1Documentation and download available at https://www.FreeRTOS.org/ 2 3Changes between FreeRTOS V10.6.1 and FreeRTOS V10.6.2 released November 29, 2023 4 5 + Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c) 6 introduced in version 10.6.0: 7 - Introduce Access Control List (ACL) feature to allow the application 8 writer to control an unprivileged task’s access to kernel objects. 9 - Update the system call entry mechanism to only require one Supervisor 10 Call (SVC) instruction. 11 - Wrap parameters for system calls with more than four parameters in a 12 struct to avoid special handling during system call entry. 13 - Fix 2 possible integer overflows. 14 - Convert some asserts to run time parameter checks. 15 16Changes between FreeRTOS V10.6.0 and FreeRTOS V10.6.1 released August 17, 2023 17 18 + Add runtime parameter checks to functions in mpu_wrappers_v2.c file. 19 The same checks are already performed in API implementations using 20 asserts. 21 We thank the following people for their inputs in these changes: 22 - Lan Luo, Zixia Liu of School of Computer Science and Technology, 23 Anhui University of Technology, China. 24 - Xinwen Fu of Department of Computer Science, University of 25 Massachusetts Lowell, USA. 26 - Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of 27 Computer Science and Engineering, Southeast University, China. 28 29Changes between FreeRTOS V10.5.1 and FreeRTOS V10.6.0 released July 13, 2023 30 31 + Add a new MPU wrapper that places additional restrictions on unprivileged 32 tasks. The following is the list of changes introduced with the new MPU 33 wrapper: 34 35 1. Opaque and indirectly verifiable integers for kernel object handles: 36 All the kernel object handles (for example, queue handles) are now 37 opaque integers. Previously object handles were raw pointers. 38 2. Save the task context in Task Control Block (TCB): When a task is 39 swapped out by the scheduler, the task's context is now saved in its 40 TCB. Previously the task's context was saved on its stack. 41 3. Execute system calls on a separate privileged only stack: FreeRTOS 42 system calls, which execute with elevated privilege, now use a 43 separate privileged only stack. Previously system calls used the 44 calling task's stack. The application writer can control the size of 45 the system call stack using new configSYSTEM_CALL_STACK_SIZE config 46 macro. 47 4. Memory bounds checks: FreeRTOS system calls which accept a pointer 48 and de-reference it, now verify that the calling task has required 49 permissions to access the memory location referenced by the pointer. 50 5. System calls restrictions: The following system calls are no longer 51 available to unprivileged tasks: 52 - vQueueDelete 53 - xQueueCreateMutex 54 - xQueueCreateMutexStatic 55 - xQueueCreateCountingSemaphore 56 - xQueueCreateCountingSemaphoreStatic 57 - xQueueGenericCreate 58 - xQueueGenericCreateStatic 59 - xQueueCreateSet 60 - xQueueRemoveFromSet 61 - xQueueGenericReset 62 - xTaskCreate 63 - xTaskCreateStatic 64 - vTaskDelete 65 - vTaskPrioritySet 66 - vTaskSuspendAll 67 - xTaskResumeAll 68 - xTaskGetHandle 69 - xTaskCallApplicationTaskHook 70 - vTaskList 71 - vTaskGetRunTimeStats 72 - xTaskCatchUpTicks 73 - xEventGroupCreate 74 - xEventGroupCreateStatic 75 - vEventGroupDelete 76 - xStreamBufferGenericCreate 77 - xStreamBufferGenericCreateStatic 78 - vStreamBufferDelete 79 - xStreamBufferReset 80 Also, an unprivileged task can no longer use vTaskSuspend to suspend 81 any task other than itself. 82 83 We thank the following people for their inputs in these enhancements: 84 - David Reiss of Meta Platforms, Inc. 85 - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling 86 of School of Computer Science and Engineering, Southeast University, 87 China. 88 - Xinwen Fu of Department of Computer Science, University of 89 Massachusetts Lowell, USA. 90 - Yuequi Chen, Zicheng Wang, Minghao Lin of University of Colorado 91 Boulder, USA. 92 + Add Cortex-M35P port. Contributed by @urutva. 93 + Add embedded extension (RV32E) support to the IAR RISC-V port. 94 + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by 95 @chrisnc. 96 + Add APIs to get the application supplied buffers from statically 97 created kernel objects. The following new APIs are added: 98 - xTaskGetStaticBuffers 99 - xQueueGetStaticBuffers 100 - xQueueGenericGetStaticBuffers 101 - xSemaphoreGetStaticBuffer 102 - xEventGroupGetStaticBuffer 103 - xStreamBufferGetStaticBuffers 104 - xMessageBufferGetStaticBuffers 105 These APIs enable the application writer to obtain static buffers from 106 the kernel object and free/reuse them at the time of deletion. Earlier 107 the application writer had to maintain the association of static buffers 108 and the kernel object in the application. Contributed by @Dazza0. 109 + Add Thread Local Storage (TLS) support using picolibc function. Contributed 110 by @keith-packard. 111 + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result, 112 the number of bits in an event group also increases with big data type. Contributed 113 by @Hadatko. 114 + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready 115 tasks. Contributed by @Dazza0. 116 + Update heap_4 and heap_5 to add padding only if the resulting block is not 117 already aligned. 118 + Fix the scheduler logic in a couple of places to not preempt a task when an 119 equal priority task becomes ready. 120 + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden. 121 + Fix clang compiler warnings. Contributed by @phelter. 122 + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from 123 interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY. 124 Contributed by @urutva. 125 + Add xPortIsInsideInterrupt API to ARM_CM0 ports. 126 + Fix build warning in MSP430X port when large data model is used. 127 + Add the ability to use Cortex-R5 port on the parts without FPU. 128 + Fix build warning in heap implementations on PIC24/dsPIC. 129 + Update interrupt priority asserts for Cortex-M ports so that these do not fire 130 on QEMU which does not implement PRIO bits. 131 + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority. 132 configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings 133 these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc. 134 + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed 135 by @jacky309. 136 + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain. 137 + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu. 138 + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate. 139 140Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022 141 + Updated the kernel version in manifest and SBOM 142 143Changes between FreeRTOS V10.4.6 and FreeRTOS V10.5.0 released September 16 2022 144 145 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that 146 already independently gained the ability to execute injected code to 147 read from or write to arbitrary addresses by passing a negative argument 148 as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or 149 vTaskSetThreadLocalStoragePointer respectively. A check has been added to 150 ensure that passing a negative argument as the xIndex parameter does not 151 cause arbitrary read or write. 152 We thank Certibit Consulting, LLC for reporting this issue. 153 + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task 154 to invoke any function with privilege by passing it as a parameter to 155 MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, 156 MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate 157 and MPU_xTaskCreateStatic have been updated to only allow creation of 158 unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and 159 MPU_xTimerPendFunctionCall APIs have been removed. 160 We thank Huazhong University of Science and Technology for reporting 161 this issue. 162 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that 163 already independently gained the ability to execute injected code to 164 achieve further privilege escalation by branching directly inside a 165 FreeRTOS MPU API wrapper function with a manually crafted stack frame. 166 The local stack variable `xRunningPrivileged` has been removed so that 167 a manually crafted stack frame cannot be used for privilege escalation 168 by branching directly inside a FreeRTOS MPU API wrapper. 169 We thank Certibit Consulting, LLC, Huazhong University of Science and 170 Technology and the SecLab team at Northeastern University for reporting 171 this issue. 172 + ARMv7-M MPU ports: It was possible to configure overlapping memory 173 protection unit (MPU) regions such that an unprivileged task could access 174 privileged data. The kernel now uses highest numbered MPU regions for 175 kernel protections to prevent such MPU configurations. 176 We thank the SecLab team at Northeastern University for reporting this 177 issue. 178 + Add support for ARM Cortex-M55. 179 + Add support for ARM Cortex-M85. Contributed by @gbrtth. 180 + Add vectored mode interrupt support to the RISC-V port. 181 + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port. 182 Contributed by @Limoto. 183 + Heap improvements: 184 - Add a check to heap_2 to track if a memory block is allocated to 185 the application or not. The MSB of the size field is used for this 186 purpose. The same check already exists in heap_4 and heap_5. This 187 check prevents double free errors. 188 - Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4 189 and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using 190 vPortFree() is automatically cleared to zero. 191 - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same 192 signature as the standard library calloc function. 193 - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by 194 @Octaviarius. 195 + Add the ability to override send and receive completed callbacks for each 196 instance of a stream buffer or message buffer. Earlier there could be 197 one send and one receive callback for all instances of stream and message 198 buffers. Having separate callbacks per instance allows different message 199 and stream buffers to be used differently - for example, some for inter core 200 communication and others for same core communication. 201 The feature can be controlled by setting the configuration option 202 configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1, 203 APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback() 204 (and likewise APIs for message buffer) can be used to create a stream buffer 205 or message buffer instance with application provided callback overrides. When 206 the option is set to 0, then the default callbacks as defined by 207 sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain 208 backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The 209 functionality is currently not supported for MPU enabled ports. 210 + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it 211 is not tied to newlib and can be used with other c-runtime libraries also. 212 The default behavior for newlib support is kept same for backward 213 compatibility. 214 + Add support to build and link FreeRTOS using CMake build system. Contributed 215 by @yhsb2k. 216 + Add support to generate Software Bill of Materials (SBOM) for every release. 217 + Add support for 16 MPU regions to the GCC Cortex-M33 ports. 218 + Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports. 219 The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND 220 when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core. 221 + Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support 222 the case when the SysTick timer is not clocked from the same source as the CPU. 223 + Add hardware stack protection support to MicroBlazeV9 port. This ensures that 224 the CPU immediately raises Stack Protection Violation exception as soon as any 225 task violates its stack limits. Contributed by @uecasm. 226 + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this 227 option is set to 1, ListItem_t and MiniLitItem_t remain separate types. 228 However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t 229 are both typedefs of the same struct xLIST_ITEM. This addresses some issues 230 observed when strict-aliasing and link time optimization are enabled. 231 To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1. 232 + Simplify prvInitialiseNewTask to memset newly allocated TCB structures 233 to zero, and remove code that set individual structure members to zero. 234 + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds 235 without any warning with -Wmissing-prototypes compiler option. 236 + Add top of stack and end of stack to the task info report obtained using 237 vTaskGetInfo(). Contributed by @shreyasbharath. 238 + Add a cap to the cRxLock and cTxLock members of the queue data structure. 239 These locks count the number items received and sent to the queue while 240 the queue was locked. These are later used to unblock tasks waiting on 241 the queue when the queue is unlocked. This PR caps the values of the 242 cRxLock and cTxLock to the number of tasks in the system because we cannot 243 unblock more tasks than there are in the system. Note that the same assert 244 could still be triggered is the application creates more than 127 tasks. 245 + Changed uxAutoReload parameter in timer functions to xAutoReload. The 246 type is now BaseType_t. This matches the type of pdTRUE and pdFALSE. 247 The new function xTimerGetAutoReload() provides the auto-reload state as 248 a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the 249 original UBaseType_t return value. 250 + Fix support for user implementations of tickless idle that call 251 vTaskStepTick() with xExpectedIdleTime ticks to step. The new code 252 ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick() 253 instead of inside vTaskStepTick(). This fixes the typical case where a task 254 wakes up one tick late and a rare case assertion failure when xTickCount\ 255 rolls over. Contributed by @jefftenney. 256 + Fix deadlock in event groups when pvPortMalloc and vPortFree functions 257 are protected with a mutex. Contributed by @clemenskresser. 258 + Fix a warning in tasks.c when compiled with -Wduplicated-branches 259 GCC option. Contributed by @pierrenoel-bouteville-act. 260 + Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION 261 is set to zero. Contributed by @rdpoor. 262 + Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly 263 copies length on big endian platforms too. 264 + Remove the need for INCLUDE_vTaskSuspend to be set to 1 265 when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv. 266 + Update the RL78 IAR port to the latest version of IAR which uses the 267 industry standard ELF format as opposed to earlier UBROF object format. 268 Contributed by @felipe-iar. 269 + Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This 270 allows the PIC24 family of 16 bit processors to read the tick count without 271 a critical section when the tick count is also 16 bits. 272 + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when 273 Link Time Optimization is enabled. Contributed by @niniemann. 274 + Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform. 275 Contributed by @cmdrf. 276 + Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is 277 8-byte aligned. This fixes the unaligned access exception. Contributed 278 by @Atomar25. 279 + Fix Interrupt Handler Register Function and Exception Process in NiosII 280 Port. Contributed by @ghost. 281 + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore 282 interrupt acknowledge register. This ensures that the SRE port behavior 283 matches the Memory Mapped IO port. Contributed by @sviaunxp. 284 + Update the uncrustify config file to match the version of the uncrustify 285 used in the CI Action. Also, pin the version of uncrustify in CI. Contributed 286 by @swaldhoer. 287 288Changes between FreeRTOS V10.4.5 and FreeRTOS V10.4.6 released November 12 2021 289 290 + ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the 291 internal functions xPortRaisePrivilege and vPortResetPrivilege by changing 292 them to macros. 293 + Introduce a new config configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which 294 enables developers to prevent critical sections from unprivileged tasks. 295 It defaults to 1 for backward compatibility. Application should set it to 296 0 to disable critical sections from unprivileged tasks. 297 298Changes between FreeRTOS V10.4.4 and FreeRTOS V10.4.5 released September 10 2021 299 300 See https://www.FreeRTOS.org/FreeRTOS-V10.4.5.html 301 302 + Introduce configRUN_TIME_COUNTER_TYPE which enables developers to define 303 the type used to hold run time statistic counters. Defaults to uint32_t 304 for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type 305 (for example, uint64_t) in FreeRTOSConfig.h to override the default. 306 + Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing 307 ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns 308 the raw run time counter value, the new function returns the percentage of 309 the entire run time consumed by the idle task. Note the amount of idle 310 time is only a good measure of the slack time in a system if there are no 311 other tasks executing at the idle priority, tickless idle is not used, and 312 configIDLE_SHOULD_YIELD is set to 0. 313 + ARMv8-M secure-side port: Tasks that call secure functions from the 314 non-secure side of an ARMv8-M MCU (ARM Cortex-M23 and Cortex-M33) have two 315 contexts - one on the non-secure side and one on the secure-side. Previous 316 versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures 317 that reference secure-side contexts at run time. Now the structures are 318 allocated statically at compile time. The change necessitates the 319 introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant, 320 which sets the number of statically allocated secure contexts. 321 secureconfigMAX_SECURE_CONTEXTS defaults to 8 if left undefined. 322 Applications that only use FreeRTOS code on the non-secure side, such as 323 those running third-party code on the secure side, are not affected by 324 this change. 325 326Changes between FreeRTOS V10.4.3 and FreeRTOS V10.4.4 released May 28 2021 327 + Minor performance improvements to xTaskIncrementTick() achieved by providing 328 macro versions of uxListRemove() and vListInsertEnd(). 329 + Minor refactor of timers.c that obsoletes the need for the 330 tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to 331 post to its own event queue. A consequence of this change is that auto- 332 reload timers that miss their intended next execution time will execute 333 again immediately rather than executing again the next time the command 334 queue is processed. (thanks Jeff Tenney). 335 + Fix a race condition in the message buffer implementation. The 336 underlying cause was that length and data bytes are written and read as 337 two distinct operations, which both modify the size of the buffer. If a 338 context switch occurs after adding or removing the length bytes, but 339 before adding or removing the data bytes, then another task may observe 340 the message buffer in an invalid state. 341 + The xTaskCreate() and xTaskCreateStatic() functions accept a task priority 342 as an input parameter. The priority has always been silently capped to 343 (configMAX_PRIORITIES - 1) should it be set to a value above that priority. 344 Now values above that priority will also trigger a configASSERT() failure. 345 + Replace configASSERT( pcQueueName ) in vQueueAddToRegistry with a NULL 346 pointer check. 347 + Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration 348 constant that enables the stack allocated to tasks to come from a heap other 349 than the heap used by other memory allocations. This enables stacks to be 350 placed within special regions, such as fast tightly coupled memory. 351 + If there is an attempt to add the same queue or semaphore handle to the 352 queue registry more than once then prior versions would create two separate 353 entries. Now if this is done the first entry is overwritten rather than 354 duplicated. 355 + Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from 356 their respective repositories. 357 + Correct a build error in the POSIX port. 358 + Additional minor formatting updates, including replacing tabs with spaces 359 in more files. 360 + Other minor updates include adding additional configASSERT() checks and 361 correcting and improving code comments. 362 + Go look at the smp branch to see the progress towards the Symetric 363 Multiprocessing Kernel. https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp 364 365Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020 366 367 V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html 368 369 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 370 371 + Changes to improve robustness and consistency for buffer allocation in 372 the heap, queue and stream buffer. 373 + The following functions can no longer be called from unprivileged code. 374 - xTaskCreateRestricted 375 - xTaskCreateRestrictedStatic 376 - vTaskAllocateMPURegions 377 378 379Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020 380 381 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 382 383 + Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked 384 between the first task starting to execute and that task making 385 a FreeRTOS API call. 386 + Introduced xTaskDelayUntil(), which is functionally equivalent to 387 vTaskDelayUntil(), with the addition of returning a value to 388 indicating whether or not the function placed the calling task into 389 the Blocked state or not. 390 + Update WolfSSL to 4.5.0 and add the FIPS ready demo. 391 + Add support for ESP IDF 4.2 to ThirdParty Xtensa port. 392 + Re-introduce uxTopUsedPriority to support OpenOCD debugging. 393 + Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules. 394 + Various general maintenance and improvements to MISRA compliance. 395 396 397Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020 398 399 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 400 401 + Fixed an incorrectly named parameter that prevented the 402 ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the 403 test code that prevented this error causing test failures. 404 405 406Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020 407 408 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 409 410 Major enhancements: 411 412 + Task notifications: Prior to FreeRTOS V10.4.0 each created task had a 413 single direct to task notification. From FreeRTOS V10.4.0 each task has 414 an array of notifications. The direct to task notification API has been 415 extended with API functions postfixed with "Indexed" to enable the API to 416 operate on a task notification at any array index. See 417 https://www.freertos.org/RTOS-task-notifications.html for more information. 418 + Kernel ports that support memory protection units (MPUs): The ARMv7-M and 419 ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M 420 MPU ports now support devices that have 16 MPU regions, have the ability 421 to override default memory attributes for privileged code and data 422 regions, and have the ability to place the FreeRTOS kernel code outside of 423 the Flash memory. The ARMv8-M MPU ports now support tickless idle mode. 424 See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html 425 for more information. 426 427 Additional noteworthy updates: 428 429 + Code formatting is now automated to facilitate the increase in 430 collaborative development in Git. The auto-formated code is not identical 431 to the original formatting conventions. Most notably spaces are now used 432 in place of tabs. 433 + The prototypes for callback functions (those that start with "Application", 434 such as vApplicationStackOverflowHook()) are now in the FreeRTOS header 435 files, removing the need for application writers to add prototypes into 436 the C files in which they define the functions. 437 + New Renesas RXv3 port layer. 438 + Updates to the Synopsys ARC code, including support for EM and HS cores, 439 and updated BSP. 440 + Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in 441 the same way the Windows port layer enables FreeRTOS to run on Windows 442 hosts. 443 + Many other minor optimisations and enhancements. For full details 444 see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/main 445 446 447Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020 448 449 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html 450 451 + ./FreeRTOS-Labs directory was removed from this file. The libraries it 452 contained are now available as a separate download. 453 454Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020 455 456 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html 457 458 New and updated kernel ports: 459 460 + Added RISC-V port for the IAR compiler. 461 + Update the Windows simulator port to use a synchronous object to prevent 462 a user reported error whereby a task continues to run for a short time 463 after being moved to the Blocked state. Note we were not able to 464 replicate the reported issue and it likely depends on your CPU model. 465 + Correct alignment of stack top in RISC-V port when 466 configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes 467 the interrupt stack to be statically allocated. 468 + The RISC-V machine timer compare register can now be for any HART, whereas 469 previously it was always assumed FreeRTOS was running on HART 0. 470 + Update the sequence used to update the 64-bit machine timer 471 compare register on 32-bit cores to match that suggested in RISC-V 472 documentation. 473 + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler 474 ports. 475 + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to 476 match that of the ARMv8-M ports whereby privilege escalations can only 477 originate from within the kernel's own memory segment. Added 478 configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant. 479 + Update existing MPU ports to correctly disable the MPU before it is 480 updated. 481 + Added contributed port and demo application for a T-Head (formally C-SKY) 482 microcontroller. 483 484 New API functions: 485 486 + Added the vPortGetHeapStats() API function which returns information on 487 the heap_4 and heap_5 state. 488 + Added xTaskCatchUpTicks(), which corrects the tick count value after the 489 application code has held interrupts disabled for an extended period. 490 + Added xTaskNotifyValueClear() API function. 491 + Added uxTimerGetReloadMode() API function. 492 493 Other miscellaneous changes: 494 + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it 495 has the same type as variables with which it is compared to, and therefore 496 also renamed the variable xPendingTicks. 497 + Update Keil projects that use the MPU so memory regions come from linker 498 script (scatter file) variables instead of being hard coded. 499 + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR 500 compilers. 501 + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo. 502 + Added LPC54018 MPU demo. 503 + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter(). 504 505 506Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019: 507 508 + Added ARM Cortex-M23 port layer to complement the pre-existing ARM 509 Cortex-M33 port layer. 510 + The RISC-V port now automatically switches between 32-bit and 64-bit 511 cores. 512 + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering 513 when GCC link time optimisation is used. 514 + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and 515 prevent the secure side builds from removing symbols required by the 516 non secure side build. 517 + Introduced the portARCH_NAME to provide additional data to select semi- 518 automated build environments. 519 + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before 520 updating the MPU registers. 521 522 + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo. 523 + Added LPC55S69 ARM Cortex-M33 demo. 524 + Added an STM32 dual core AMP stress test demo. 525 526 527Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019: 528 529 + Added GCC RISC-V MCU port with three separate demo applications. 530 + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports 531 with Keil simulator demo. 532 + Update the method used to detect if a timer is active. Previously the 533 timer was deemed to be inactive if it was not referenced from a list. 534 However, when a timer is updated it is temporarily removed from, then 535 re-added to a list, so now the timer's active status is stored separately. 536 + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and 537 xTaskGetApplicationTaskTagFromISR() API functions. 538 + Updated third party Xtensa port so it is MIT licensed. 539 + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas 540 compiler RX600v2 port to enable switching between platform.h and 541 iodefine.h includes within that port's port.c file. 542 + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged 543 anyway. 544 + Added uxTaskGetStackHighWaterMark2() function to enable the return type to 545 be changed without breaking backward compatibility. 546 uxTaskGetStackHighWaterMark() returns a UBaseType_t as always, 547 uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the 548 user to determine the return type. 549 + Fixed issues in memory protected ports related to different combinations 550 of static memory only and dynamic memory only builds. As a result the 551 definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more 552 complex and was moved to FreeRTOS.h with a table explaining its definition. 553 + Added a 'get task tag from ISR' function. 554 + Change the method used to determine if a timer is active or not from just 555 seeing if it is referenced from the active timer list to storing its 556 active state explicitly. The change prevents the timer reporting that it 557 is inactive while it is being moved from one list to another. 558 + The pcName parameter passed into the task create functions can be NULL, 559 previously a name had to be provided. 560 + When using tickless idle, prvResetNextTaskUnblockTime() is now only called 561 in xTaskRemoveFromEventList() if the scheduler is not suspended. 562 + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for 563 FreeRTOS ports that run on architectures that have stack limit registers. 564 565 566Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018 567 568 + Reverted a few structure name changes that broke several kernel aware 569 debugger plug-ins. 570 + Updated to the latest trace recorder code. 571 + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code. 572 + Reverted moving some variables from file to function scope as doing so 573 broke debug scenarios that require the static qualifier to be removed. 574 575Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018 576 577 FreeRTOS Kernel Changes: 578 579 + Update lint checked MISRA compliance to use the latest MISRA standard, was 580 previously using the original MISRA standard. 581 + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be 582 unique types instead of void pointers, improving type safety. (this was 583 attempted some years back but had to be backed out due to bugs in some 584 debuggers). Note this required the pvContainer member of a ListItem_t 585 struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if 586 this causes an issue. 587 + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno 588 functionality in a more user friendly way - previously the generic thread 589 local storage feature was used for this purpose. 590 + Added Xtensa port and demo application for the XCC compiler. 591 + Changed the implementation of vPortEndScheduler() for the Win32 port to 592 simply call exit( 0 ). 593 + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect 594 the read modify write access to an internal Microblaze register. 595 + Fix minor niggles when the MPU is used with regards to prototype 596 differences, static struct size differences, etc. 597 + The usStackHighWaterMark member of the TaskStatus_t structure now has type 598 configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been 599 made when the configSTACK_DEPTH_TYPE type (which gets around the previous 600 16-bit limit on stack size specifications) was introduced. 601 + Added the xMessageBufferNextLengthBytes() API function and likewise stream 602 buffer equivalent. 603 + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes 604 used to hold the length of a message in the message buffer to be reduced. 605 configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example, 606 messages can never be more than 255 bytes it could be set to uint8_t, 607 saving 3 bytes each time a message is written into the message buffer 608 (assuming sizeof( size_t ) is 4). 609 + Updated the StaticTimer_t structure to ensure it matches the size of the 610 Timer_t structure when the size of TaskFunction_t does not equal the size 611 of void *. 612 + Update various Xilinx demos to use 2018.1 version of the SDK tools. 613 + Various updates to demo tasks to maintain test coverage. 614 + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by 615 FreeRTOS+TCP, which was brought into the main download in FreeRTOS 616 V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and 617 FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP. 618 619 FreeRTOS+TCP Changes: 620 621 + Multiple security improvements and fixes in packet parsing routines, DNS 622 caching, and TCP sequence number and ID generation. 623 + Disable NBNS and LLMNR by default. 624 + Add TCP hang protection by default. 625 626 We thank Ori Karliner of Zimperium zLabs Team for reporting these issues. 627 628 629Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017 630 631 + Fix position of "#if defined( __cplusplus )" in stream_buffer.h. 632 + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in 633 mpu_prototypes.h. 634 + Correct formatting in vTaskList() helper function when it prints the state 635 of the currently executing task. 636 + Introduce #error if stream_buffer.c is built without 637 configUSE_TASK_NOTIFICATIONS set to 1. 638 + Update FreeRTOS+TCP to V2.0.0 639 - Improve the formatting of text that displays the available netword 640 interfaces when FreeRTOS+TCP is used on Windows with WinPCap. 641 - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user 642 definable callback to execute when data arrives on a socket. 643 644Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0: 645 646 The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license 647 648 New Features and components: 649 650 + Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html 651 + Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html 652 + Move FreeRTOS+TCP into the main repository, along with the basic Win32 653 TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator. 654 655 New ports or demos: 656 657 + Added demo for TI SimpleLink CC3220 MCU. 658 + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx 659 MCUs. 660 + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation 661 in the MPU port. 662 663 Fixes or enhancements: 664 665 + Cortex-M ports push additional register prior to calling 666 vTaskSwitchContext to ensure 8-byte alignment is maintained. Only 667 important if a user defined tick hook function performs an operation that 668 requires 8-byte alignment. 669 + Optimisations to the implementation of the standard tickless idle mode on 670 Cortex-M devices. 671 + Improvements to the Win32 port including using higher priority threads. 672 + Ensure interrupt stack alignment on PIC32 ports. 673 + Updated GCC TriCore port to build with later compiler versions. 674 + Update mpu_wrappers.c to support static allocation. 675 + The uxNumberOfItems member of List_t is now volatile - solving an issue 676 when the IAR compiler was used with maximum optimization. 677 + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start 678 address is saved into each task's TCB (assuming stack grows down). 679 + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined 680 functionality, and user defined initialisation, to be added to FreeRTOS's 681 tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is 682 set to 1 a user provided header file called freertos_task_c_additions.h 683 will be included at the bottom of tasks.c. Functions defined in that 684 header file can call freertos_tasks_c_additions_init(), which in turn 685 calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined. 686 FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h. 687 + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be 688 defined by a user in FreeRTOSConfig.h. The macro is called before 689 assessing whether to enter tickless idle mode or not. If the macro sets 690 x to zero then tickless idle mode will not be entered. This allows users 691 to abort tickless idle mode entry before the tickless idle function is 692 even called - previously it was only possible to abort from within the 693 tickless idle function itself. 694 + Added configPRINTF(), which can be defined by users to allow all libraries 695 to use the same print formatter. 696 + Introduced configMAX() and configMIN() macros which default to standard 697 max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the 698 application writer defines the same macros in FreeRTOSConfig.h. 699 + Corrected the definition of StaticTask_t in the case where 700 INCLUDE_xTaskAbortDelay is set to 1. 701 + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of 702 which can be defined to strings in FreeRTOSConfig.h to change the default 703 names of the timer service and idle tasks respectively. 704 + Only fill the stack of a newly created task with a known value if stack 705 checking, or high water mark checking/viewing, is in use - removing the 706 dependency on memset() in other cases. 707 + Introduced xTaskCreateRestrictedStatic() so static allocation can be used 708 with the MPU. 709 + Ensure suspended tasks cannot be unsuspended by a received task 710 notification. 711 + Fix race condition in vTaskSetTimeOutState(). 712 + Updated trace recorder files to the latest version. 713 714Changes since FreeRTOS V9.0.0: 715 716 + Priority dis-inheritance behaviour has been enhanced in the case where a 717 task that attempted to take a mutex that was held by a lower priority task 718 timed out before it was able to obtain the mutex (causing the task that 719 holds the mutex to have its priority raised, then lowered again, in 720 accordance with the priority inheritance protocol). 721 + Split the overloaded xQueueGenericReceive() function into three separate 722 dedicated functions. 723 + Allow the default human readable text names given to the Idle and Timer 724 tasks to be overridden by defining the configIDLE_TASK_NAME and 725 configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h. 726 + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a 727 value of than than 0 when the system boots. This can be useful for 728 testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also 729 be used to test frequent tick overflows. 730 + Ensure the Cortex-M SysTick count is cleared to zero before starting the 731 first task. 732 + Add configASSERT() into ARM Cortex-M ports to check the number of priority 733 bit settings. 734 + Clear the 'control' register before starting ARM Cortex-M4F ports in case 735 the FPU is used before the scheduler is started. This just saves a few 736 bytes on the main stack as it prevents space being left for a later save 737 of FPU registers. 738 + Added xSemaphoreGetMutexHolderFromISR(). 739 + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. 740 + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used 741 to specify the stack size when using xTaskCreate(). For historic reasons, 742 when FreeRTOS was only used on small MCUs, the type was set to uint16_t, 743 but that can be too restrictive when FreeRTOS is used on larger 744 processors. configSTACK_DEPTH_TYPE defaults to uint16_t. 745 xTaskCreateStatic(), being a newer function, used a uint32_t. 746 + Increase the priority of the Windows threads used by the Win32 port. As 747 all the threads run on the same core, and the threads run with very high 748 priority, there is a risk that the host will become unresponsive, so also 749 prevent the Windows port executing on single core hosts. 750 751Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: 752 753 See https://www.FreeRTOS.org/FreeRTOS-V9.html 754 755 RTOS kernel updates: 756 757 + The prototype of the new xTaskCreateStatic() API function was modified to 758 remove a parameter and improve compatibility with other new 759 "CreateStatic()" API functions. The stack size parameter in 760 xTaskCreateStatic() is now uint32_t, which changes the prototype of the 761 callback functions. See the following URL: 762 https://www.FreeRTOS.org/xTaskCreateStatic.html 763 + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT 764 constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is 765 automatically given a floating point (FPU) context. 766 + GCC ARM Cortex-A port: It is now possible to automatically save and 767 restore all floating point (FPU) registers on entry to each potentially 768 nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of 769 vApplicationIRQHandler(). 770 + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task 771 entry address placed onto the stack of a task when the task is created for 772 strict compliance with the ARM Cortex-M3/4/7 architecture documentation 773 (no noticeable effect unless using the QMEU emulator). 774 + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only 775 supported on ARM Cortex-M3. 776 + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 777 API (other than static object creation) and added the 778 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to 779 demonstrate how to use the updated MPU port. 780 + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the 781 default low power tickless implementation. 782 + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the 783 first task that executes. 784 + Win32 ports: Reduce the amount of stack used and change the way Windows 785 threads are deleted to increase the maximum execution time. 786 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the 787 documentation page for this port before use. 788 + MPS430X IAR port: Update to be compatible with the latest EW430 tools 789 release. 790 + IAR32 GCC port: Correct vPortExitCritical() when 791 configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. 792 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), 793 xTaskGetTaskHandle() now has the alias xTaskGetHandle() and 794 pcQueueGetQueueName() now has an alias pcQueueGetName(). 795 + Fix various errors in comments and compiler warnings. 796 797 Demo application updates: 798 799 + Update Atmel Studio projects to use Atmel Studio 7. 800 + Update Xilinx SDK projects to use the 2016.1 version of the SDK. 801 + Remove dependency on legacy IO libraries from the PIC32 demos. 802 + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. 803 + Update the MSP432 libraries to the latest version. 804 + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC 805 compilers. 806 + Move the Atmel SAMA5D2 demo into the main distribution. 807 808Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) 809released March 30 2016: 810 811 NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details 812 813 + The functions that create RTOS objects using static memory allocation have 814 been simplified and will not revert to using dynamic allocation if a 815 buffer is passed into a function as NULL. 816 + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to 817 allow a FreeRTOS application to be built without a heap even being being 818 defined. The Win32 example located in the 819 /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as 820 a reference for projects that do not include a FreeRTOS heap. 821 + Minor run-time optimisations. 822 + Two new low power tickless implementations that target Silicon Labs EFM32 823 microcontrollers. 824 + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. 825 826Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) 827released February 19 2016: 828 829 RTOS Kernel Updates: 830 831 + Major new feature - tasks, semaphores, queues, timers and event groups can 832 now be created using statically allocated memory, so without any calls to 833 pvPortMalloc(). 834 + Major new features - Added the xTaskAbortDelay() API function which allows 835 one task to force another task to immediately leave the Blocked state, 836 even if the event the blocked task is waiting for has not occurred, or the 837 blocked task's timeout has not expired. 838 + Updates necessary to allow FreeRTOS to run on 64-bit architectures. 839 + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS 840 daemon task (which used to be called the timer service task) starts 841 running. This is useful if the application includes initialisation code 842 that would benefit from executing after the scheduler has been started. 843 + Added the xTaskGetTaskHandle() API function, which obtains a task handle 844 from the task's name. xTaskGetTaskHandle() uses multiple string compare 845 operations, so it is recommended that it is called only once per task. 846 The handle returned by xTaskGetTaskHandle() can then be stored locally for 847 later re-use. 848 + Added the pcQueueGetQueueName() API function, which obtains the name of 849 a queue from the queue's handle. 850 + Tickless idling (for low power applications) can now also be used when 851 configUSE_PREEMPTION is 0. 852 + If one task deletes another task, then the stack and TCB of the deleted 853 task is now freed immediately. If a task deletes itself, then the stack 854 and TCB of the deleted task are freed by the Idle task as before. 855 + If a task notification is used to unblock a task from an ISR, but the 856 xHigherPriorityTaskWoken parameter is not used, then pend a context switch 857 that will then occur during the next tick interrupt. 858 + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP 859 settings, which previously was only used by heap_4.c. 860 configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare 861 the array that will be used as the FreeRTOS heap, and in-so-doing, place 862 the heap at a specific memory location. 863 + TaskStatus_t structures are used to obtain details of a task. 864 TaskStatus_t now includes the bae address of the task's stack. 865 + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t 866 structure that contains information about a single task. Previously this 867 information could only be obtained for all the tasks at once, as an array 868 of TaskStatus_t structures. 869 + Added the uxSemaphoreGetCount() API function. 870 + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some 871 Cortex-M3 port layers. 872 873 Demo Application Updates: 874 875 Further demo applications will be added prior to the final FreeRTOS V9 876 release. 877 878 + Updated SAM4L Atmel Studio project to use Atmel Studio 7. 879 + Added ARM Cortex-A53 64-bit port. 880 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx 881 Ultrascale MPSoC. 882 + Added Cortex-M7 SAME70 GCC demo. 883 + Added EFM32 Giant and Wonder Gecko demos. 884 885 886Changes between V8.2.2 and V8.2.3 released October 16, 2015 887 888 RTOS kernel updates: 889 890 + Fix bug identified in a modification made in V8.2.2 to the software timer 891 code that allows tickless low power applications to sleep indefinitely 892 when software timers are used. 893 + Simplify and improve efficiency of stack overflow checking. 894 + Add xTaskNotifyStateClear() API function. 895 + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM 896 generic interrupt controller (GIC). 897 + New PIC32MEC14xx port. 898 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ 899 port. 900 + Zynq7000 port layer now declares the functions that setup and clear the 901 tick interrupt as weak symbols so they can be overridden by the 902 application, and uses a global XScuGic object so the same object can be 903 used by the application code. 904 + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is 905 currently the only port that uses it. 906 + Updates to RL78 and 78K0 IAR port layers to improve support for 907 combinations of memory models. 908 + Minor updates to heap_5.c to remove compiler warnings generated by some 909 compilers. 910 + License simplifications. See /FreeRTOS/License/license.txt in the 911 official distribution. 912 913 FreeRTOS+ updates: 914 915 + Update directory names to use WolfSSL instead of CyaSSL, inline with 916 WolfSSL's re-branding. 917 + Update to latest WolfSSL code. 918 + Update to latest FreeRTOS+Trace recorder code. 919 + Add in the FreeRTOS+Trace recorder library required for streaming trace. 920 921 Demo application changes: 922 923 + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with 924 floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. 925 + General tidy up of spelling and compiler warnings. 926 927 928Changes between V8.2.1 and V8.2.2 released August 12, 2015 929 930 RTOS kernel updates: 931 932 + Added Intel IA32/x86 32-bit port. 933 + General maintenance. 934 + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory 935 protected systems, have been added to the newer event group and software 936 timer functions. 937 + Add the errno definitions used by FreeRTOS+ components into projdefs.h. 938 + Remove the restriction that prevented tick-less idle implementations 939 waiting indefinitely when software timers were used in the same 940 application. 941 + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of 942 xTaskNotifyAndQuery(). 943 + Add additional NOPs to the MSP430X port layers to ensure strict compliance 944 with the hardware documentation. 945 + Microblaze port: Added option for port optimised task selection. 946 + Microblaze port: Previously tasks inherited the exception enable state 947 at the time the task was created. Now all tasks are created with 948 exceptions enabled if the Microblaze design supports exceptions. 949 + Windows port: Add additional safe guards to ensure the correct start up 950 sequence and thread switching timing. 951 + Windows port: Improve the implementation of the port optimised task 952 selection assembly code. 953 + Update heap_4 and heap_5 to allow use on 64-bit processors. 954 + Simplify the code that creates a queue. 955 + General improved tick-less idle behaviour. 956 + Ensure none of the variables in the common kernel files are initialised to 957 anything other than zero. 958 + Correct calculation of xHeapStructSize in heap_4 and heap_5. 959 960 Demo application updates: 961 962 + Added demo project for the new IA32/x86 port that targets the Galileo 963 hardware. 964 + Added MSP430FR5969 demos (previously provided as a separate download). 965 + Added FreeRTOS BSP repository for automatic creation of FreeRTOS 966 applications in the Xilinx SDK. 967 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) 968 + Update Xilinx SDK projects to use version 2015.2 of the SDK. 969 + Remove Microblaze demos that were using obsolete tools. 970 + Add MSP43FR5969 IAR and CCS demos. 971 972 FreeRTOS+ Updates: 973 974 + Updated FreeRTOS+Trace recorder library, which requires an update to the 975 FreeRTOS+Trace application. 976 + Added Reliance Edge source code and demo application. Reliance edge is 977 a fail safe transactional file system ideal for applications that require 978 file storage, and especially when high reliability is essential. 979 + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI 980 users to place the output buffer at a fixed memory address. 981 + Improve the NetworkInterface.c file provided for the Windows port of 982 FreeRTOS+UDP. 983 984Changes between V8.2.0 and V8.2.1 released 24th March 2015. 985 986 RTOS kernel updates: 987 988 + Added user definable and flexible thread local storage facility. 989 + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() 990 function to allow the timer's ID to be used as timer local storage. 991 + Fixed a potential issue related to the use of queue sets from an ISR. 992 + Some updates to the Xilinx Microblaze GCC port. 993 + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. 994 + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a 995 minor errata work around. All other ARM Cortex-M7 core revisions should 996 use the ARM Cortex-M4F port. 997 + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. 998 + Change some data types from uint32_t to size_t in preparation for 64-bit 999 Windows port. 1000 + Update the PIC32 port to remove deprecation warnings output by the latest 1001 XC32 compilers. 1002 + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to 1003 overwrite items in two queues that are part of the same set. 1004 1005 Demo application updates: 1006 1007 + Added demo application for TI's ARM Cortex-M4F based MSP432 1008 microcontroller using IAR, Keil and CCS compilers. 1009 + Added demo application for STM32F ARM Cortex-M7 based microcontroller 1010 using IAR and Keil. 1011 + Added demo application for Atmel SAMV71 ARM Cortex-M7 based 1012 microcontroller using IAR and Keil. 1013 + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and 1014 runs on the KC705 evaluation board (Kintex FPGA). 1015 1016Changes between V8.1.2 and V8.2.0 released 16th January 2015 1017 1018 Changes between release candidate 1 and the official release are restricted 1019 to maintenance only. 1020 1021 Significant RTOS kernel updates: 1022 1023 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for 1024 details: https://www.FreeRTOS.org/RTOS-task-notifications.html 1025 + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into 1026 a new header file called FreeRTOS/Source/include/deprecated_definitions.h. 1027 This header file must be present to build. Note some of the obsolete 1028 definitions are still used by very old demo application projects. 1029 1030 Other RTOS kernel updates: 1031 1032 + Made xSemaphoreGiveFromISR() a function rather than a macro that calls 1033 xQueueGenericSendFromISR(). This allows for major performance 1034 enhancements at the expense of some additional code size if both functions 1035 are used in the same application. NOTE: In most uses cases such use of 1036 a semaphore can now be replaced with a task notification which is smaller 1037 and faster still. 1038 + The TCB is now always allocated such that the task's stack grows away from 1039 the TCB (improves debugging of stack overflows as the overflow will not 1040 overwrite the task's name). 1041 + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance 1042 enhancements at the cost of a little additional code space). 1043 + Queues are now allocated with a single call to pvPortMalloc() which 1044 allocates both the queue structure and the queue storage area. 1045 + Introduced a new critical section macro for reading the tick count that 1046 defines away to nothing in cases where the width of the tick allows the 1047 tick count to be read atomically (performance benefits - especially when 1048 optimisation is on). 1049 + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the 1050 application writer to provide their own heap array - and in so doing 1051 control the location of the heap. 1052 + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will 1053 include known values in both list and list item structures. The values 1054 are intended to assist debugging. If the values get overwritten then it 1055 is likely application code has written over RAM used by the kernel. 1056 + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of 1057 the interrupt control register to detect taskENTER_CRITICAL() being called 1058 from an interrupt. This has been changed to test all 8 bits. 1059 + Introduced uxTaskPriorityGetFromISR(). 1060 + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 1061 rather than equality to 1, and 2 and 3 are also valid values. 1062 + Cortex-A5 GIC-less port no longer passes the address of the interrupting 1063 peripheral into the interrupt handler. 1064 + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack 1065 belonging to a task when the task was deleted, even when the stack was 1066 allocated statically. 1067 + Utility (helper) functions that format task statistic information into 1068 human readable tables now pad task names with spaces to ensure columns 1069 line up correctly even where task name lengths vary greatly. 1070 + Update FreeRTOS+Trace recorder library to version 2.7.0. 1071 1072 Demo application updates: 1073 1074 + Added two new standard demo task sets: IntSemTest and TaskNotify. 1075 + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. 1076 + Added demo application for Altera Cyclone V Cortex-A9 MPU. 1077 + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in 1078 demo tasks for new RTOS features. 1079 + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test 1080 and demo tasks. 1081 + Fixed a corner case issue in Atmel SAM4L low power tickless 1082 implementation, and added button interrupt handling. 1083 + Make the interrupt queue tests more tolerant to heave CPU loads. 1084 + Updated MSVC FreeRTOS simulator demo to include the latest standard test 1085 and demo tasks. 1086 + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC 1087 simulator demo. 1088 + Updated all demos that use FreeRTOS+Trace to work with the latest trace 1089 recorder code. 1090 1091 1092Changes between V8.1.1 and V8.1.2 released September 2nd 2014 1093 1094 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the 1095 individual port layers where necessary so it does not affect ports that do 1096 not support the definition. 1097 1098Changes between V8.1.0 and V8.1.1 released August 29th 2014 1099 1100 By popular requests - a minor patch to V8.1.0 to re-instate the ability to 1101 give a mutex type semaphore (with priority inheritance) from an interrupt 1102 handler. 1103 1104Changes between V8.0.1 and V8.1.0 released August 26th 2014 1105 1106 FreeRTOS scheduler, kernel, demo and test updates: 1107 1108 + Improved the priority inheritance algorithms to assist integration with 1109 off the shelf middleware that may hold multiple mutexes simultaneously. 1110 + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to 1111 span multiple non-contiguous memory regions. 1112 + Updated all Cortex-A9 ports to help trap a couple of common usage errors - 1113 the first being when a task incorrectly attempts to exit its implementing 1114 function and the second being when a non interrupt safe API function is 1115 called from an interrupt. 1116 + Update all Cortex-A9 ports to remove obsolete mode switches prior to 1117 restoring a task context. 1118 + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. 1119 + Update all Cortex-M3/4F ports to trap a non interrupt safe API function 1120 being called from an interrupt handler. 1121 + Simplify the alignment checks in heap_4.c. 1122 + Update the MSVC Windows simulator demo to use heap_5.c in place of 1123 heap_4.c to ensure end users have an example to refer to. 1124 + Updated standard demo test code to test the new priority inheritance 1125 algorithms. 1126 + Updated the standard demo tasks to make use of stdint and the FreeRTOS 1127 specific typedefs that were introduced in FreeRTOS V8.0.0. 1128 + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive 1129 alternative to pdTICKS_PER_MS - both of which can be used to convert a 1130 time specified in milliseconds to a time specified in RTOS ticks. 1131 + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an 1132 incorrect value being written to the basepri register. This only effects 1133 users of the Tasking compiler. 1134 + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP 1135 example that demonstrates lwIP being used with both its raw and sockets 1136 interfaces. 1137 + Updated the CCS Cortex-R4 port to enable it to be built with the latest 1138 CCS compiler. 1139 1140 New ports and demo applications: 1141 1142 + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC 1143 compiler and one for the Renesas compiler. Both demos use e2 studio. 1144 + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. 1145 The new port is demonstrated on an Atmel SAMA5D3 XPlained board. 1146 1147 FreeRTOS+ component updates: 1148 1149 + Update CyaSSL to the latest version. 1150 + Updated the FreeRTOS+ components supplied directly by Real Time Engineers 1151 Ltd. to make use of stdint and the FreeRTOS specific typedefs that were 1152 introduced in FreeRTOS V8.0.0. 1153 + Rework and simplify the FreeRTOS+FAT SL RAM disk driver. 1154 1155 Miscellaneous updates and maintenance: 1156 1157 + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK 1158 hardware in place of the previously targeted Renesas internal (not 1159 publicly available) hardware. 1160 + Various other maintenance tasks. 1161 1162 1163Changes between V8.0.0 and V8.0.1 released 2nd May 2014 1164 1165 + Minor fixes to the event group functionality that was released in V8.0.0. 1166 The 'clear bits from ISR' functionality is now implemented using a 1167 deferred interrupt callback instead of a function, and the 'wait bits' and 1168 'task sync' functions now correctly clear internal control bits before 1169 returning a value in every possible path through the respective functions. 1170 + Ensure the updating of internal control data is protected by a critical 1171 section after a task is deleted or suspended. 1172 + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file 1173 when the offset was not a multiple of the sector size. 1174 + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, 1175 even when only the lest significant byte of the register is implemented. 1176 1177 Other updates: 1178 1179 + Updated the XMC4200 IAR project so it links with version 7.x of the IAR 1180 tools. 1181 + Add RL78L1C demo. 1182 + Add pcTimerGetName() API function. 1183 + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT 1184 is defined. 1185 1186Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 1187 1188 https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html 1189 1190 FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, 1191 although a change to the type used to reference character strings may result 1192 in application code generating a few (easily clearable) compiler warnings 1193 after the upgrade, and an updated typedef naming convention means use of the 1194 old typedef names is now discouraged. 1195 See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full 1196 information. 1197 1198 New features and functionality: 1199 1200 + Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html 1201 + Centralised deferred interrupt processing - see 1202 https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html 1203 1204 Other updates: 1205 1206 + Previously, when a task left the Blocked state, a context switch was 1207 performed if the priority of the unblocked task was greater than or equal 1208 to the priority of the Running task. Now a context switch is only 1209 performed if the priority of the unblocked task is greater than the 1210 priority of the Running task. 1211 + New low power tickless demonstration project that targets the ST STM32L 1212 microcontroller - see 1213 https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html 1214 + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. 1215 + Small change to the tickless low power implementation on the SAM4L to 1216 ensure the alarm value (compare match value) cannot be set to zero when a 1217 tickless period is exited due to an interrupt originating from a source 1218 other than the RTOS tick. 1219 + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse 1220 resource filters and match the functionality of the MSVC equivalent. 1221 + xTaskIsTaskSuspended() is no longer a public function. Use 1222 eTaskGetState() in its place. 1223 + Improved trace macros, including tracing of heap usage. 1224 + Remove one level of indirection when accepting interrupts on the PIC32MZ. 1225 + Add Cortex-A9 GCC port layer. 1226 + Add Xilinx Zynq demo application. 1227 1228 1229Changes between V7.5.3 and V7.6.0 released 18th November 2013 1230 1231 V7.6.0 changes some behaviour when the co-operative scheduler is used (when 1232 configUSE_PREEMPTION is set to 0). It is important to note that the 1233 behaviour of the pre-emptive scheduler is unchanged - the following 1234 description only applies when configUSE_PREEMPTION is set to 0: 1235 1236 WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of 1237 cases) a context switch will now only occur when a task places itself into 1238 the Blocked state, or explicitly calls taskYIELD(). This differs from 1239 previous versions, where a context switch would also occur when implicitly 1240 moving a higher priority task out of the Blocked state. For example, 1241 previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by 1242 writing to a queue, then the scheduler would switch to the higher priority 1243 task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by 1244 writing to a queue, task B will not start running until task A enters the 1245 Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not 1246 set to 0, so the normal pre-emptive scheduler is being used, then task B 1247 will start running immediately that it is moved out of the Blocked state]. 1248 1249 Other changes: 1250 1251 + Added a port layer and a demo project for the new PIC32MZ architecture. 1252 + Update the PIC32MX port layer to re-introduce some ehb instructions that 1253 were previously removed, add the ability to catch interrupt stack 1254 overflows (previously only task stack overflows were trapped), and also 1255 add the ability to catch an application task incorrectly attempting to 1256 return from its implementing function. 1257 + Make dramatic improvements to the performance of the Win32 simulator port 1258 layer. 1259 + Ensure tasks that are blocked indefinitely report their state as Blocked 1260 instead of Suspended. 1261 + Slight improvement to the Cortex-M4F port layers where previously one 1262 register was inadvertently being saved twice. 1263 + Introduce the xSemaphoreCreateBinary() API function to ensure consistency 1264 in the semantics of how each semaphore type is created. It is no longer 1265 recommended to use vSemaphoreCreateBinary() (the version prefixed with a 1266 'v'), although it will remain in the code for backward compatibility. 1267 + Update the Cortex-M0 port layers to allow the scheduler to be started 1268 without using the SVC handler. 1269 + Added a build configuration to the PIC32MX MPLAB X demo project that 1270 targets the PIC32 USB II starter kit. Previously all the build 1271 configurations required the Explorer 16 hardware. 1272 + Some of the standard demo tasks have been updated to ensure they execute 1273 correctly with the updated co-operative scheduling behaviour. 1274 + Added comprehensive demo for the Atmel SAM4E, including use of 1275 FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. 1276 1277 FreeRTOS+ Changes: 1278 1279 + Minor maintenance on FreeRTOS+UDP. 1280 1281Changes between V7.5.2 and V7.5.3 released October 14 2013 1282 1283 Kernel changes: 1284 1285 + Prior to V7.5.x yields requested from the tick hook would occur in the 1286 same tick interrupt - revert to that original behaviour. 1287 + New API function uxQueueSpacesAvailable(). 1288 + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 1289 and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that 1290 attempt to return from their implementing functions (tasks should call 1291 vTaskDelete( NULL ); if they want to exit). 1292 + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and 1293 portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. 1294 + Improved behaviour and robustness of the default Cortex-M tickless idle 1295 behaviour. 1296 + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to 1297 all Cortex-M4F ports. 1298 + Add Cortex-M0 port for Keil. 1299 + Updated Cortus port. 1300 + Ensure _impure_ptr is initialised before the scheduler is started. 1301 Previously it was not set until the first context switch. 1302 1303 FreeRTOS+ changes: 1304 1305 + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the 1306 FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction 1307 to the test that prevents the network event hook being called on the first 1308 network down event. The FreeRTOS+UDP change history is maintained 1309 separately. 1310 + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files 1311 provided in the NXP CMSIS library, then update the interrupts used by the 1312 LPC18xx demos accordingly. 1313 + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help 1314 strings to ensure the strings can be used with the JSON descriptions used 1315 in the FreeRTOS+Nabto demos. 1316 1317 Demo and miscellaneous changes: 1318 1319 + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes 1320 FreeRTOS+CLI 1321 + Added a demo for the Infineon Cortex-M0 that can be built with the IAR 1322 Keil and GCC tools. 1323 + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, 1324 with additional build configurations to directly support the XMC4200 and 1325 XMC4400 devices, in addition to the previously supported XMC4500. 1326 + Updated the demo application. 1327 + Added additional trace macros traceMALLOC and traceFREE to track heap 1328 usage. 1329 1330Changes between V7.5.0 and V7.5.2 released July 24 2013 1331 1332 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function 1333 compatible with the STM32 standard peripheral driver library, and adds 1334 an extra critical section to the default low power tickless mode 1335 implementation. Only users of the STM32 peripheral library or the default 1336 tickless implementation need update from version 7.5.0. 1337 1338Changes between V7.4.2 and V7.5.0 released July 19 2013 1339 1340 V7.5.0 is a major upgrade that includes multiple scheduling and efficiency 1341 improvements, and some new API functions. 1342 1343 Compatibility information for FreeRTOS users: 1344 FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one 1345 exception; the vTaskList() and vTaskGetRunTimeStats() functions are now 1346 considered legacy, having been replaced by the single uxTaskGetSystemState() 1347 function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in 1348 FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be 1349 available. 1350 1351 Compatibility information for FreeRTOS port writers: 1352 vTaskIncrementTick() is now called xTaskIncrementTick() (because it now 1353 returns a value). 1354 1355 Headline changes: 1356 1357 + Multiple scheduling and efficiency improvements. 1358 + Core kernel files now pass PC-Lint V8 static checking without outputting 1359 any warnings (information on the test conditions will follow). 1360 1361 New API functions: 1362 1363 + uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html 1364 + xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html 1365 + xQueueOverwriteFromISR() 1366 + xQueuePeekFromISR() 1367 1368 The following ports and demos, which were previously available separately, 1369 are now incorporated into the main FreeRTOS zip file download: 1370 1371 + ARM Cortex-A9 IAR 1372 + ARM Cortex-A9 ARM compiler 1373 + Renesas RZ 1374 + Microsemi SmartFusion2 1375 1376 New FreeRTOSConfig.h settings 1377 https://freertos.org/a00110.html 1378 1379 + configUSE_TIME_SLICING 1380 + configUSE_NEWLIB_REENTRANT 1381 + configUSE_STATS_FORMATTING_FUNCTIONS 1382 + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 1383 1384 Other changes: 1385 1386 + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 1387 options provides a mechanism that allows application writers to execute 1388 certain functions in privileged mode even when a task is running in user 1389 mode. 1390 + Ports that support interrupt nesting now include a configASSERT() that 1391 will trigger if an interrupt safe FreeRTOS function is called from an 1392 interrupt that has a priority designated as above the maximum system/API 1393 call interrupt priority. 1394 + The included FreeRTOS+Trace recorder code has been updated to the latest 1395 version, and the demo applications that use the trace recorder code have 1396 been updated accordingly. 1397 + The FreeRTOS Windows Simulator (MSVC version only) has been updated to 1398 include a new basic 'blinky' build option in addition to the original 1399 comprehensive build option. 1400 + Improve RAM usage efficiency of heap_4.c and heap_2.c. 1401 + Prevent heap_4.c from attempting to free memory blocks that were not 1402 allocated by heap_4.c, or have already been freed. 1403 + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs 1404 files have been removed from FreeRTOS/Demo/Common. 1405 + Fix build error when R4 port is build in co-operative mode. 1406 + Multiple port and demo application maintenance activities. 1407 1408Changes between V7.4.1 and V7.4.2 released May 1 2013 1409 1410 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 1411 1412 + Added FreeRTOS+FAT SL source code and demo project. The demo project 1413 runs in the FreeRTOS Windows simulator for easy and hardware independent 1414 experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl 1415 1416Changes between V7.4.0 and V7.4.1 released April 18 2013 1417 1418 + To ensure strict conformance with the spec and ensure compatibility with 1419 future chips data and instruction barrier instructions have been added to 1420 the yield macros of Cortex-M and Cortex-R port layers. For efficiency 1421 the Cortex-M port layer "yield" and "yield" from ISR are now implemented 1422 separately as the barrier instructions are not required in the ISR case. 1423 + Added FreeRTOS+UDP into main download. 1424 + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS 1425 directory with Source and Demo subdirectories. 1426 + Implemented the Berkeley sockets select() function in FreeRTOS+UDP. 1427 + Changed (unsigned) casting in calls to standard library functions with 1428 (size_t) casting. 1429 + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the 1430 tickless (tick suppression) low power FreeRTOS features. 1431 + Add a new RL78 IAR demo that targets numerous new RL78 chips and 1432 evaluation boards. 1433 + Adjusted stack alignment on RX200 ports to ensure an assert was not 1434 falsely triggered when configASSERT() is defined. 1435 + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest 1436 version of EWARM. 1437 + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). 1438 1439 1440Changes between V7.3.0 and V7.4.0 released February 20 2013 1441 1442 + New feature: Queue sets. See: 1443 https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html 1444 + Overhauled the default tickless idle mode implementation provided with the 1445 ARM Cortex-M3 port layers. 1446 + Enhanced tickless support in the core kernel code with the introduction of 1447 the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the 1448 eTaskConfirmSleepModeStatus() function. 1449 + Added the QueueSet.c common demo/test file. Several demo applications 1450 have been updated to use the new demo/test tasks. 1451 + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and 1452 demo applications. 1453 + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. 1454 + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a 1455 pre-processor macro for backward compatibility with the previous name. 1456 + Updated functions implemented in the core queue.c source file to allow 1457 queue.h to be included from the .c file directly (this prevents compiler 1458 warnings that were generated by some compilers). 1459 + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function 1460 with the CLZ compiler intrinsic that is provided by the latest versions of 1461 the CCS ARM compiler. 1462 + Updated all heap_x.c implementations to replace the structure that was 1463 used to ensure the start of the heap was aligned with a more portable 1464 direct C code implementation. 1465 + Added support for PIC24 devices that include EDS. 1466 + Minor optimisations to the PIC32 port layer. 1467 + Minor changes to tasks.c that allow the state viewer plug-ins to display 1468 additional information. 1469 + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an 1470 issue that could occur if the priority of the timer daemon task was set 1471 below the priority of tasks that used timer services. 1472 + Update the FreeRTOS+Trace recorder code to the latest version. 1473 1474Changes between V7.2.0 and V7.3.0 released October 31 2012 1475 1476 + Added ability to override the default scheduler task selection mechanism 1477 with implementations that make use of architecture specific instructions. 1478 + Added ability to suppress tick interrupts during idle time, and in so 1479 doing, provide the ability to make use of architecture specific low power 1480 functionality. 1481 + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper 1482 function. 1483 + Added the configSYSTICK_CLOCK_HZ configuration constant. 1484 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to 1485 directly support basic power saving functionality. 1486 + Added hooks to allow basic power saving to be augmented in the application 1487 by making use of chip specific functionality. 1488 + Minor change to allow mutex type semaphores to be used from interrupts 1489 (which would not be a normal usage model for a mutex). 1490 + Change the behaviour of the interrupt safe interrupt mask save and restore 1491 macros in the Cortex-M ports. The save macro now returns the previous 1492 mask value. The restore macro now uses the previous mask value. These 1493 changes are not necessary for the kernel's own implementation, and are 1494 made purely because the macros were being used by application writers. 1495 + Added eTaskStateGet() API function. 1496 + Added port specific optimisations to the PIC32 port layer, and updated the 1497 PIC32 demo applications to make use of this new feature. 1498 + Added port specific optimisations to the Win32 simulator port. 1499 + Added new ports and demo applications for the TI Hercules RM48 and TMS570 1500 safety microcontrollers. 1501 + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation 1502 boards. 1503 + Updated the PIC32 MPLAB X project to manually set the compiler include 1504 paths instead of using the IDE entry box following reports that the 1505 include paths were somehow being deleted. 1506 + Improved character handling in FreeRTOS+CLI. 1507 1508Changes between V7.1.1 and V7.2.0 released 14 August 2012 1509 1510 FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. 1511 1512 + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ 1513 source code, and example projects that use the FreeRTOS Win32 simulator. 1514 + Added a new example heap allocation implementation (heap_4.c) that 1515 includes memory block coalescence. 1516 + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. 1517 The demo is preconfigured to build using the free Atmel Studio 6 IDE and 1518 GCC compiler. 1519 + Added xSemaphoreTakeFromISR() implementation. 1520 + The last parameter in ISR safe FreeRTOS queue and semaphore functions 1521 (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it 1522 is not required. 1523 + Update the IAR and MSP430X ports to clear all lower power mode bits before 1524 exiting the tick interrupt [bug fix]. 1525 + Allow xQueueReset() to be used, even when the queues event lists are not 1526 empty. 1527 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was 1528 previously missing). 1529 + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to 1530 ensure it compiles with the latest ARM GCC compilers from Linaro. 1531 + Updated the prvReadGP() function in the NIOS II port to ensure the compiler 1532 can choose any register for the functions parameter (required at high 1533 compiler optimisation levels). 1534 + Add #error macros into the Keil and IAR Cortex-M ports to ensure they 1535 cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY 1536 to 0. 1537 + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and 1538 Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY 1539 parameter must not be set to 0. 1540 + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant 1541 (defaulted to 0). 1542 + Added two new list handling macros - for internal use only in upcoming new 1543 products. 1544 + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace 1545 macros. FreeRTOS+Trace supersedes the legacy trace. 1546 + Added a configASSERT() into the vPortFree() function in heap_1.c as it is 1547 invalid for the function to be called. 1548 + Made the xRxLock and xTxLock members of the queue structure volatile. 1549 This is probably not necessary, and is included as a precautionary 1550 measure. 1551 + Modify the assert() that checks to see if the priority passed into an 1552 xTaskCreate() function is within valid bounds to permit the assert to be 1553 used in the FreeRTOS MPU port. 1554 + The software timer service (daemon) task is now created in a way that 1555 to ensure compatibility with FreeRTOS MPU. 1556 1557Changes between V7.1.0 and V7.1.1 released May 1 2012 1558 1559 New ports: 1560 1561 The following ports are brand new: 1562 + Cortex-M3 Tasking 1563 1564 The following ports have been available as separate downloads for a number 1565 of months, but are now included in the main FreeRTOS download. 1566 + Cortex-M0 IAR 1567 + Cortex-M0 GCC 1568 + Cortex-M4F GCC (with full floating point support) 1569 1570 1571 New demos: 1572 1573 The following demos are brand new: 1574 + Renesas RX63N RDK (Renesas compiler) 1575 1576 The following demos have been available as separate downloads for a number 1577 of months, but are now included in the main FreeRTOS download. 1578 + NXP LPC1114 GCC/LPCXpresso 1579 + ST STM32F0518 IAR 1580 + Infineon XMC4500 GCC/Atollic 1581 + Infineon XMC4500 IAR 1582 + Infineon XMC4500 Keil 1583 + Infineon XMC4500 Tasking 1584 1585 1586 Kernel miscellaneous / maintenance: 1587 1588 + Introduced the portSETUP_TCB() macro to remove the requirement for the 1589 Windows simulator to use the traceTASK_CREATE() macro, leaving the trace 1590 macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace). 1591 + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future 1592 FreeRTOS+Trace versions to provide even more information to users. 1593 + Updated the FreeRTOS MPU port to be correct for changes that were 1594 introduced in FreeRTOS V7.1.0. 1595 + Introduced the xQueueReset() API function. 1596 + Introduced the xSemaphoreGetMutexHolder() API function. 1597 + Tidy up various port implementations to add the static key word where 1598 appropriate, and remove obsolete code. 1599 + Slight change to the initial stack frame given to the RX600 ports to allow 1600 them to be used in the Eclipse based E2Studio IDE without confusing GDB. 1601 + Correct the alignment given to the initial stack of Cortex-M4F tasks. 1602 + Added a NOP following each DINT instruction on MSP430 devices for strict 1603 conformance with the instructions on using DINT. 1604 + Changed the implementation of thread deletes in the Win32 port to prevent 1605 the port making use of the traceTASK_DELETE() trace macros - leaving this 1606 macro free for use by FreeRTOS+Trace. 1607 + Made some benign changes to the RX600 Renesas compiler port layer to 1608 ensure the code can be built to a library without essential code being 1609 removed by the linker. 1610 + Reverted the change in the name of the uxTaskNumber variable made in 1611 V7.1.0 as it broke the IAR plug-in. 1612 1613 1614 Demo miscellaneous / maintenance: 1615 1616 + The command interpreter has now been formally released as FreeRTOS+CLI, 1617 and been moved out of the main FreeRTOS download, to instead be available 1618 from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus. 1619 + flash_timer.c/h has been added to the list of standard demo tasks. This 1620 performs the same functionality as the flash.c tasks, but using software 1621 timers in place of tasks. 1622 + Upgraded the PIC32 demo as follows: Changes to how the library functions 1623 are called necessitated by the new compiler version, addition of MPLAB X 1624 project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, 1625 addition of simply blinky demo, updated FreeRTOSConfig.h to include more 1626 parameters, addition of hook function stubs. 1627 + The MSP430X IAR and CCS demos have been updated to ensure the power 1628 settings are correct for the configured CPU frequency. 1629 + Rowley CrossWorks projects have been updated to correct the "multiple 1630 definition of ..." warnings introduced when the toolchain was updated. 1631 + Updated various FreeRTOSConfig.h header files associated with projects 1632 that build with Eclipse to include a #error statement informing the user 1633 that the CreateProjectDirectoryStructure.bat batch file needs to be 1634 executed before the projects can be opened. 1635 + Renamed directories that included "CCS4" in their name to remove the '4' 1636 and instead just be "CCS". This is because the demo was updated and 1637 tested to also work with later Code Composer Studio versions. 1638 + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be 1639 50ms instead of 500ms. 1640 1641Changes between V7.0.2 and V7.1.0 released December 13 2011 1642 1643 New ports: 1644 1645 + Cortex-M4F IAR port. 1646 + Cortex-M4F Keil/RVDS port. 1647 + TriCore GCC port. 1648 1649 New demos: 1650 1651 + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development 1652 board. 1653 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on 1654 the IAR STM32F407ZG-SK starter kit. 1655 + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the 1656 TriBoard TC1782 evaluation board. 1657 + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an 1658 RX630 RSK (Renesas Starter Kit). 1659 1660 Miscellaneous / maintenance: 1661 1662 + Removed all calls to printf() from the K60/IAR Kinetis demo so the project 1663 can execute stand alone - without being connected to the debugger. 1664 + Completed the command interpreter framework. Command handlers now receive 1665 the entire command string, giving them direct access to parameters. 1666 Utility functions are provided to check the number of parameters, and 1667 return parameter sub-strings. 1668 + The previously documented fix for the bug in xTaskResumeFromISR() that 1669 effected (only) ports supporting interrupt nesting has now been 1670 incorporated into the main release. 1671 + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow 1672 specific ports to skip the second stack alignment check when a task is 1673 created. This is because the second check is not appropriate for some 1674 ports - including the new TriCore port where the checked pointer does not 1675 actually point to a stack. 1676 + The portCLEAN_UP_TCB() macro has been added to allow port specific clean 1677 up when a task is deleted - again this is required by the TriCore port. 1678 + Various other minor changes to ensure warning free builds on a growing 1679 number of microcontroller and toolchain platforms. This includes a 1680 (benign) correction to the prototype of the 1681 vApplicationStackOverflowHook() definition found in lots of recent demos. 1682 1683 Trace system: 1684 1685 + The legacy trace mechanism has been completely removed - it has been 1686 obsolete for the years since the trace macros were introduced. The 1687 configuration constant configUSE_TRACE_FACILITY is now used to optionally 1688 include additional queue and task information. The additional information 1689 is intended to make the trace mechanism more generic, and allow the trace 1690 output to provide more information. When configUSE_TRACE_FACILITY is set 1691 to 1: 1692 - the queue structure includes an additional member to hold the queue 1693 type, which can be base, mutex, counting semaphore, binary semaphore 1694 or recursive mutex. 1695 - the queue structure includes an additional member to hold a queue 1696 number. A trace tool can set and query the queue number for its own 1697 purposes. The kernel does not use the queue number itself. 1698 - the TCB structure includes an additional member to hold a task number 1699 number. A trace tool can set and query the task number for its own 1700 purposes. The kernel does not use the task number itself. 1701 + Queues and all types of semaphores are now automatically allocated their 1702 type as they are created. 1703 + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and 1704 traskTASK_PRIORITY_DISINHERIT(). 1705 + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that 1706 indicates the type of queue, mutex, or semaphore that failed to be 1707 created. 1708 + The position from which traceCREATE_MUTEX() is called has been moved from 1709 after the call to xQueueGenericSend() [within the same function] to before 1710 the call. This ensures the trace events occur in the correct order. 1711 + The value passed into tracePRIORITY_SET() has been corrected for the case 1712 where vTaskPrioritySet() is called with a null parameter. 1713 1714Changes between V7.0.1 and V7.0.2 released September 20 2011 1715 1716 New ports: 1717 1718 + The official FreeRTOS Renesas RX200 port and demo application have been 1719 incorporated into the main FreeRTOS zip file download. 1720 + The official FreeRTOS Renesas RL78 port and demo application have been 1721 incorporated into the main FreeRTOS zip file download. 1722 + The official FreeRTOS Freescale Kinetis K60 tower demo application has 1723 been incorporated into the main FreeRTOS zip file download. This includes 1724 an embedded web server example. 1725 + A new Microblaze V8 port layer has been created to replace the older, now 1726 deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, 1727 including exceptions, caches, and the floating point unit. A new 1728 Microblaze demo has also been added to demonstrate the new Microblaze V8 1729 port layer. The demo application was created using V13.1 of the Xilinx 1730 EDK, and includes a basic embedded web server that uses lwIP V1.4.0. 1731 + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been 1732 incorporated into the main FreeRTOS zip file download. Projects are 1733 provided for both the IAR and Keil toolchains. 1734 1735 1736 API additions: 1737 1738 + xTaskGetIdleTaskHandle() has been added. 1739 + xTaskGetTimerDaemonTaskHandle() has been added. 1740 + pcTaskGetTaskName() has been added. 1741 + vSemaphoreDelete() macro has been added to make it obvious how to delete 1742 a semaphore. In previous versions vQueueDelete() had to be used. 1743 + vTaskCleanUpResources() has been removed. It has been obsolete for a 1744 while. 1745 + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings 1746 being generated when the size of a pointer does not match the size of 1747 the stack type. This will (has already) be used in new ports, but will 1748 not be retrofitted to existing ports until the existing port itself is 1749 updated. 1750 1751 Other updates and news: 1752 1753 + The core files have all been modified to tighten the coding standard even 1754 further. These are style, not functional changes. 1755 + All ARM7 port layers have been slightly modified to prevent erroneous 1756 assert() failures when tasks are created and configASSERT() is defined. 1757 + All ARM IAR projects have been updated to build with the latest V6.2.x 1758 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was 1759 necessary due to a change in the way EWARM uses the CMSIS libraries. 1760 + The PIC32 port layer has been updated in preparation for V2 of the C32 1761 compiler. 1762 + The old Virtex-4 Microblaze demo has been marked as deprecated. Please 1763 use the brand new Spartan-6 port and demo in its place. 1764 + The bones of a new generic command interpreter is located in 1765 FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in 1766 progress, and not documented. It is however already in use. It will be 1767 documented in full when the projects that are already using it are 1768 completed. 1769 + A couple of new standard demos have been included. First, a version of 1770 flop.c called sp_flop.c. This is similar to flop.c, but uses single 1771 precision floats in place of double precision doubles. This allows the 1772 for testing ports to processors that have only single precision floating 1773 point units, and revert to using emulated calculations whenever a double 1774 is used. Second, comtest_strings.c has been included to allow the test 1775 of UART drivers when an entire string is transmitted at once. The 1776 previous comtest.c only used single character transmission and reception. 1777 + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and 1778 used by a couple of new demos. 1779 1780Changes between V7.0.0 and V7.0.1 released May 13 2011 1781 1782 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool 1783 chains. 1784 + Added a SmartFusion demo application for all of the IAR, Keil and 1785 SoftConsole (GCC/Eclipse) tool chains. 1786 + Updated the RX600 port and demo applications to take into account the 1787 different semantics required when using the latest (V1.0.2.0) version of 1788 the Renesas compiler. 1789 + Modified the RX600 Ethernet driver slightly to make it more robust under 1790 heavy load, and updated the uIP handling task to make use of the FreeRTOS 1791 software timers. 1792 + Slightly changed the PIC32 port layer to move an ehb instruction in line 1793 with the recommendations of the MIPS core manual, and ensure 8 byte stack 1794 alignment is truly always obtained. 1795 + Changed the behaviour when tasks are suspended before the scheduler has 1796 been started. Before, there needed to be at least one task that was not 1797 in the suspended state. This is no longer the case. 1798 1799Changes between V6.1.1 and V7.0.0 released April 8 2011 1800 1801 FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x 1802 1803 Main changes: 1804 1805 + Introduced a new software timer implementation. 1806 + Introduced a new common demo application file to exercise the new timer 1807 implementation. 1808 + Updated the Win32/MSVC simulator project to include the new software timer 1809 demo tasks and software timer tick hook test. Much simpler software timer 1810 demonstrations are included in the demo projects for both of the new ports 1811 (MSP430X with CCS4 and STM32 with TrueStudio). 1812 + Various enhancements to the kernel implementation in tasks.c. These are 1813 transparent to users and do not effect the pre-existing API. 1814 + Added calls to configASSERT() within the kernel code. configASSERT() is 1815 functionally equivalent to the standard C assert() macro, but does not 1816 rely on the compiler providing assert.h. 1817 1818 Other changes: 1819 1820 + Updated the MSP430X IAR port and demo project to include support for the 1821 medium memory model. 1822 + Added a demo project for the MSP430X that targets the MSP430X Discovery 1823 board and uses the Code Composer Studio 4 tools. This demo includes use 1824 of the new software timer implementation. 1825 + Added an STM32F100RB demo project that targets the STM32 Discovery Board 1826 and uses the TrueStudio Eclipse based IDE from Atollic. 1827 + Removed some compiler warnings from the PSoC demo application. 1828 + Updated the PIC32 port layer to ensure the 1829 configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter 1830 what its value is (within the valid range set by the microcontroller 1831 kernel). 1832 + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest 1833 MPLAB compiler versions from Microchip. 1834 + Various cosmetic changes to prepare for a standards compliance statement 1835 that will be published after the software release. 1836 1837 1838Changes between V6.1.0 and V6.1.1 released January 14 2011 1839 1840 + Added two new Windows simulator ports. One uses the free Microsoft Visual 1841 Studio 2010 express edition, and the other the free MingW/Eclipse 1842 environment. Demo projects are provided for both. 1843 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the 1844 GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. 1845 + Added a demo for the low power STM32L152 microcontroller using the IAR 1846 Embedded Workbench. 1847 + Added a new port for the MSP430X core using the IAR Embedded Workbench. 1848 + Updated all the RX62N demo projects that target the Renesas Demonstration 1849 Kit (RDK) to take into account the revered LED wiring on later hardware 1850 revisions, and the new J-Link debug interface DLL. 1851 + Updated all the RX62N demo projects so the IO page served by the example 1852 embedded web server works with all web browsers. 1853 + Updated the Red Suite projects to work with the up coming Red Suite 1854 release, and to use a more recent version of the CMSIS libraries. 1855 + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. 1856 + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() 1857 trace macro. 1858 + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment 1859 the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for 1860 more flexibility in how the time base for the run time statistics feature 1861 can be implemented. 1862 + Added a "cpsie i" instruction before the "svc 0" instruction used to start 1863 the scheduler in each of the Cortex M3 ports. This is to ensure that 1864 interrupts are globally enabled prior to the "svc 0" instruction being 1865 executed in cases where interrupts are left disabled by the C start up 1866 code. 1867 + Slight optimisation in the run time stats calculation. 1868 1869Changes between V6.0.5 and V6.1.0 released October 6 2010 1870 1871 + Added xTaskGetTickCountFromISR() function. 1872 + Modified vTaskSuspend() to allow tasks that have just been created to be 1873 immediately suspended even when the kernel has not been started. This 1874 allows them to effectively start in the Suspended state - a feature that 1875 has been asked for on numerous occasions to assist with initialisation 1876 procedures. 1877 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. 1878 + Added a STM32F103 demo application that uses the Rowley tools. 1879 + Under specific conditions xFreeBytesRemaining within heap_2.c could end up 1880 with an incorrect value. This has been fixed. 1881 + xTaskCreateGeneric() has a parameter that can be used to pass the handle 1882 of the task just created out to the calling task. The assignment to this 1883 parameter has been moved to ensure it is assigned prior to the newly 1884 created having any possibility of executing. This takes into account the 1885 case where the assignment is made to a global variable that is accessed by 1886 the newly created task. 1887 + Fixed some build time compiler warnings in various FreeTCPIP (based on 1888 uIP) files. 1889 + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. 1890 1891Changes between V6.0.4 and V6.0.5 released May 17 2010 1892 1893 + Added port and demo application for the Cortus APS3 processor. 1894 1895Changes between V6.0.3 and V6.0.4 released March 14 2010 1896 1897 + All the contributed files that were located in the Demo/Unsupported_Demos 1898 directory have been removed. These files are instead now available in the 1899 new Community Contributions section of the FreeRTOS website. See 1900 https://www.FreeRTOS.org/RTOS-contributed-ports.html 1901 + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory 1902 has been upgraded to use V2.x of the Rowley Crossworks STM32 support 1903 package. 1904 + An initial Energy Micro EFM32 demo has been included. This will be 1905 updated over the coming months to make better use of the low power modes 1906 the EFM32 provides. 1907 1908Changes between V6.0.2 and V6.0.3 released February 26 2010 1909 1910 + SuperH SH7216 (SH2A-FPU) port and demo application added. 1911 + Slight modification made to the default implementation of 1912 pvPortMallocAligned() and vPortFreeAligned() macros so by default they 1913 just call pvPortMalloc() and vPortFree(). The macros are only needed to 1914 be defined when a memory protection unit (MPU) is being used - and then 1915 only depending on other configuration settings. 1916 1917Changes between V6.0.1 and V6.0.2 released January 9th 2010 1918 1919 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. 1920 Previously the parameter was blank and therefore only an implicit 0 but 1921 newer GCC releases do not permit this. 1922 + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. 1923 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. 1924 + Updated prvListTaskWithinSingleList() is it works on processors where the 1925 stack grows up from low memory. 1926 + Corrected some comments. 1927 + Updated the startup file for the RVDS LPC21xx demo. 1928 1929Changes between V6.0.0 and V6.0.1 released November 15th 2009 1930 1931 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the 1932 stack pointer is where the compiler expects it to be when a task first 1933 starts executing. 1934 1935 The following minor changes only effect the Cortex-M3 MPU port: 1936 1937 + portRESET_PRIVILEGE() assembly macro updated to include a clobber list. 1938 + Added prototypes for all the privileged function wrappers to ensure no 1939 compile time warnings are generated no matter what the warning level 1940 setting. 1941 + Corrected the name of portSVC_prvRaisePrivilege to 1942 portSVC_RAISE_PRIVILEGE. 1943 + Added conditional compilation into xTaskGenericCreate() to prevent some 1944 compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. 1945 1946 1947Changes between V5.4.2 and V6.0.0 released October 16th 2009 1948 1949 FreeRTOS V6 is backward compatible with FreeRTOS V5.x. 1950 1951 Main changes: 1952 1953 + FreeRTOS V6 is the first version to include memory protection unit (MPU) 1954 support. Two ports now exist for the Cortex M3, the standard FreeRTOS 1955 which does not include MPU support, and FreeRTOS-MPU which does. 1956 + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added 1957 in support of FreeRTOS-MPU. 1958 + Wording for the GPL exception has been (hopefully) clarified. Also the 1959 license.txt file included in the download has been fixed (the previous 1960 version contained some corruption). 1961 1962 Other changes: 1963 1964 + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. 1965 + ARM7 GCC demo interrupt service routines wrappers have been modified to 1966 call the C portion using an __asm statement. This prevents the function 1967 call being inlined at higher optimisation levels. 1968 + ARM7 ports now automatically set the THUMB bit if necessary when 1969 setting up the initial stack of a task - removing the need for 1970 THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode 1971 tasks to be mixed more easily. 1972 + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. 1973 + Various demo application project files have been updated to be up to date 1974 with the latest IDE versions. 1975 + The linker scripts used with command line GCC demos have been updated to 1976 include an eh_frame section to allow their use with the latest Yagarto 1977 release. Likewise the demo makefiles have been updated to include 1978 command line options to reduce or eliminate the eh_frame section all 1979 together. 1980 + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the 1981 various memory allocation files and into the common portable.h header 1982 file. 1983 + Removed unnecessary use of portLONG, portSHORT and portCHAR. 1984 + Added LM3Sxxxx demo for Rowley CrossWorks. 1985 + Posix simulator has been upgraded - see the corresponding WEB page on the 1986 FreeRTOS.org site. 1987 1988 1989Changes between V5.4.1 and V5.4.2 released August 9th 2009 1990 1991 + Added a new port and demo app for the Altera Nios2 soft core. 1992 + Added LPC1768 demo for IAR. 1993 + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). 1994 + Changed clock frequency of LPC1768 demos to 99MHz. 1995 1996Changes between V5.4.0 and V5.4.1 released July 25th 2009 1997 1998 + New hook function added. vApplicationMallocFailedHook() is (optionally) 1999 called if pvPortMalloc() returns NULL. 2000 + Additional casting added to xTaskCheckForTimeOut(). This prevents 2001 problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a 2002 32 bit architecture (which would probably be a mistake, anyway). 2003 + Corrected the parameter passed to NVIC_SetPriority() to set the MAC 2004 interrupt priority in both LPC1768 demos. 2005 + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 2006 demo application to ensure the heap space was not completely consumed 2007 before the scheduler was started. 2008 2009Changes between V5.3.1 and V5.4.0 released July 13th 2009 2010 2011 + Added Virtex5 / PPC440 port and demos. 2012 + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The 2013 original demo was configured to use engineering samples of the CPU. The 2014 new demo has an improved Ethernet driver. 2015 + Added LPC1768 Rowley demo with zero copy Ethernet driver. 2016 + Reworked byte alignment code to ensure 8 byte alignment works correctly. 2017 + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. 2018 + Changed the initial stack setup for the PPC405 to ensure the small data 2019 area pointers are setup correctly. 2020 2021Changes between V5.3.0 and V5.3.1 released June 21st 2009 2022 2023 + Added ColdFire V1 MCF51CN128 port and WEB server demo. 2024 + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. 2025 + Changed the Cortex M3 port.c asm statements to __asm so it can be 2026 compiled using Rowley CrossWorks V2 in its default configuration. 2027 + Updated the Posix/Linux simulator contributed port. 2028 2029Changes between V5.2.0 and V5.3.0 released June 1st 2009 2030 2031 Main changes: 2032 2033 + Added new (optional) feature that gathers statistics on the amount of CPU 2034 time used by each task. 2035 + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based 2036 microcontroller. 2037 + Added a new demo application for the NXP LPC1766 Cortex-M3 based 2038 microcontroller. 2039 + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a 2040 Linux environment. 2041 2042 Minor changes: 2043 + Updated the Stellaris uIP WEB server demos to include the new run time 2044 statistics gathering feature - and include a served WEB page that 2045 presents the information in a tabular format. 2046 + Added in the lwIP port layer for the Coldfire MCF52259. 2047 + Updated the CrossWorks LPC2368 WEB server to include an image in the 2048 served content. 2049 + Changed some of the timing in the initialisation of the LPC2368 MAC to 2050 permit its use on all part revisions. 2051 + Minor modifications to the core uIP code to remove some compiler warnings. 2052 + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom 2053 demo to make use of the new function. 2054 + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using 2055 Rowley Crossworks. 2056 + Heap_1.c and Heap_2.c used to define structures for the purpose of data 2057 alignment. These have been converted to unions to save a few bytes of 2058 RAM that would otherwise be wasted. 2059 + Remove the call to strncpy() used to copy the task name into the TCB when 2060 the maximum task name is configured to be 1 byte long. 2061 2062Changes between V5.1.2 and V5.2.0 released March 14th 2009 2063 2064 + Optimised the queue send and receive functions (also used by semaphores). 2065 + Replaced the standard critical sections used to protect BIOS calls in the 2066 PC port to instead use scheduler locks. This is because the BIOS calls 2067 always return with interrupts enabled. 2068 + Corrected unclosed comments in boot.s. 2069 2070Changes between V5.1.1 and V5.1.2 released February 9th 2009 2071 2072 + Added NEC V850ES port and demo. 2073 + Added NEC 78K0R port and demo. 2074 + Added MCF52259 port and demo. 2075 + Added the AT91SAM9XE port and demo. 2076 + Updated the MCF52233 FEC driver to work around a silicon bug that 2077 prevents the part auto negotiating some network parameters. 2078 + Minor modifications to the MCF52233 makefile to permit it to be used 2079 on Linux hosts. 2080 + Updated the STM32 primer files to allow them to be built with the latest 2081 version of the RIDE tools. 2082 + Updated the threads.js Java script used for kernel aware debugging in 2083 the Rowley CrossWorks IDE. 2084 2085 2086Changes between V5.1.0 and V5.1.1 released November 20, 2008 2087 2088 + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse. 2089 + Added IAR MSP430 port and demo. 2090 + Corrected several compiler time issues that had crept in as tool versions 2091 change. 2092 + Included FreeRTOS-uIP - a faster uIP. This is not yet complete. 2093 2094Changes between V5.0.4 and V5.1.0 released October 24, 2008 2095 2096 + Added a new port and demo application for the ColdFire V2 core using the 2097 CodeWarrior development tools. 2098 + Replaced the ARM7 demo that used the old (and now no longer supported) 2099 Keil compiler with a new port that uses the new Keil/RVDS combo. 2100 + Stack overflow checking now works for stacks that grow up from low 2101 memory (PIC24 and dsPIC). 2102 + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct 2103 value of -1. 2104 + MSP430 port layers have been updated to permit tasks to place the 2105 microcontroller into power down modes 1 to 3. The demo applications have 2106 likewise been updated to demonstrate the new feature. 2107 + Replaced the two separate MSP430/Rowley port layers with a single and more 2108 flexible version. 2109 + Added more contributed ports, including ports for NEC and SAM9 2110 microcontrollers. 2111 + Changed the linker script used in the LPC2368 Eclipse demo. 2112 2113Changes between V5.0.3 and V5.0.4 released September 22, 2008 2114 2115 + Completely re-written port for ColdFire GCC. 2116 + Bug fix: All Cortex M3 ports have a minor change to the code that sets 2117 the pending interrupt. 2118 + Some header files require that FreeRTOS.h be included prior to their 2119 inclusion. #error message have been added to all such header file 2120 informing users to the cause of the compilation error should the headers 2121 not be included in the correct order. 2122 2123Changes between V5.0.2 and V5.0.3 released July 31, 2008 2124 2125 Changes relating to the Cortex M3: 2126 2127 + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3 2128 ports and demos. See the port documentation pages on the FreeRTOS.org 2129 WEB site for full usage information. 2130 + Improved efficiency of Cortex M3 port even further. 2131 + Ensure the Cortex M3 port works no matter where the vector table is 2132 located. 2133 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port 2134 (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY 2135 functionality. 2136 + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil 2137 projects to allow the WEB server to be conditionally excluded from the 2138 build and therefore allow use of the KickStart (code size limited) 2139 compiler version. 2140 2141 Other changes: 2142 2143 + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to 2144 an assembly file to allow use with all MPLAB compiler versions. This also 2145 allows the omit-frame-pointer optimisation to be turned off. 2146 2147Changes between V5.0.0 and V5.0.2 released May 30, 2008 2148 2149 + Updated the PIC32 port to allow queue API calls to be used from 2150 interrupts above the kernel interrupt priority, and to allow full 2151 interrupt nesting. Task stack usages has also been reduced. 2152 + Added a new PowerPC port that demonstrates how the trace macros can be 2153 used to allow the use of a floating point co-processor. The 2154 traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to 2155 save and restore the floating point context respectively for those tasks 2156 that actually use floating point operations. 2157 + BUG FIX: The first PPC405 port contained a bug in that it did not leave 2158 adequate space above the stack for the backchain to be saved when a task 2159 started to execute for the first time. 2160 + Updated queue.c to add in the means to allow interrupt nesting and for 2161 queue API functions to be called from interrupts that have a priority 2162 above the kernel priority. This is only supported on PIC32 ports thus 2163 far. 2164 + Fixed the compiler warnings that were generated when the latest version 2165 of WinAVR was used. 2166 + Remove all inline usage of 'inline' from the core kernel code. 2167 + Added the queue registry feature. The queue registry is provided as a 2168 means for kernel aware debuggers to locate queue definitions. It has no 2169 purpose unless you are using a kernel aware debugger. The queue registry 2170 will only be used when configQUEUE_REGISTRY_SIZE is greater than zero. 2171 + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to 2172 prevent them from having to be included in multiple demos. 2173 + Added a Keil STM32 demo application. 2174 + Changed the blocktim.c test files as it is no longer legitimate for all 2175 ports to call queue API functions from within a critical section. 2176 + Added the IntQueue.c test file to test the calling of queue API functions 2177 from different interrupt priority levels, and test interrupt nesting. 2178 2179Changes between V5.0.0 and V5.0.1 2180 2181 + V5.0.1 was a customer specific release. 2182 2183Changes between V4.8.0 and V5.0.0 released April 15, 2008 2184 2185 *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 *** 2186 2187 The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(), 2188 xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must 2189 update all calls to these functions to use the new calling convention! Your 2190 compiler might not issue any type mismatch warnings! 2191 2192 2193 Other changes: 2194 2195 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3 2196 microcontrollers. 2197 + New task hook feature added. 2198 + PowerPC demo updated to use version 10.1 of the Xilinx EDK. 2199 + Efficiency gains within the PIC32 port layer. 2200 2201Changes between V4.7.2 and V4.8.0 released March 26 2008 2202 2203 + Added a Virtex4 PowerPC 405 port and demo application. 2204 + Added optional stack overflow checking and new 2205 uxTaskGetStackHighWaterMark() function. 2206 + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and 2207 uxQueueMessagesWaitingFromISR() API functions. 2208 + Efficiency improvements to the Cortex-M3 port layer. NOTE: This 2209 requires that an SVC handler be installed in the application. 2210 + Efficiency improvements to the queue send and receive functions. 2211 + Added new trace macros. These are application definable to provide 2212 a flexible trace facility. 2213 + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex 2214 M3 port layer (bringing it up to the same standard as the IAR and GCC 2215 versions). 2216 + Ports that used the arm-stellaris-eabi-gcc tools have been converted to 2217 use the arm-non-eabi-gcc tools. 2218 2219Changes between V4.7.1 and V4.7.2 released February 21, 2008 2220 2221 + Added Fujitsu MB91460 port and demo. 2222 + Added Fujitsu MB96340 port and demo. 2223 + Tidied up the capitalisation of include files to facilitate builds on 2224 Linux hosts. 2225 + Removed some redundant casting that was generating warnings - but was 2226 included to remove warnings on other compilers. 2227 2228Changes between V4.7.0 and V4.7.1 released February 3, 2008 2229 2230 + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench 2231 for ARM. 2232 + Introduced recursive semaphore feature. 2233 + Updated LPC2368 demos to take into account silicon bugs in old chip 2234 revisions. 2235 + Updated STR9 uIP port to manually set the net mask and gateway addresses. 2236 + Updating demos to allow more to run with the co-operative scheduler. 2237 + Fixed co-operative scheduler behaviour upon the occurrence of a tick 2238 interrupt while the scheduler was suspended. 2239 + Updated documentation contained within semphr.h. 2240 + ARM7 GCC ports no longer use the IRQ attribute. 2241 2242Changes between V4.6.1 and V4.7.0 released December 6, 2007 2243 2244 + Introduced the counting semaphore macros and demo source files. The 2245 Open Watcom PC project has been updated to include the new demo. See 2246 the online documentation for more information. 2247 + Introduced the 'alternative' queue handling API and demo source files. 2248 The Open Watcom PC project has been updated to include the new demo 2249 source files. See the online documentation for more information. 2250 + Added AT91SAM7X Eclipse demo project. 2251 + Added the STM32 primer demo project for the GCC compiler and Ride IDE. 2252 + Removed the .lock files that were mistakenly included in the V4.6.1 2253 eclipse workspaces. 2254 2255Changes between V4.6.0 and V4.6.1 released November 5 2007 2256 2257 + Added support for the MIPS M4K based PIC32. 2258 + Added 'extern "C"' to all the header files to facilitate use with C++. 2259 2260Changes between V4.5.0 and V4.6.0 released October 28 2007 2261 2262 + Changed the method used to force a context switch within an ISR for the 2263 ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and 2264 portEXIT_SWITCHING_ISR() macros are no longer supported. This is to 2265 ensure correct behaviour no matter which GCC version is used, with or 2266 without the -fomit-frame-pointer option, and at all optimisation levels. 2267 + Corrected the prototype for xQueueGenericSend() within queue.h. 2268 2269Changes between V4.4.0 and V4.5.0 released September 17 2007 2270 2271 + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek() 2272 functionality. These should now be used in preference to the old 2273 xQueueSend() function - which is maintained for backward compatibility. 2274 + Added Mutex functionality. The behaviour of mutexes is subtly different 2275 to the already existing binary semaphores as mutexes automatically 2276 include a priority inheritance mechanism. 2277 + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour 2278 of the new functionality. 2279 + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and 2280 QPeek.c files. 2281 + Updated the GCC port for the Cortex M3 to include the 2282 configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only 2283 included in the IAR port. 2284 + Optimised the GCC and IAR port layer code - specifically the context 2285 switch code. 2286 + Consolidated the LM3Sxxxx EK demos for all development tools into a 2287 single project that automatically detects which version of the EK the 2288 application is executing on. 2289 + Added Eclipse support for LM3Sxxxx evaluation kits. 2290 + Added Eclipse support for the Keil LPC2368 evaluation kit. 2291 + Added the Demo/Drivers directory to hold code that is common to multiple 2292 demo application projects. 2293 + Included some minor bug fixes in the uIP 1.0 code. 2294 + Added an lwIP demo for the STR9 - thanks ST for assistance. 2295 + Updated the AVR32 port to ensure correct behaviour with full compiler 2296 optimisation. 2297 + Included binaries for OpenOCD FTDI and parallel port interfaces. 2298 2299Changes between V4.4.0 and V4.3.1 released July 31, 2007 2300 2301 + Added AVR32 UC3B demo application. 2302 + Updated AVR32 UC3A port and demo applications. 2303 + Added IAR lwIP demo for AVR32 UC3A. 2304 + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation 2305 (thanks Niu Yong for making the suggestion). 2306 + Added xTaskGetSchedulerState() API function. 2307 + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely 2308 have their block time adjusted (within xQueueSend() and xQueueReceive()), 2309 and are the subject of a call the vTaskResume() when they are not 2310 actually in the Suspended state (thanks Dan Searles for reporting the 2311 issues). 2312 2313 2314Changes between V4.3.0 and V4.3.1 released June 11, 2007 2315 2316 + Added STMicroelectronics STM32 Cortex-M3 demo application. 2317 + Updated ustdlib.c for the GCC LM3S6965 demo. 2318 2319Changes between V4.2.1 and V4.3.0 released June 5, 2007 2320 2321 + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24 2322 and dsPIC ports. See the LM3S6965 and PIC24 demo application 2323 documentation pages for more information. 2324 + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC 2325 tools, and changed the demo applications. 2326 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris 2327 microcontrollers. 2328 + Corrected bug in uIP the demos that prevented frames of approximately 1480 2329 bytes and over from being transmitted. 2330 + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org 2331 download. 2332 + Update to WizC PIC18 port to permit its use with version 14 of the 2333 compiler. Thanks Marcel! 2334 2335Changes between V4.2.1 and V4.2.0 released April 2, 2007 2336 2337 + Added AVR32 AT32UC3A ports for GCC and IAR. 2338 + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile. 2339 + Moved location of call to LCD_Init() in STR9 demo to ensure it is only 2340 called after the scheduler has been started. 2341 2342Changes between V4.1.3 and V4.2.0 released February 8, 2007 2343 2344 + Changes to both task.c and queue.c as a result of testing performed on 2345 the SafeRTOS code base. 2346 + Added Cortex-M3 LM3S811 demos for GCC and IAR tools. 2347 2348Changes between V4.1.2 and V4.1.3 released November 19, 2006 2349 2350 + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools. 2351 + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around 2352 to GCC bug at some optimisation levels. 2353 + Altered the way the heap is defined in the LM3S811 Keil demo to prevent 2354 the RAM usage from counting toward the code size limit calculation. 2355 + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within 2356 xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz. 2357 + Tasks that block on events with a timeout of portMAX_DELAY are now 2358 blocked indefinitely if configINCLUDE_vTaskSuspend is defined. 2359 Previously portMAX_DELAY was just the longest block time possible. This 2360 is still the case if configINCLUDE_vTaskSuspend is not defined. 2361 + Minor changes to some demo application files. 2362 2363Changes between V4.1.1 and V4.1.2 released October 21, 2006 2364 2365 + Added 16bit PIC ports and demos. 2366 + Added STR750 port and demo. 2367 2368 2369Changes between V4.1.0 and V4.1.1 released September 24, 2006 2370 2371 + Added the Luminary Micro Stellaris LM3S811 demo application. 2372 2373Changes between V4.0.5 and V4.1.0 released August 28, 2006 2374 2375 + Prior to V4.1.0, under certain documented circumstances, it was possible 2376 for xQueueSend() and xQueueReceive() to return without having completed 2377 and without their block time expiring. The block time effectively 2378 stated a maximum block time, and the return value of the function needed 2379 to be checked to determine the reason for returning. This is no longer 2380 the case as the functions will only return once the block time has 2381 expired or they are able to complete their operation. It is therefore no 2382 longer necessary to wrap calls within loops. 2383 + Changed the critical section handling in the IAR AVR port to correct the 2384 behaviour when used with later compiler versions. 2385 + Added the LPC2138 CrossWorks demo into the zip file. Previously this was 2386 only available as a separate download. 2387 + Modified the AVR demo applications to demonstrate the use of co-routines. 2388 2389Changes between V4.0.4 and V4.0.5 released August 13, 2006 2390 2391 + Introduced API function xTaskResumeFromISR(). Same functionality as 2392 xTaskResume(), but can be called from within an interrupt service routine. 2393 + Optimised vListInsert() in the case when the wake time is the maximum 2394 tick count value. 2395 + Bug fix: The 'value' of the event list item is updated when the priority 2396 of a task is changed. Previously only the priority of the TCB itself was 2397 changed. 2398 + vTaskPrioritySet() and vTaskResume() no longer use the event list item. 2399 This has not been necessary since V4.0.1 when the xMissedYield handling 2400 was added. 2401 + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz. 2402 + When ending the scheduler - do not try to attempt a context switch when 2403 deleting the current task. 2404 + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining 2405 the length from the rx descriptor. 2406 2407 2408Changes between V4.0.3 and V4.0.4 released June 22, 2006 2409 2410 + Added a port and demo application for the STR9 ARM9 based processors from 2411 ST. 2412 + Slight optimisation to the vTaskPrioritySet() function. 2413 + Included the latest uIP version (1.0) in the demo/common/ethernet 2414 directory. 2415 2416Changes between V4.0.2 and V4.0.3 released June 7, 2006 2417 2418 + Added a port and demo application for the Cortex-M3 target using the IAR 2419 development tools. 2420 + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the 2421 CrossStudio tools. 2422 + The heap size defined for the lwIP Rowley demo has been reduced so that 2423 the project will link correctly when using the command line GCC tools 2424 also. The makefile has also been modified to allow debugging. 2425 + The lwIP Rowley demo not includes a 'kernel aware' debug window. 2426 + The uIP Rowley project has been updated to build with V1.6 of CrossWorks. 2427 + The second set of tasks in the blockQ demo were created the wrong way 2428 around (inconsistent to the description in the file). This has been 2429 corrected. 2430 2431Changes between V4.0.1 and V4.0.2 released May 28, 2006 2432 2433 + Port and demo application added for the Tern Ethernet Engine controller. 2434 + Port and demo application added for MC9S12 using GCC, thanks to 2435 Jefferson "imajeff" Smith. 2436 + The function vTaskList() now suspends the scheduler rather than disabling 2437 interrupts during the creation of the task list. 2438 + Allow a task to delete itself by passing in its own handle. Previously 2439 this could only be done by passing in NULL. 2440 + Corrected the value passed to the WDG_PeriodValueConfig() library 2441 function in the STR71x demo. 2442 + The tick hook function is now called only within a tick isr. Previously 2443 it was also called when the tick function was called during the scheduler 2444 unlocking process. 2445 + The EMAC driver in the SAM7X lwIP demo has been made more robust as per 2446 the thread: https://sourceforge.net/forum/message.php?msg_id=3714405 2447 + In the PC ports: Add function prvSetTickFrequencyDefault() to set the 2448 DOS tick back to its proper value when the scheduler exits. Thanks 2449 Raynald! 2450 + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT 2451 macro where the BP register was not popped from the stack correctly. The 2452 BP value would never get used so this did not cause a problem, but it has 2453 been corrected all the same. 2454 2455 2456Changes between V4.0.0 and V4.0.1 released April 7 2006 2457 2458 + Improved the ARM CORTEX M3 ports so they now only have to service 2459 pendSV interrupts. 2460 + Added a Luminary Micro port and demo for use with Rowley CrossWorks. 2461 + Added the xMissedYield handling to tasks.c. 2462 2463Changes between V3.2.4 and V4.0.0 2464 2465 Major changes: 2466 2467 + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers. 2468 + Added new co-routine functionality. 2469 2470 Other kernel changes: 2471 2472 + An optional tick hook call is now included in the tick function. 2473 + Introduced the xMiniListItem structure and removed the list pxHead 2474 member in order to reduce RAM usage. 2475 + Added the following definitions to the FreeRTOSConfig.h file included 2476 with every port: 2477 configUSE_TICK_HOOK 2478 configUSE_CO_ROUTINES 2479 configMAX_CO_ROUTINE_PRIORITIES 2480 + The volatile qualification has been changed on the list members to allow 2481 the task.c code to be tidied up a bit. 2482 + The scheduler can now be started even if no tasks have been created! 2483 This is to allow co-routines to run when there are no tasks. 2484 + A task being woken by an event will now preempt the currently running task 2485 even if its priority is only equal to the currently running task. 2486 2487 Port and demo application changes: 2488 2489 + Updated the WinAVR demo to compile with the latest version of WinAVR 2490 with no warnings generated. 2491 + Changed the WinAVR makefile to make chars signed - needed for the 2492 co-routine code if BaseType_t is set to char. 2493 + Added new demo application file crflash.c. This demonstrates co-routine 2494 functionality including passing data between co-routines. 2495 + Added new demo application file crhook.c. This demonstrates co-routine 2496 and tick hook functionality including passing data between and ISR and 2497 a co-routine. 2498 + Some NOP's were missing following stmdb{}^ instructions in various ARM7 2499 ports. These have been added. 2500 + Updated the Open Watcom PC demo project to include the crflash and crhook 2501 demo co-routines as an example of their use. 2502 + Updated the H8S demo to compile with the latest version of GCC. 2503 + Updated the SAM7X EMAC drivers to take into account the hardware errata 2504 regarding lost packets. 2505 + Changed the default MAC address used by some WEB server demos as the 2506 original addresses used was not liked by some routers. 2507 + Modified the SAM7X/IAR startup code slightly to prevent it hanging on 2508 some systems when the code is executed using a j-link debugger. The 2509 j-link macro file configures the PLL before the code executes so 2510 attempting to configure it again in the startup code was causing a 2511 problem for some user. Now a check is performed first to see if the 2512 PLL is already set up. 2513 + GCC port now contain all assembler code in a single asm block rather than 2514 individual blocks as before. 2515 + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler 2516 choose the register to use as a temporary register during the context 2517 switch. 2518 + Added portNOP() macro. 2519 + The compare match load value on LPC2000 ports now has 1 added to correct 2520 the value used. 2521 + The minimal stack depth has been increased slightly on the WIZC PIC18 2522 port. 2523 2524Changes between V3.2.3 and V3.2.4 2525 2526 + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above. 2527 Many thanks to Glen Biagioni for the provided update. 2528 + Added a new Microblaze port and demo application. 2529 + Modified the SAM7X EMAC demo to default to use the MII interface rather 2530 than the RMII interface. 2531 + Modified the startup sequence of the SAM7X demo slightly to allow the 2532 EMAC longer to auto negotiate. 2533 2534Changes between V3.2.2 and V3.2.3 2535 2536 + Added MII interface support to the SAM7X EMAC peripheral driver. 2537 Previously versions worked with the RMII interface only. 2538 + Added command line GCC support to the SAM7X lwIP demo. Previously the 2539 project could only be built using the CrossWorks IDE. Modifications to 2540 this end include the addition of a standard makefile and linker script to 2541 the download, and some adjustments to the stacks allocated to each task. 2542 + Changed the page returned by the lwIP WEB server demo to display the 2543 task status table rather than the TCP/IP statistics. 2544 + Corrected the capitalisation of some header file includes and makefile 2545 dependencies to facilitate use on Linux host computers. 2546 + The various LPC2000 ports had a mistake in the timer setup where the 2547 prescale value was written to T0_PC instead of T0_PR. This would have 2548 no effect unless a prescale value was actually required. This has been 2549 corrected. 2550 2551Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005 2552 2553 + Added an IAR port for the Philips LPC2129 2554 + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded 2555 Workbench V4.30a format. 2556 + Updated the J-Link macro file included with the SAM7X uIP demo project 2557 to allow the demo board to be reset over the J-Link. 2558 2559Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005 2560 2561 + Added lwIP demo for AT91SAM7X using Rowley tools. 2562 + Added uIP demo for AT91SAM7X using IAR tools. 2563 + Added function xTaskGetCurrentTaskHandle(). 2564 + Renamed events.h to mevents.h to prevent it conflicting with the events.h 2565 generated automatically by the HCS12 processor expert utility. events.h 2566 is only used by the PC demo application. 2567 + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value 2568 expected by the compiler, and the compilers do not write to this 2569 register. 2570 + The HCS12 banked model demo now creates the 'suicide' tasks immediately 2571 prior to starting the scheduler. These tasks should be the last tasks to 2572 get started in order for the test to function correctly. 2573 2574Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005 2575 2576 V3.2.0 introduces two new MSP430 ports and corrects a minor kernel 2577 issues. Thanks to Ares.qi for his input. 2578 2579 + Added two MSP430 ports that use the Rowley CrossWorks development tools. 2580 One port just mirrors the existing GCC port. The other port was provided 2581 by Milos Prokic. Thanks! 2582 + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume() 2583 are called while the scheduler is locked (by a call to 2584 vTaskSuspendAll()). When this is done the subject task now starts to 2585 execute immediately when the scheduler is unlocked if it has the highest 2586 priority that is ready to run. Previously there was a possibility that 2587 the task would not run until the next RTOS tick or call to portYIELD(). 2588 + Another similar small correction ensures that in the case where more than 2589 one task is blocked on a semaphore or queue, the task with the highest 2590 priority is guaranteed to be unblocked first. 2591 + Added a couple of more test tasks to the PC demo which cover the points 2592 above. 2593 2594Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005 2595 2596 This release updates the HCS12 port. The common kernel code 2597 remains unchanged. 2598 2599 + Updated the HCS12 port to support banking and introduced a demo 2600 application for the MC9S12DP256. The new demo application is 2601 located in the Demo/HCS12_CodeWarrior_banked directory. 2602 + The name of the directory containing the MC9S12F32 demo application 2603 has been changed to Demo/HCS12_CodeWarrior_small (as in 'small' 2604 memory model). 2605 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the 2606 demo application is now 24MHz. Previously it was 8MHz. 2607 + The demo application file Demo/Common/Minimal/death.c has a slight 2608 alteration to prevent it using floating point variables. 2609 2610 2611Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005 2612 2613 + Added new ports for ST Microsystems STR71x, and Freescale HCS12 2614 microcontrollers. Currently the HCS12 port is limited to the small 2615 memory model. Large memory models will be supported in the next 2616 release. 2617 + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his 2618 continuing contribution. 2619 + The accuracy of the AVR port timer setup has been improved. Thanks to 2620 Thomas Krutmann for this contribution. 2621 + Added a new conditional compilation macro configIDLE_SHOULD_YIELD. 2622 See the WEB documentation for details. 2623 + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks. 2624 + Slight modification to the SAM7 release build configuration to correct 2625 an include path definition. 2626 + Updated the MPLAB PIC18 documentation to provide extra details on linker 2627 file configuration. 2628 2629Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005 2630 2631 V3.0.0 includes many enhancements, so this history list is broken into 2632 subsections as follows: 2633 2634 API changes 2635 New ports 2636 Directory name changes 2637 Kernel and miscellaneous changes changes 2638 2639 - API changes 2640 2641 + Each port now defines BaseType_t as the data type that is most 2642 efficient for that architecture. The type BaseType_t is used 2643 extensively in API calls necessitating the following changes to the 2644 FreeRTOS API function prototypes. 2645 2646 See the "New for V3.0.0" section of the FreeRTOS online 2647 documentation for full details of API changes. 2648 2649 - New ports 2650 2651 + The AT91FR40008 ARM7 port contributed by John Feller is now included 2652 in the download (thanks John!). 2653 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van 2654 Lieshout is now included in the download (thanks Marcel!). 2655 + The IAR port for the AVR microcontroller has been upgraded to V3.0.0 2656 and is now a supported port. 2657 2658 - Directory name changes 2659 2660 For consistency, and to allow integration of the new ports, the 2661 following directory names have been changed. 2662 2663 + The source/portable/GCC/ARM7 directory has been renamed 2664 source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming 2665 of other GCC ARM7 ports. 2666 + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to 2667 accommodate the wizC/fedC PIC port. 2668 + The demo applications for the two AVR ports no longer share the same 2669 directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR 2670 directory and the IAR port in the Demo/AVR_ATMega323_IAR directory. 2671 2672 2673 - Kernel and miscellaneous changes changes 2674 2675 See the "New for V3.0.0" section of the FreeRTOS online 2676 documentation for more information. 2677 2678 + Previously 'portmacro.h' contained some user editable definitions 2679 relating to the user application, and some fixed definitions relating 2680 specifically to the port being used. The application specific 2681 definitions have been removed from 'portmacro.h' and placed inside a 2682 new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now 2683 never be modified by the user. A 'FreeRTOSConfig.h' is now included 2684 in each of FreeRTOS/Demo subdirectories - as it's settings relate to 2685 the demo application rather than being specific to the port. 2686 + Introduced configUSE_IDLE_HOOK in idle task. 2687 + The idle task will yield when another idle priority task is ready to 2688 run. Previously the idle task would run to the end of its time slice 2689 regardless. 2690 + The idle task is now created when the scheduler is started. This 2691 requires less stack than the previous scheme where it was created upon 2692 creation of the first application task. 2693 + The function usPortCheckFreeStackSpace() has been renamed 2694 usTaskCheckFreeStackSpace() and moved from the portable layer to 2695 tasks.c. 2696 + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE. 2697 + The portheap.c file included with the AVR port has been deleted. The 2698 AVR demo now uses the standard heap1 sample memory allocator. 2699 + The GCC AVR port is now build using the standard make utility. The 2700 batch files used previously have been deleted. This means a recent 2701 version of WinAVR is required in order to create a binary suitable for 2702 source level debugging. 2703 + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION 2704 constant as a parameter. Instead the constant is used directly within 2705 tasks.c and no parameter is required. 2706 + The header file 'FreeRTOS.h' has been created and is used to include 2707 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary 2708 order. FreeRTOS.h can now be included in place of these other 2709 headers. 2710 + The header file 'errors.h' has been deleted. The definitions it 2711 contained are now located within 'projdefs.h'. 2712 + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc(). 2713 Previously an unsigned short was used. 2714 + When resuming the scheduler a yield is performed if either a tick has 2715 been missed, or a task is moved from the pending ready list into a 2716 ready list. Previously a yield was not performed on this second 2717 condition. 2718 + In heap1.c an overflow check has been added to ensure the next free 2719 byte variable does not wrap around. 2720 + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO() 2721 macros. 2722 + The MPLAB PIC port now saved the TABLAT register in interrupt service 2723 routines. 2724 2725Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005 2726 2727 This version adds support for the H8 processor. 2728 2729 Other changes: 2730 2731 + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each 2732 individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM 2733 limited ports to allocate fewer characters to the task name. 2734 + AVR port - Replaced the inb() and outb() functions with direct memory 2735 access. This allows the port to be built with the 20050414 build of 2736 WinAVR. 2737 + GCC LPC2106 port - removed the 'static' from the definition of 2738 vNonPreemptiveTick() to allow the demo to link when using the cooperative 2739 scheduler. 2740 + GCC LPC2106 port - Corrected the optimisation options in the batch files 2741 ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case 2742 -o is replaced by an uppercase -O. 2743 + Tasks.c - The strcpy call has been removed when copying across the task 2744 name into the TCB. 2745 + Updated the trace visualisation to always be 4 byte aligned so it can be 2746 used on ARM architectures. 2747 + There are now two tracecon executables (that convert the trace file binary 2748 into an ASCII file). One for big endian targets and one for little endian 2749 targets. 2750 + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called 2751 too often in the idle task. 2752 + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt 2753 mask with the RX_DATA_BK1. 2754 2755 2756Changes between V2.5.5 and V2.6.0 - Released January 16, 2005 2757 2758 + Added the API function vTaskDelayUntil(). The demo app file 2759 Demo/Common/Minimal/flash.c has been updated to demonstrate its use. 2760 + Added INCLUDE_vTaskDelay conditional compilation. 2761 + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to 2762 Demo/ARM7_AT91SAM7S64_IAR for consistency. 2763 + Modified the AT91SAM7S USB driver to allow descriptors that have 2764 a length that is an exact multiple of the FIFO to be transmitted. 2765 2766Changes between V2.5.4 and V2.5.5 - Released January 3, 2005 2767 2768 This version adds support for the Atmel SAM7 ARM7 microcontrollers 2769 along with the IAR development tools. 2770 2771 Other changes: 2772 2773 + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC. 2774 + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil. 2775 + Modified the Philips ARM7 serial interrupt service routines to only 2776 process one interrupt per call. This seems to enable the ISR to 2777 operate more quickly. 2778 + Removed the 'far' keyword from the Open Watcom portable layer source 2779 files. This allows their use with V1.3 of Open Watcom. 2780 + Minor modifications to the SDCC build files to allow their use under 2781 Linux. Thanks to Frieder Ferlemann for this contribution. 2782 + Small change to sTaskCreate() to allow a context switch even when 2783 pxCreatedTask is NULL. Thanks to Kamil for this contribution. 2784 + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick() 2785 definitions. 2786 2787Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004 2788 2789 This is an important maintenance release. 2790 2791 The function cTaskResumeAll() has been modified so it can be used safely 2792 prior to the kernel being initialised. This was an issue as 2793 cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun 2794 for highlighting this issue. 2795 2796Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004 2797 2798 The critical section handling functions have been changed for the GCC ARM7 2799 port. Some optimisation levels use the stack differently to others. This 2800 means the interrupt flags cannot always be stored on the stack and are 2801 instead now stored in a variable, which is then saved as part of the 2802 tasks context. This allows the GCC ARM7 port to be used at all 2803 optimisation levels - including -Os. 2804 2805 Other minor changes: 2806 2807 + MSP430 definition of usCriticalNesting now uses the volatile qualifier. 2808 This is probably not required but added just in case. 2809 2810Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004 2811 2812 + Added the Keil ARM7 port. 2813 + Slight modification to comtest.c to make the delay periods more random. 2814 This creates a better test condition. 2815 2816Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004 2817 2818 + Added the MSP430 port. 2819 + Extra comments added to the GCC ARM7 port.c and portISR.c files. 2820 + The memory pool allocated within heap_1.c has been placed within a 2821 structure to ensure correct memory alignment on 32bit systems. 2822 + Within the GCC ARM7 serial drivers an extra check is made to ensure 2823 the post to the queue was successful if then attempting immediately 2824 retrieve the posted character. 2825 + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS 2826 as the old name was misleading. 2827 2828 2829Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004 2830 2831 The RTOS source code download now includes three separate memory allocation 2832 schemes - so you can choose the most appropriate for your application. 2833 These are found in the Source/Portable/MemMang directory. The demo 2834 application projects have also been updated to demonstrate the new schemes. 2835 See the "Memory Management" page of the API documentation for more details. 2836 2837 + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang 2838 directory. 2839 + Replaced the portheap.c files for each demo application with one of the 2840 new memory allocation files. 2841 + Updated the portmacro.h file for each demo application to include the 2842 constants required for the new memory allocators: portTOTAL_HEAP_SIZE and 2843 portBYTE_ALIGNMENT. 2844 + Added a new test to the ARM7 demo application that tests the operation 2845 of the heap_2 memory allocator. 2846 2847 2848Changes between V2.4.1 and V2.4.2 - Released July 14, 2004 2849 2850 + The ARM7 port now supports THUMB mode. 2851 + Modification to the ARM7 demo application serial port driver. 2852 2853Changes between V2.4.0 and V2.4.1 - Released July 2, 2004 2854 2855 + Rationalised the ARM7 port version of portEXIT_CRITICAL() - 2856 improvements provided by Bill Knight. 2857 + Made demo serial driver more complete and robust. 2858 2859 2860Changes between V2.4.0 and V2.3.1 - Released June 30, 2004 2861 2862 + Added the first ARM7 port - thanks to Bill Knight for the assistance 2863 provided. 2864 + Added extra files to the Demo/Common/Minimal directory. These are 2865 equivalent to their Demo/Common/Full counterparts but with the 2866 calls to the functions defined in print.c removed. 2867 + Added TABLAT to the list of registers saved as part of a PIC18 context. 2868 2869Changes between V2.3.0 and V2.3.1 - Released June 25, 2004 2870 2871 + Changed the way the vector table is defined to be more portable. 2872 + Corrected the definitions of SPH and SPL in portmacro.s90. 2873 The previous definitions prevented V2.3.0 operating if the iom323.h 2874 header file was included in portmacro.s90. 2875 2876Changes between V2.2.0 and V2.3.0 - Released June 19, 2004 2877 2878 + Added an AVR port that uses the IAR compiler. 2879 + Explicit use of 'signed' qualifier on plain char types. 2880 + Modified the Open Watcom project files to use 'signed' as the 2881 default char type. 2882 + Changed odd calculation of initial pxTopOfStack value when 2883 portSTACK_GROWTH < 0. 2884 + Added inline qualifier to context switch functions within task.c. 2885 Ports that do not support the (non ANSI) inline keyword have the 2886 inline #define'd away in their respective portmacro.h files. 2887 2888Changes between V2.1.1 and V2.2.0 - Released May 18, 2004 2889 2890 + Added Cygnal 8051 port. 2891 + PCLATU and PCLATH are now saved as part of the PIC18 context. This 2892 allows function pointers to be used within tasks. Thanks to Javier 2893 Espeche for the enhancement. 2894 + Minor changes to demo application files to reduce stack usage. 2895 + Minor changes to prevent compiler warnings when compiling the new port. 2896 2897Changes between V2.1.0 and V2.1.1 - Released March 12, 2004 2898 2899 + Bug fix - pxCurrentTCB is now initialised before the call to 2900 prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed 2901 while null during the initialisation sequence. Thanks to Giuseppe 2902 Franco for the correction. 2903 2904Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004 2905 2906 V2.1.0 has significant reworks that greatly reduce the amount of time 2907 the kernel has interrupts disabled. The first section of modifications 2908 listed here must be taken into account by users. The second section 2909 are related to the kernel implementation and as such are transparent. 2910 2911 Section1 : 2912 2913 + The typedef TickType_t has been introduced. All delay times should 2914 now use a variable of type TickType_t in place of the unsigned long's 2915 used previously. API function prototypes have been updated 2916 appropriately. 2917 + The configuration macro USE_16_BIT_TICKS has been introduced. If set 2918 to 1 TickType_t is defined as an unsigned short. If set to 0 2919 TickType_t is defined as an unsigned long. See the configuration 2920 section of the API documentation for more details. 2921 + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete. 2922 + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a 2923 value (see the API documentation). 2924 + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type 2925 it returns now depends on the USE_16_BIT_TICKS definition. 2926 + cQueueReceive() must now >never< be used from within an ISR. Use the new 2927 cQueueReceiveFromISR() function instead. 2928 2929 Section 2: 2930 2931 + A mechanism has been introduced that allows a queue to be accessed by 2932 a task and ISR simultaneously. 2933 + A "pending ready" queue has been introduced that enables interrupts to 2934 be processed when the scheduler is suspended. 2935 + The list implementation has been improved to provide faster item 2936 removal. 2937 + The scheduler now makes use of the scheduler suspend mechanism in places 2938 where previously interrupts were disabled. 2939 2940Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004 2941 2942 + Introduced new API functions: 2943 vTaskPriorityGet () 2944 vTaskPrioritySet () 2945 vTaskSuspend () 2946 vTaskResume () 2947 vTaskSuspendAll () 2948 vTaskResumeAll () 2949 + Added conditional compilation options that allow the components of the 2950 kernel that are unused by an application to be excluded from the build. 2951 See the Configuration section on the WEB site for more information (on 2952 the API pages). The macros have been added to each portmacro.h file ( 2953 sometimes called prtmacro.h). 2954 + Rearranged tasks.c. 2955 + Added demo application file dynamic.c. 2956 + Updated the PC demo application to make use of dynamic.c. 2957 + Updated the documentation contained in the kernel header files. 2958 + Creating a task now causes a context switch if the task being created 2959 has a higher priority than the calling task - assuming the kernel is 2960 running. 2961 + vTaskDelete() now only causes a context switch if the calling task is 2962 the task being deleted. 2963 2964Changes between V1.2.5 and V1.2.6 - Released December 31, 2003 2965 2966 Barring the change to the interrupt vector (PIC port) these are minor 2967 enhancements. 2968 2969 + The interrupt vector used for the PIC master ISR has been changed from 2970 0x18 to 0x08 - where it should have always been. The incorrect address 2971 still works but probably executes a number of NOP's before getting to the 2972 ISR. 2973 + Changed the baud rate used by the AVR demo application to 38400. This 2974 has an error percentage of less than one percent with an 8MHz clock. 2975 + Raised the priority of the Rx task in demo\full\comtest.c. This only 2976 affects the Flashlite and PC ports. This was done to prevent the Rx 2977 buffer becoming full. 2978 + Reverted the Flashlite COM port driver back so it does not use the DMA. 2979 The DMA appears to miss characters under stress. The Borland Flashlite 2980 port was also calculating a register value incorrectly resulting in the 2981 wrong DMA source address being used. The same code worked fine when 2982 compiling with Open Watcom. Other minor enhancements were made to the 2983 interrupt handling. 2984 + Modified the PIC serial Rx ISR to check for and clear overrun errors. 2985 Overrun errors seem to prevent any further characters being received. 2986 + The PIC demo projects now have some optimisation switched on. 2987 2988 2989Changes between V1.2.4 and V1.2.5 2990 2991 Small fix made to the PIC specific port.c file described below. 2992 2993 + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global 2994 interrupt flag setting. Using the two bits defined within 2995 portINITAL_INTERRUPT_STATE was causing the w register to get clobbered 2996 before the test was performed. 2997 2998Changes between V1.2.3 and V1.2.4 2999 3000 V1.2.4 contains a release version of the PIC18 port. 3001 An optional exception has been included with the GPL. See the licensing 3002 section of www.FreeRTOS.org for details. 3003 3004 + The function xPortInitMinimal() has been renamed to 3005 xSerialPortInitMinimal() and the function xPortInit() has been renamed 3006 to xSerialPortInit(). 3007 + The function sSerialPutChar() has been renamed cSerialPutChar() and 3008 the function return type chaned to portCHAR. 3009 + The integer and flop tasks now include calls to tskYIELD(), allowing 3010 them to be used with the cooperative scheduler. 3011 + All the demo applications now use the integer and comtest tasks when the 3012 cooperative scheduler is being used. Previously they were only used with 3013 the preemptive scheduler. 3014 + Minor changes made to operation of minimal versions of comtest.c and 3015 integer.c. 3016 + The ATMega port definition of portCPU_CLOSK_HZ definition changed to 3017 8MHz base 10, previously it base 16. 3018 3019 3020 3021Changes between V1.2.2a and V1.2.3 3022 3023 The only change of any significance is to the license, which has changed 3024 from the Open Software License to the GNU GPL. 3025 3026 The zip file also contains a pre-release version of the PIC18 port. This 3027 has not yet completed testing and as such does not constitute part of the 3028 V1.2.3 release. It is still however covered by the GNU GPL. 3029 3030 There are minor source code changes to accommodate the PIC C compiler. 3031 These mainly involve more explicit casting. 3032 3033 + sTaskCreate() has been modified slightly to make use of the 3034 portSTACK_GROWTH macro. This is required for the PIC port where the 3035 stack grows in the opposite direction to the other existing ports. 3036 + prvCheckTasksWaitingTermination() has been modified slightly to bring 3037 the decrementing of usCurrentNumberOfTasks within the critical section, 3038 where it should have been since the creation of an eight bit port. 3039 3040Changes between V1.2.2 and V1.2.2a 3041 3042 The makefile and buildcoff.bat files included with the AVR demo application 3043 have been modified for use with the September 2003 build of WinAVR. No 3044 source files have changed. 3045 3046Changes between V1.2.1 and V1.2.2 3047 3048 There are only minor changes here to allow the PC and Flashlite 186 ports 3049 to use the Borland V4.52 compiler, as supplied with the Flashlite 186 3050 development kit. 3051 3052 + Introduced a BCC directory under source\portable. This contains all the 3053 files specific to the Borland compiler port. 3054 + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS. 3055 + Modified comtest.c to increase the rate at which the string is 3056 transmitted and received on the serial port. The Flashlite 186 demo 3057 app baud rate has also been increased. 3058 + The values of the constants used in both integer.c files have been 3059 increased to force the Borland compiler to use 32 bit values. The 3060 Borland optimiser placed the previous values in 16 bit registers, and in 3061 So doing invalidated the test. 3062 3063Changes between V1.2.0 and V1.2.1 3064 3065 This version includes some minor changes to the list implementation aimed 3066 at improving the context switch time - with is now approximately 10% faster. 3067 Changes include the removal of some null pointer assignment checks. These 3068 were redundant where the scheduler uses the list functions, but means any 3069 user application choosing to use the same list functions must now check 3070 that no NULL pointers are passed as a parameter. 3071 3072 The Flashlite 186 serial port driver has also been modified to use a DMA 3073 channel for transmissions. The serial driver is fully functional but still 3074 under development. Flashlite users may prefer to use V1.2.0 for now. 3075 3076 Details: 3077 3078 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600. 3079 + Use vSerialPutString() instead of single character puts in 3080 Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial 3081 driver. Also the check variable only stops incrementing after two 3082 consecutive failures. 3083 + semtest.c creates four tasks, two of which operate at the idle priority. 3084 The tasks that operate at the idle priority now use a lower expected 3085 count than those running at a higher priority. This prevents the low 3086 priority tasks from signalling an error because they have not been 3087 scheduled enough time for each of them to count the shared variable to 3088 the higher original value. 3089 + The flashlite 186 serial driver now uses a DMA channel for transmissions. 3090 + Removed the volatile modifier from the list function parameters. This was 3091 only ever included to prevent compiler warnings. Now warnings are 3092 removed by casting parameters where the calls are made. 3093 + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been 3094 removed from list.c and added as macros in list.h. 3095 + usNumberOfItems has been added to the list structure. This removes the 3096 need for a pointer comparison when checking if a list is empty, and so 3097 is slightly faster. 3098 + Removed the NULL check in vListRemove(). This makes the call faster but 3099 necessitates any application code utilising the list implementation to 3100 ensure NULL pointers are not passed. 3101 + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds 3102 per tick). This is what it always should have been. 3103 3104Changes between V1.01 and V1.2.0 3105 3106 The majority of these changes were made to accommodate the 8bit AVR port. 3107 The scheduler workings have not changed, but some of the data types used 3108 have been made more friendly to an eight bit environment. 3109 3110 Details: 3111 3112 + Changed the version numbering format. 3113 + Added AVR port. 3114 + Split the directory demo\common into demo\common\minimal and 3115 demo\common\full. The files in the full directory are for systems with 3116 a display (currently PC and Flashlite 186 demo's). The files in the 3117 minimal directory are for systems with limited RAM and no display 3118 (currently MegaAVR). 3119 + Minor changes to demo application function prototypes to make more use 3120 of 8bit data types. 3121 + Within the scheduler itself the following functions have slightly 3122 modified declarations to make use of 8bit data types where possible: 3123 xQueueCreate(), 3124 sQueueReceive(), 3125 sQUeueReceive(), 3126 usQueueMessageWaiting(), 3127 sQueueSendFromISR(), 3128 sSemaphoreTake(), 3129 sSemaphoreGive(), 3130 sSemaphoreGiveFromISR(), 3131 sTaskCreate(), 3132 sTaskMoveFromEventList(). 3133 3134 Where the return type has changed the function name has also changed in 3135 accordance with the naming convention. For example 3136 usQueueMessageWaiting() has become ucQueueMessageWaiting(). 3137 + The definition tskMAX_PRIORITIES has been moved from task.h to 3138 portmacro.h and renamed portMAX_PRIORITIES. This allows different 3139 ports to allocate a different maximum number of priorities. 3140 + By default the trace facility is off, previously USE_TRACE_FACILITY 3141 was defined. 3142 + comtest.c now uses a psuedo random delay between sends. This allows for 3143 better testing as the interrupts do not arrive at regular intervals. 3144 + Minor change to the Flashlite serial port driver. The driver is written 3145 to demonstrate the scheduler and is not written to be efficient. 3146 3147 3148 3149Changes between V1.00 and V1.01 3150 3151 These changes improve the ports. The scheduler itself has not changed. 3152 3153 Improved context switch mechanism used when performing a context 3154 switch from an ISR (both the tick ISR and the serial comms ISR's within 3155 the demo application). The new mechanism is faster and uses less stack. 3156 3157 The assembler file portasm.asm has been replaced by a header file 3158 portasm.h. This includes a few assembler macro definitions. 3159 3160 All saving and restoring of registers onto/off of the stack is now handled 3161 by the compiler. This means the initial stack setup for a task has to 3162 mimic the stack used by the compiler, which is different for debug and 3163 release builds. 3164 3165 Slightly changed the operation of the demo application, details below. 3166 3167 Details: 3168 3169 + portSWITCH_CONTEXT() replaced by vPortFirstContext(). 3170 + pxPortInitialiseStack() modified to replicate the stack used by the 3171 compiler. 3172 + portasm.asm file removed. 3173 + portasm.h introduced. This contains macro definitions for 3174 portSWITCH_CONTEXT() and portFIRST_CONTEXT(). 3175 + Context switch from ISR now uses the compiler generated interrupt 3176 mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving 3177 the save/restore to compiler generated code. 3178 + Calls to taskYIELD() during ISR's have been replaced by calling the 3179 simpler and faster portSWITCH_CONTEXT(). 3180 + The Flashlite 186 port now uses 186 instruction set (used to use 80x86 3181 instructions only). 3182 + The blocking queue tasks within the demo application did not operate 3183 quite as described. This has been corrected. 3184 + The priority of the comtest Rx task within the demo application has been 3185 lowered. Received characters are now processed (read from the queue) at 3186 the idle priority, allowing low priority tasks to run evenly at times of 3187 a high communications overhead. 3188 + Prevent the call to kbhit() in main.c for debug builds as the debugger 3189 seems to have problems stepping over the call. This if for the PC port 3190 only. 3191
