allow the PC and Flashlite 186 ports
3141 to use the Borland V4.52 compiler, as supplied with the Flashlite 186
3144 + Introduced a BCC directory under source\portable. This contains all the
3145 files specific to the Borland compiler port.
3146 + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS.
3147 + Modified comtest.c to increase the rate at which the string is
3148 transmitted and received on the serial port. The Flashlite 186 demo
3150 + The values of the constants used in both integer.c files have been
3151 increased to force the Borland compiler to use 32 bit values. The
3152 Borland optimiser placed the previous values in 16 bit registers, and in
3153 So doing invalidated the test.
3157 This version includes some minor changes to the list implementation aimed
3158 at improving the context switch time - with is now approximately 10% faster.
3159 Changes include the removal of some null pointer assignment checks. These
3160 were redundant where the scheduler uses the list functions, but means any
3161 user application choosing to use the same list functions must now check
3164 The Flashlite 186 serial port driver has also been modified to use a DMA
3165 channel for transmissions. The serial driver is fully functional but still
3170 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600.
3172 Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial
3173 driver. Also the check variable only stops incrementing after two
3175 + semtest.c creates four tasks, two of which operate at the idle priority.
3176 The tasks that operate at the idle priority now use a lower expected
3177 count than those running at a higher priority. This prevents the low
3179 scheduled enough time for each of them to count the shared variable to
3180 the higher original value.
3181 + The flashlite 186 serial driver now uses a DMA channel for transmissions.
3182 + Removed the volatile modifier from the list function parameters. This was
3184 removed by casting parameters where the calls are made.
3187 + usNumberOfItems has been added to the list structure. This removes the
3190 + Removed the NULL check in vListRemove(). This makes the call faster but
3191 necessitates any application code utilising the list implementation to
3198 The majority of these changes were made to accommodate the 8bit AVR port.
3199 The scheduler workings have not changed, but some of the data types used
3204 + Changed the version numbering format.
3206 + Split the directory demo\common into demo\common\minimal and
3207 demo\common\full. The files in the full directory are for systems with
3208 a display (currently PC and Flashlite 186 demo's). The files in the
3213 + Within the scheduler itself the following functions have slightly
3226 Where the return type has changed the function name has also changed in
3227 accordance with the naming convention. For example
3229 + The definition tskMAX_PRIORITIES has been moved from task.h to
3232 + By default the trace facility is off, previously USE_TRACE_FACILITY
3235 better testing as the interrupts do not arrive at regular intervals.
3236 + Minor change to the Flashlite serial port driver. The driver is written
3237 to demonstrate the scheduler and is not written to be efficient.
3243 These changes improve the ports. The scheduler itself has not changed.
3246 switch from an ISR (both the tick ISR and the serial comms ISR's within
3247 the demo application). The new mechanism is faster and uses less stack.
3249 The assembler file portasm.asm has been replaced by a header file
3252 All saving and restoring of registers onto/off of the stack is now handled
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
3257 Slightly changed the operation of the demo application, details below.
3262 + pxPortInitialiseStack() modified to replicate the stack used by the
3267 + Context switch from ISR now uses the compiler generated interrupt
3269 the save/restore to compiler generated code.
3270 + Calls to taskYIELD() during ISR's have been replaced by calling the
3272 + The Flashlite 186 port now uses 186 instruction set (used to use 80x86
3274 + The blocking queue tasks within the demo application did not operate
3276 + The priority of the comtest Rx task within the demo application has been
3277 lowered. Received characters are now processed (read from the queue) at
3278 the idle priority, allowing low priority tasks to run evenly at times of
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