1Documentation and download available at https://www.FreeRTOS.org/ 2 3Changes between FreeRTOS V11.0.1 and FreeRTOS V11.1.0 released April 22, 2024 4 5 + Add ARMv7-R port with Memory Protection Unit (MPU) support. 6 + Add Memory Protection Unit (MPU) support to the Cortex-M0 port. 7 + Add stream batching buffer. A stream batching buffer differs from a stream 8 buffer when a task reads from a non-empty buffer: 9 - The task reading from a non-empty stream buffer returns immediately 10 regardless of the amount of data in the buffer. 11 - The task reading from a non-empty steam batching buffer blocks until the 12 amount of data in the buffer exceeds the trigger level or the block time 13 expires. 14 We thank @cperkulator for their contribution. 15 + Add the ability to change task notification index for stream buffers. We 16 thank @glemco for their contribution. 17 + Add xStreamBufferResetFromISR and xMessageBufferResetFromISR APIs to reset 18 stream buffer and message buffer from an Interrupt Service Routine (ISR). 19 We thank @HagaiMoshe for their contribution. 20 + Update all the FreeRTOS APIs to use configSTACK_DEPTH_TYPE for stack type. 21 We thank @feilipu for their contribution. 22 + Update vTaskEndScheduler to delete the timer and idle tasks, 23 once the scheduler is stopped. 24 + Make xTaskGetCurrentTaskHandleForCore() available to the single core 25 scheduler. We thank @Dazza0 for their contribution. 26 + Update uxTaskGetSystemState to not use the pxIndex member of the List_t 27 structure while iterating ready tasks list. The reason is that pxIndex 28 member must only used to select next ready task to run. We thank 29 @gemarcano for their inputs. 30 + Add a config option to the FreeRTOS SMP Kernel to set the default core 31 affinity mask for tasks created without an affinity mask. We thank @go2sh 32 for their contribution. 33 + Add configUSE_EVENT_GROUPS and configUSE_STREAM_BUFFERS configuration 34 constants to control the inclusion of event group and stream buffer 35 functionalities. 36 + Code changes to comply with MISRA C 2012. 37 + Add 64-bit support to the FreeRTOS Windows Simulator port. We thank @watsk 38 and @josesimoes for their contributions. 39 + Add support for 64-bit Microblaze processor to the MicroblazeV9 port. We 40 thank @mubinsyed for their contribution. 41 + Add support for MSP430 Embedded Application Binary Interface (EABI) to 42 the MSP430F449 port to make it work with both MSP430 GCC and MSPGCC 43 compilers. We thank @Forty-Bot for their contribution. 44 + Update xPortIsAuthorizedToAccessBuffer() on FreeRTOS ports with MPU 45 support to grant an unprivileged task access to all the memory before the 46 scheduler is started. 47 + Update the POSIX port to pass the FreeRTOS task name to pthread for 48 readable output in debuggers. We thank @Mixaill for their contribution. 49 + Update the POSIX port to ignore the user specified stack memory and only 50 pass the stack size to the pthread API to avoid errors caused when stack size 51 is smaller than the minimum. We thank @cmorgnaBE for their 52 contribution. 53 + Update the POSIX port to use a timer thread for tick interrupts instead of 54 POSIX timers to address issues with signal handling in non-FreeRTOS 55 pthreads. We thank @cmorgnaBE for their contribution. 56 + Update ARM_TFM port to support TF-Mv2.0.0 release of trusted-firmware-m. 57 We thanks @urutva for their contribution. 58 + Remove redundant constant pools in ARMv8 ports. We thank @urutva for their 59 contribution. 60 + Add APIs to reset the internal state of kernel modules. These APIs are 61 primarily intended to be used in the testing frameworks that restart the 62 scheduler. 63 + Use kernel provided implementations of vApplicationGetIdleTaskMemory() and 64 vApplicationGetTimerTaskMemory() in the RP2040 port. We thank @dpslwk for 65 their contribution. 66 + Fix atomic enter/exit critical section macro definitions in atomic.h for 67 ports that support nested interrupts. We thank @sebunger for their 68 contribution. 69 + Fix compiler warnings in the MSP430F449 port when compiled with the 70 MSP430 GCC compiler. We thank @Forty-Bot for their contribution. 71 + Update the scheduler suspension usage in ulTaskGenericNotifyTake and 72 xTaskGenericNotifyWait() to enhance code readability. We thank @Dazza0 for 73 their contribution. 74 + Add support for latest version of MPU wrappers( mpu_wrappers_v2) in CMake. 75 We thank @IsaacDynamo for their contribution. 76 + Update CMake support to create only one static library containing both the 77 kernel common code and the kernel port code. We thank @barnatahmed for 78 their contribution. 79 80Changes between FreeRTOS V11.0.0 and FreeRTOS V11.0.1 released December 21, 2023 81 82 + Updated the SBOM file. 83 84Changes between FreeRTOS V10.6.2 and FreeRTOS V11.0.0 released December 18, 2023 85 86 + SMP merged into the mainline: While FreeRTOS introduced Asymmetric 87 Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the 88 first to merge Symmetric Multiprocessing (SMP) support into the mainline 89 release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks 90 across multiple identical processor cores. We thank Mike Bruno and Jerry 91 McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of 92 Espressif Systems for their contributions. 93 + Switch MISRA compliance checking from PC Lint to Coverity, and update from 94 MISRA C:2004 to MISRA C:2012. 95 + Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of 96 each configuration item. Application writers can use this template as a 97 starting point to create the FreeRTOSConfig.h file for their application. 98 + Add a template FreeRTOS port which can be used as a starting point for 99 developing a new FreeRTOS port. 100 + Add bounds checking and obfuscation to internal heap block pointers in 101 heap_4.c and heap_5.c to help catch pointer corruptions. The application can 102 enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their 103 FreeRTOSConfig.h. We thank @oliverlavery for their contribution. 104 + Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf 105 with snprintf. 106 + Add trace macros to ports that enable tracing the interaction of ISRs with 107 scheduler events. We thank @conara for their contribution. 108 + Add trace macros that enable tracing of entering and exiting all APIs. We 109 thank @Techcore123 for their contribution. 110 + Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the 111 base priority of a task. The base priority of a task is the priority that 112 was last assigned to the task - which due to priority inheritance, may not 113 be the current priority of the task. 114 + Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in 115 milliseconds. We thank @Dazza0 for their contribution. 116 + Add default implementations of vApplicationGetIdleTaskMemory and 117 vApplicationGetTimerTaskMemory. The application can enable these default 118 implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their 119 FreeRTOSConfig.h. We thank @mdnr-g for their contribution. 120 + Update vTaskGetInfo to include start and end of the stack whenever both 121 values are available. We thank @vinceburns for their contribution. 122 + Prevent tasks waiting for a notification from being resumed by calls to 123 vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their 124 contribution. 125 + Add asserts to validate that the application has correctly installed 126 FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices. 127 We thank @jefftenney for their contribution. 128 + Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and 129 Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64 130 architecture. We thank @urutva for their contribution. 131 + Add CMake support to allow the application writer to select the RISC-V 132 chip extension. We thank @JoeBenczarski for their contribution. 133 + Add CMake support to allow the application writer to build an application 134 with static allocation only. We thank @conara for their contribution. 135 + Make taskYIELD available to unprivileged tasks for ARMv8-M ports. 136 + Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their 137 contribution. 138 + Update the SysTick setup code for ARMv8-M ports to first configure the clock 139 source and then enable SysTick. This is needed to address a bug in QEMU 140 versions older than 7.0.0, which causes an emulation error if SysTick is 141 enabled without first selecting a valid clock source. We thank @jefftenney 142 for their contribution. 143 + Add the port-optimized task selection algorithm optionally available for 144 ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their 145 contribution. 146 + Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing 147 unnecessary steps while splitting a large memory block into two. We thank 148 @Moral-Hao for their contribution. 149 + Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and 150 heap_5.c by moving the size calculation out of the critical section. We thank 151 @Moral-Hao for their contribution. 152 + Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic 153 operation of traversing a linked link from a critical section. We thank 154 @karver8 for their contribution. 155 + Fix stack end and stack size computation in POSIX port to meet the stack 156 alignment requirements on MacOS. We thank @tegimeki for their contribution. 157 + Update the vTaskPrioritySet implementation to use the new priority when the 158 task has inherited priority from a mutex it is holding, and the new priority 159 is bigger than the inherited priority. We thank @Moral-Hao for their 160 contribution. 161 + Add stack alignment adjustment if stack grows upwards. We thank @ivq for 162 their contribution. 163 + Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is 164 selected as the C library implementation to ensure that 165 pxPortInitialiseStack does not overwrite the data in the TLS block portion 166 of the stack. We thank @bebebib-rs for their contribution. 167 + Fix vPortEndScheduler() for the MSVC port so that the function 168 prvProcessSimulatedInterrupts is not stuck in an infinite loop when the 169 scheduler is stopped. We thank @Ju1He1 for their contribution. 170 + Add the Pull Request (PR) Process explaining the stages a PR goes through. 171 172Changes between FreeRTOS V10.6.1 and FreeRTOS V10.6.2 released November 29, 2023 173 174 + Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c) 175 introduced in version 10.6.0: 176 - Introduce Access Control List (ACL) feature to allow the application 177 writer to control an unprivileged task’s access to kernel objects. 178 - Update the system call entry mechanism to only require one Supervisor 179 Call (SVC) instruction. 180 - Wrap parameters for system calls with more than four parameters in a 181 struct to avoid special handling during system call entry. 182 - Fix 2 possible integer overflows. 183 - Convert some asserts to run time parameter checks. 184 185Changes between FreeRTOS V10.6.0 and FreeRTOS V10.6.1 released August 17, 2023 186 187 + Add runtime parameter checks to functions in mpu_wrappers_v2.c file. 188 The same checks are already performed in API implementations using 189 asserts. 190 We thank the following people for their inputs in these changes: 191 - Lan Luo, Zixia Liu of School of Computer Science and Technology, 192 Anhui University of Technology, China. 193 - Xinwen Fu of Department of Computer Science, University of 194 Massachusetts Lowell, USA. 195 - Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of 196 Computer Science and Engineering, Southeast University, China. 197 198Changes between FreeRTOS V10.5.1 and FreeRTOS 10.6.0 released July 13, 2023 199 200 + Add a new MPU wrapper that places additional restrictions on unprivileged 201 tasks. The following is the list of changes introduced with the new MPU 202 wrapper: 203 204 1. Opaque and indirectly verifiable integers for kernel object handles: 205 All the kernel object handles (for example, queue handles) are now 206 opaque integers. Previously object handles were raw pointers. 207 2. Save the task context in Task Control Block (TCB): When a task is 208 swapped out by the scheduler, the task's context is now saved in its 209 TCB. Previously the task's context was saved on its stack. 210 3. Execute system calls on a separate privileged only stack: FreeRTOS 211 system calls, which execute with elevated privilege, now use a 212 separate privileged only stack. Previously system calls used the 213 calling task's stack. The application writer can control the size of 214 the system call stack using new configSYSTEM_CALL_STACK_SIZE config 215 macro. 216 4. Memory bounds checks: FreeRTOS system calls which accept a pointer 217 and de-reference it, now verify that the calling task has required 218 permissions to access the memory location referenced by the pointer. 219 5. System calls restrictions: The following system calls are no longer 220 available to unprivileged tasks: 221 - vQueueDelete 222 - xQueueCreateMutex 223 - xQueueCreateMutexStatic 224 - xQueueCreateCountingSemaphore 225 - xQueueCreateCountingSemaphoreStatic 226 - xQueueGenericCreate 227 - xQueueGenericCreateStatic 228 - xQueueCreateSet 229 - xQueueRemoveFromSet 230 - xQueueGenericReset 231 - xTaskCreate 232 - xTaskCreateStatic 233 - vTaskDelete 234 - vTaskPrioritySet 235 - vTaskSuspendAll 236 - xTaskResumeAll 237 - xTaskGetHandle 238 - xTaskCallApplicationTaskHook 239 - vTaskList 240 - vTaskGetRunTimeStats 241 - xTaskCatchUpTicks 242 - xEventGroupCreate 243 - xEventGroupCreateStatic 244 - vEventGroupDelete 245 - xStreamBufferGenericCreate 246 - xStreamBufferGenericCreateStatic 247 - vStreamBufferDelete 248 - xStreamBufferReset 249 Also, an unprivileged task can no longer use vTaskSuspend to suspend 250 any task other than itself. 251 252 We thank the following people for their inputs in these enhancements: 253 - David Reiss of Meta Platforms, Inc. 254 - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling 255 of School of Computer Science and Engineering, Southeast University, 256 China. 257 - Xinwen Fu of Department of Computer Science, University of 258 Massachusetts Lowell, USA. 259 - Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of 260 Colorado Boulder, USA. 261 + Add Cortex-M35P port. Contributed by @urutva. 262 + Add embedded extension (RV32E) support to the IAR RISC-V port. 263 + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by 264 @chrisnc. 265 + Add APIs to get the application supplied buffers from statically 266 created kernel objects. The following new APIs are added: 267 - xTaskGetStaticBuffers 268 - xQueueGetStaticBuffers 269 - xQueueGenericGetStaticBuffers 270 - xSemaphoreGetStaticBuffer 271 - xEventGroupGetStaticBuffer 272 - xStreamBufferGetStaticBuffers 273 - xMessageBufferGetStaticBuffers 274 These APIs enable the application writer to obtain static buffers from 275 the kernel object and free/reuse them at the time of deletion. Earlier 276 the application writer had to maintain the association of static buffers 277 and the kernel object in the application. Contributed by @Dazza0. 278 + Add Thread Local Storage (TLS) support using picolibc function. Contributed 279 by @keith-packard. 280 + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result, 281 the number of bits in an event group also increases with big data type. Contributed 282 by @Hadatko. 283 + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready 284 tasks. Contributed by @Dazza0. 285 + Update heap_4 and heap_5 to add padding only if the resulting block is not 286 already aligned. 287 + Fix the scheduler logic in a couple of places to not preempt a task when an 288 equal priority task becomes ready. 289 + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden. 290 + Fix clang compiler warnings. Contributed by @phelter. 291 + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from 292 interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY. 293 Contributed by @urutva. 294 + Add xPortIsInsideInterrupt API to ARM_CM0 ports. 295 + Fix build warning in MSP430X port when large data model is used. 296 + Add the ability to use Cortex-R5 port on the parts without FPU. 297 + Fix build warning in heap implementations on PIC24/dsPIC. 298 + Update interrupt priority asserts for Cortex-M ports so that these do not fire 299 on QEMU which does not implement PRIO bits. 300 + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority. 301 configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings 302 these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc. 303 + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed 304 by @jacky309. 305 + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain. 306 + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu. 307 + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate. 308 309Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022 310 + Updated the kernel version in manifest and SBOM 311 312Changes between FreeRTOS V10.4.6 and FreeRTOS V10.5.0 released September 16 2022 313 314 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that 315 already independently gained the ability to execute injected code to 316 read from or write to arbitrary addresses by passing a negative argument 317 as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or 318 vTaskSetThreadLocalStoragePointer respectively. A check has been added to 319 ensure that passing a negative argument as the xIndex parameter does not 320 cause arbitrary read or write. 321 We thank Certibit Consulting, LLC for reporting this issue. 322 + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task 323 to invoke any function with privilege by passing it as a parameter to 324 MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, 325 MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate 326 and MPU_xTaskCreateStatic have been updated to only allow creation of 327 unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and 328 MPU_xTimerPendFunctionCall APIs have been removed. 329 We thank Huazhong University of Science and Technology for reporting 330 this issue. 331 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that 332 already independently gained the ability to execute injected code to 333 achieve further privilege escalation by branching directly inside a 334 FreeRTOS MPU API wrapper function with a manually crafted stack frame. 335 The local stack variable `xRunningPrivileged` has been removed so that 336 a manually crafted stack frame cannot be used for privilege escalation 337 by branching directly inside a FreeRTOS MPU API wrapper. 338 We thank Certibit Consulting, LLC, Huazhong University of Science and 339 Technology and the SecLab team at Northeastern University for reporting 340 this issue. 341 + ARMv7-M MPU ports: It was possible to configure overlapping memory 342 protection unit (MPU) regions such that an unprivileged task could access 343 privileged data. The kernel now uses highest numbered MPU regions for 344 kernel protections to prevent such MPU configurations. 345 We thank the SecLab team at Northeastern University for reporting this 346 issue. 347 + Add support for ARM Cortex-M55. 348 + Add support for ARM Cortex-M85. Contributed by @gbrtth. 349 + Add vectored mode interrupt support to the RISC-V port. 350 + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port. 351 Contributed by @Limoto. 352 + Heap improvements: 353 - Add a check to heap_2 to track if a memory block is allocated to 354 the application or not. The MSB of the size field is used for this 355 purpose. The same check already exists in heap_4 and heap_5. This 356 check prevents double free errors. 357 - Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4 358 and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using 359 vPortFree() is automatically cleared to zero. 360 - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same 361 signature as the standard library calloc function. 362 - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by 363 @Octaviarius. 364 + Add the ability to override send and receive completed callbacks for each 365 instance of a stream buffer or message buffer. Earlier there could be 366 one send and one receive callback for all instances of stream and message 367 buffers. Having separate callbacks per instance allows different message 368 and stream buffers to be used differently - for example, some for inter core 369 communication and others for same core communication. 370 The feature can be controlled by setting the configuration option 371 configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1, 372 APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback() 373 (and likewise APIs for message buffer) can be used to create a stream buffer 374 or message buffer instance with application provided callback overrides. When 375 the option is set to 0, then the default callbacks as defined by 376 sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain 377 backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The 378 functionality is currently not supported for MPU enabled ports. 379 + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it 380 is not tied to newlib and can be used with other c-runtime libraries also. 381 The default behavior for newlib support is kept same for backward 382 compatibility. 383 + Add support to build and link FreeRTOS using CMake build system. Contributed 384 by @yhsb2k. 385 + Add support to generate Software Bill of Materials (SBOM) for every release. 386 + Add support for 16 MPU regions to the GCC Cortex-M33 ports. 387 + Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports. 388 The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND 389 when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core. 390 + Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support 391 the case when the SysTick timer is not clocked from the same source as the CPU. 392 + Add hardware stack protection support to MicroBlazeV9 port. This ensures that 393 the CPU immediately raises Stack Protection Violation exception as soon as any 394 task violates its stack limits. Contributed by @uecasm. 395 + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this 396 option is set to 1, ListItem_t and MiniLitItem_t remain separate types. 397 However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t 398 are both typedefs of the same struct xLIST_ITEM. This addresses some issues 399 observed when strict-aliasing and link time optimization are enabled. 400 To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1. 401 + Simplify prvInitialiseNewTask to memset newly allocated TCB structures 402 to zero, and remove code that set individual structure members to zero. 403 + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds 404 without any warning with -Wmissing-prototypes compiler option. 405 + Add top of stack and end of stack to the task info report obtained using 406 vTaskGetInfo(). Contributed by @shreyasbharath. 407 + Add a cap to the cRxLock and cTxLock members of the queue data structure. 408 These locks count the number items received and sent to the queue while 409 the queue was locked. These are later used to unblock tasks waiting on 410 the queue when the queue is unlocked. This PR caps the values of the 411 cRxLock and cTxLock to the number of tasks in the system because we cannot 412 unblock more tasks than there are in the system. Note that the same assert 413 could still be triggered is the application creates more than 127 tasks. 414 + Changed uxAutoReload parameter in timer functions to xAutoReload. The 415 type is now BaseType_t. This matches the type of pdTRUE and pdFALSE. 416 The new function xTimerGetAutoReload() provides the auto-reload state as 417 a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the 418 original UBaseType_t return value. 419 + Fix support for user implementations of tickless idle that call 420 vTaskStepTick() with xExpectedIdleTime ticks to step. The new code 421 ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick() 422 instead of inside vTaskStepTick(). This fixes the typical case where a task 423 wakes up one tick late and a rare case assertion failure when xTickCount\ 424 rolls over. Contributed by @jefftenney. 425 + Fix deadlock in event groups when pvPortMalloc and vPortFree functions 426 are protected with a mutex. Contributed by @clemenskresser. 427 + Fix a warning in tasks.c when compiled with -Wduplicated-branches 428 GCC option. Contributed by @pierrenoel-bouteville-act. 429 + Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION 430 is set to zero. Contributed by @rdpoor. 431 + Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly 432 copies length on big endian platforms too. 433 + Remove the need for INCLUDE_vTaskSuspend to be set to 1 434 when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv. 435 + Update the RL78 IAR port to the latest version of IAR which uses the 436 industry standard ELF format as opposed to earlier UBROF object format. 437 Contributed by @felipe-iar. 438 + Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This 439 allows the PIC24 family of 16 bit processors to read the tick count without 440 a critical section when the tick count is also 16 bits. 441 + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when 442 Link Time Optimization is enabled. Contributed by @niniemann. 443 + Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform. 444 Contributed by @cmdrf. 445 + Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is 446 8-byte aligned. This fixes the unaligned access exception. Contributed 447 by @Atomar25. 448 + Fix Interrupt Handler Register Function and Exception Process in NiosII 449 Port. Contributed by @ghost. 450 + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore 451 interrupt acknowledge register. This ensures that the SRE port behavior 452 matches the Memory Mapped IO port. Contributed by @sviaunxp. 453 + Update the uncrustify config file to match the version of the uncrustify 454 used in the CI Action. Also, pin the version of uncrustify in CI. Contributed 455 by @swaldhoer. 456 457Changes between FreeRTOS V10.4.5 and FreeRTOS V10.4.6 released November 12 2021 458 459 + ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the 460 internal functions xPortRaisePrivilege and vPortResetPrivilege by changing 461 them to macros. 462 + Introduce a new config configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which 463 enables developers to prevent critical sections from unprivileged tasks. 464 It defaults to 1 for backward compatibility. Application should set it to 465 0 to disable critical sections from unprivileged tasks. 466 467Changes between FreeRTOS V10.4.4 and FreeRTOS V10.4.5 released September 10 2021 468 469 See https://www.FreeRTOS.org/FreeRTOS-V10.4.5.html 470 471 + Introduce configRUN_TIME_COUNTER_TYPE which enables developers to define 472 the type used to hold run time statistic counters. Defaults to uint32_t 473 for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type 474 (for example, uint64_t) in FreeRTOSConfig.h to override the default. 475 + Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing 476 ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns 477 the raw run time counter value, the new function returns the percentage of 478 the entire run time consumed by the idle task. Note the amount of idle 479 time is only a good measure of the slack time in a system if there are no 480 other tasks executing at the idle priority, tickless idle is not used, and 481 configIDLE_SHOULD_YIELD is set to 0. 482 + ARMv8-M secure-side port: Tasks that call secure functions from the 483 non-secure side of an ARMv8-M MCU (ARM Cortex-M23 and Cortex-M33) have two 484 contexts - one on the non-secure side and one on the secure-side. Previous 485 versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures 486 that reference secure-side contexts at run time. Now the structures are 487 allocated statically at compile time. The change necessitates the 488 introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant, 489 which sets the number of statically allocated secure contexts. 490 secureconfigMAX_SECURE_CONTEXTS defaults to 8 if left undefined. 491 Applications that only use FreeRTOS code on the non-secure side, such as 492 those running third-party code on the secure side, are not affected by 493 this change. 494 495Changes between FreeRTOS V10.4.3 and FreeRTOS V10.4.4 released May 28 2021 496 + Minor performance improvements to xTaskIncrementTick() achieved by providing 497 macro versions of uxListRemove() and vListInsertEnd(). 498 + Minor refactor of timers.c that obsoletes the need for the 499 tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to 500 post to its own event queue. A consequence of this change is that auto- 501 reload timers that miss their intended next execution time will execute 502 again immediately rather than executing again the next time the command 503 queue is processed. (thanks Jeff Tenney). 504 + Fix a race condition in the message buffer implementation. The 505 underlying cause was that length and data bytes are written and read as 506 two distinct operations, which both modify the size of the buffer. If a 507 context switch occurs after adding or removing the length bytes, but 508 before adding or removing the data bytes, then another task may observe 509 the message buffer in an invalid state. 510 + The xTaskCreate() and xTaskCreateStatic() functions accept a task priority 511 as an input parameter. The priority has always been silently capped to 512 (configMAX_PRIORITIES - 1) should it be set to a value above that priority. 513 Now values above that priority will also trigger a configASSERT() failure. 514 + Replace configASSERT( pcQueueName ) in vQueueAddToRegistry with a NULL 515 pointer check. 516 + Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration 517 constant that enables the stack allocated to tasks to come from a heap other 518 than the heap used by other memory allocations. This enables stacks to be 519 placed within special regions, such as fast tightly coupled memory. 520 + If there is an attempt to add the same queue or semaphore handle to the 521 queue registry more than once then prior versions would create two separate 522 entries. Now if this is done the first entry is overwritten rather than 523 duplicated. 524 + Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from 525 their respective repositories. 526 + Correct a build error in the POSIX port. 527 + Additional minor formatting updates, including replacing tabs with spaces 528 in more files. 529 + Other minor updates include adding additional configASSERT() checks and 530 correcting and improving code comments. 531 + Go look at the smp branch to see the progress towards the Symetric 532 Multiprocessing Kernel. https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp 533 534Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020 535 536 V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html 537 538 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 539 540 + Changes to improve robustness and consistency for buffer allocation in 541 the heap, queue and stream buffer. 542 + The following functions can no longer be called from unprivileged code. 543 - xTaskCreateRestricted 544 - xTaskCreateRestrictedStatic 545 - vTaskAllocateMPURegions 546 547 548Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020 549 550 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 551 552 + Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked 553 between the first task starting to execute and that task making 554 a FreeRTOS API call. 555 + Introduced xTaskDelayUntil(), which is functionally equivalent to 556 vTaskDelayUntil(), with the addition of returning a value to 557 indicating whether or not the function placed the calling task into 558 the Blocked state or not. 559 + Update WolfSSL to 4.5.0 and add the FIPS ready demo. 560 + Add support for ESP IDF 4.2 to ThirdParty Xtensa port. 561 + Re-introduce uxTopUsedPriority to support OpenOCD debugging. 562 + Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules. 563 + Various general maintenance and improvements to MISRA compliance. 564 565 566Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020 567 568 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 569 570 + Fixed an incorrectly named parameter that prevented the 571 ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the 572 test code that prevented this error causing test failures. 573 574 575Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020 576 577 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 578 579 Major enhancements: 580 581 + Task notifications: Prior to FreeRTOS V10.4.0 each created task had a 582 single direct to task notification. From FreeRTOS V10.4.0 each task has 583 an array of notifications. The direct to task notification API has been 584 extended with API functions postfixed with "Indexed" to enable the API to 585 operate on a task notification at any array index. See 586 https://www.freertos.org/RTOS-task-notifications.html for more information. 587 + Kernel ports that support memory protection units (MPUs): The ARMv7-M and 588 ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M 589 MPU ports now support devices that have 16 MPU regions, have the ability 590 to override default memory attributes for privileged code and data 591 regions, and have the ability to place the FreeRTOS kernel code outside of 592 the Flash memory. The ARMv8-M MPU ports now support tickless idle mode. 593 See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html 594 for more information. 595 596 Additional noteworthy updates: 597 598 + Code formatting is now automated to facilitate the increase in 599 collaborative development in Git. The auto-formated code is not identical 600 to the original formatting conventions. Most notably spaces are now used 601 in place of tabs. 602 + The prototypes for callback functions (those that start with "Application", 603 such as vApplicationStackOverflowHook()) are now in the FreeRTOS header 604 files, removing the need for application writers to add prototypes into 605 the C files in which they define the functions. 606 + New Renesas RXv3 port layer. 607 + Updates to the Synopsys ARC code, including support for EM and HS cores, 608 and updated BSP. 609 + Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in 610 the same way the Windows port layer enables FreeRTOS to run on Windows 611 hosts. 612 + Many other minor optimisations and enhancements. For full details 613 see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/main 614 615 616Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020 617 618 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html 619 620 + ./FreeRTOS-Labs directory was removed from this file. The libraries it 621 contained are now available as a separate download. 622 623Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020 624 625 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html 626 627 New and updated kernel ports: 628 629 + Added RISC-V port for the IAR compiler. 630 + Update the Windows simulator port to use a synchronous object to prevent 631 a user reported error whereby a task continues to run for a short time 632 after being moved to the Blocked state. Note we were not able to 633 replicate the reported issue and it likely depends on your CPU model. 634 + Correct alignment of stack top in RISC-V port when 635 configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes 636 the interrupt stack to be statically allocated. 637 + The RISC-V machine timer compare register can now be for any HART, whereas 638 previously it was always assumed FreeRTOS was running on HART 0. 639 + Update the sequence used to update the 64-bit machine timer 640 compare register on 32-bit cores to match that suggested in RISC-V 641 documentation. 642 + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler 643 ports. 644 + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to 645 match that of the ARMv8-M ports whereby privilege escalations can only 646 originate from within the kernel's own memory segment. Added 647 configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant. 648 + Update existing MPU ports to correctly disable the MPU before it is 649 updated. 650 + Added contributed port and demo application for a T-Head (formally C-SKY) 651 microcontroller. 652 653 New API functions: 654 655 + Added the vPortGetHeapStats() API function which returns information on 656 the heap_4 and heap_5 state. 657 + Added xTaskCatchUpTicks(), which corrects the tick count value after the 658 application code has held interrupts disabled for an extended period. 659 + Added xTaskNotifyValueClear() API function. 660 + Added uxTimerGetReloadMode() API function. 661 662 Other miscellaneous changes: 663 + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it 664 has the same type as variables with which it is compared to, and therefore 665 also renamed the variable xPendingTicks. 666 + Update Keil projects that use the MPU so memory regions come from linker 667 script (scatter file) variables instead of being hard coded. 668 + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR 669 compilers. 670 + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo. 671 + Added LPC54018 MPU demo. 672 + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter(). 673 674 675Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019: 676 677 + Added ARM Cortex-M23 port layer to complement the pre-existing ARM 678 Cortex-M33 port layer. 679 + The RISC-V port now automatically switches between 32-bit and 64-bit 680 cores. 681 + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering 682 when GCC link time optimisation is used. 683 + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and 684 prevent the secure side builds from removing symbols required by the 685 non secure side build. 686 + Introduced the portARCH_NAME to provide additional data to select semi- 687 automated build environments. 688 + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before 689 updating the MPU registers. 690 691 + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo. 692 + Added LPC55S69 ARM Cortex-M33 demo. 693 + Added an STM32 dual core AMP stress test demo. 694 695 696Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019: 697 698 + Added GCC RISC-V MCU port with three separate demo applications. 699 + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports 700 with Keil simulator demo. 701 + Update the method used to detect if a timer is active. Previously the 702 timer was deemed to be inactive if it was not referenced from a list. 703 However, when a timer is updated it is temporarily removed from, then 704 re-added to a list, so now the timer's active status is stored separately. 705 + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and 706 xTaskGetApplicationTaskTagFromISR() API functions. 707 + Updated third party Xtensa port so it is MIT licensed. 708 + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas 709 compiler RX600v2 port to enable switching between platform.h and 710 iodefine.h includes within that port's port.c file. 711 + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged 712 anyway. 713 + Added uxTaskGetStackHighWaterMark2() function to enable the return type to 714 be changed without breaking backward compatibility. 715 uxTaskGetStackHighWaterMark() returns a UBaseType_t as always, 716 uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the 717 user to determine the return type. 718 + Fixed issues in memory protected ports related to different combinations 719 of static memory only and dynamic memory only builds. As a result the 720 definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more 721 complex and was moved to FreeRTOS.h with a table explaining its definition. 722 + Added a 'get task tag from ISR' function. 723 + Change the method used to determine if a timer is active or not from just 724 seeing if it is referenced from the active timer list to storing its 725 active state explicitly. The change prevents the timer reporting that it 726 is inactive while it is being moved from one list to another. 727 + The pcName parameter passed into the task create functions can be NULL, 728 previously a name had to be provided. 729 + When using tickless idle, prvResetNextTaskUnblockTime() is now only called 730 in xTaskRemoveFromEventList() if the scheduler is not suspended. 731 + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for 732 FreeRTOS ports that run on architectures that have stack limit registers. 733 734 735Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018 736 737 + Reverted a few structure name changes that broke several kernel aware 738 debugger plug-ins. 739 + Updated to the latest trace recorder code. 740 + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code. 741 + Reverted moving some variables from file to function scope as doing so 742 broke debug scenarios that require the static qualifier to be removed. 743 744Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018 745 746 FreeRTOS Kernel Changes: 747 748 + Update lint checked MISRA compliance to use the latest MISRA standard, was 749 previously using the original MISRA standard. 750 + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be 751 unique types instead of void pointers, improving type safety. (this was 752 attempted some years back but had to be backed out due to bugs in some 753 debuggers). Note this required the pvContainer member of a ListItem_t 754 struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if 755 this causes an issue. 756 + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno 757 functionality in a more user friendly way - previously the generic thread 758 local storage feature was used for this purpose. 759 + Added Xtensa port and demo application for the XCC compiler. 760 + Changed the implementation of vPortEndScheduler() for the Win32 port to 761 simply call exit( 0 ). 762 + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect 763 the read modify write access to an internal Microblaze register. 764 + Fix minor niggles when the MPU is used with regards to prototype 765 differences, static struct size differences, etc. 766 + The usStackHighWaterMark member of the TaskStatus_t structure now has type 767 configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been 768 made when the configSTACK_DEPTH_TYPE type (which gets around the previous 769 16-bit limit on stack size specifications) was introduced. 770 + Added the xMessageBufferNextLengthBytes() API function and likewise stream 771 buffer equivalent. 772 + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes 773 used to hold the length of a message in the message buffer to be reduced. 774 configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example, 775 messages can never be more than 255 bytes it could be set to uint8_t, 776 saving 3 bytes each time a message is written into the message buffer 777 (assuming sizeof( size_t ) is 4). 778 + Updated the StaticTimer_t structure to ensure it matches the size of the 779 Timer_t structure when the size of TaskFunction_t does not equal the size 780 of void *. 781 + Update various Xilinx demos to use 2018.1 version of the SDK tools. 782 + Various updates to demo tasks to maintain test coverage. 783 + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by 784 FreeRTOS+TCP, which was brought into the main download in FreeRTOS 785 V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and 786 FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP. 787 788 FreeRTOS+TCP Changes: 789 790 + Multiple security improvements and fixes in packet parsing routines, DNS 791 caching, and TCP sequence number and ID generation. 792 + Disable NBNS and LLMNR by default. 793 + Add TCP hang protection by default. 794 795 We thank Ori Karliner of Zimperium zLabs Team for reporting these issues. 796 797 798Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017 799 800 + Fix position of "#if defined( __cplusplus )" in stream_buffer.h. 801 + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in 802 mpu_prototypes.h. 803 + Correct formatting in vTaskList() helper function when it prints the state 804 of the currently executing task. 805 + Introduce #error if stream_buffer.c is built without 806 configUSE_TASK_NOTIFICATIONS set to 1. 807 + Update FreeRTOS+TCP to V2.0.0 808 - Improve the formatting of text that displays the available netword 809 interfaces when FreeRTOS+TCP is used on Windows with WinPCap. 810 - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user 811 definable callback to execute when data arrives on a socket. 812 813Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0: 814 815 The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license 816 817 New Features and components: 818 819 + Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html 820 + Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html 821 + Move FreeRTOS+TCP into the main repository, along with the basic Win32 822 TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator. 823 824 New ports or demos: 825 826 + Added demo for TI SimpleLink CC3220 MCU. 827 + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx 828 MCUs. 829 + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation 830 in the MPU port. 831 832 Fixes or enhancements: 833 834 + Cortex-M ports push additional register prior to calling 835 vTaskSwitchContext to ensure 8-byte alignment is maintained. Only 836 important if a user defined tick hook function performs an operation that 837 requires 8-byte alignment. 838 + Optimisations to the implementation of the standard tickless idle mode on 839 Cortex-M devices. 840 + Improvements to the Win32 port including using higher priority threads. 841 + Ensure interrupt stack alignment on PIC32 ports. 842 + Updated GCC TriCore port to build with later compiler versions. 843 + Update mpu_wrappers.c to support static allocation. 844 + The uxNumberOfItems member of List_t is now volatile - solving an issue 845 when the IAR compiler was used with maximum optimization. 846 + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start 847 address is saved into each task's TCB (assuming stack grows down). 848 + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined 849 functionality, and user defined initialisation, to be added to FreeRTOS's 850 tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is 851 set to 1 a user provided header file called freertos_task_c_additions.h 852 will be included at the bottom of tasks.c. Functions defined in that 853 header file can call freertos_tasks_c_additions_init(), which in turn 854 calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined. 855 FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h. 856 + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be 857 defined by a user in FreeRTOSConfig.h. The macro is called before 858 assessing whether to enter tickless idle mode or not. If the macro sets 859 x to zero then tickless idle mode will not be entered. This allows users 860 to abort tickless idle mode entry before the tickless idle function is 861 even called - previously it was only possible to abort from within the 862 tickless idle function itself. 863 + Added configPRINTF(), which can be defined by users to allow all libraries 864 to use the same print formatter. 865 + Introduced configMAX() and configMIN() macros which default to standard 866 max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the 867 application writer defines the same macros in FreeRTOSConfig.h. 868 + Corrected the definition of StaticTask_t in the case where 869 INCLUDE_xTaskAbortDelay is set to 1. 870 + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of 871 which can be defined to strings in FreeRTOSConfig.h to change the default 872 names of the timer service and idle tasks respectively. 873 + Only fill the stack of a newly created task with a known value if stack 874 checking, or high water mark checking/viewing, is in use - removing the 875 dependency on memset() in other cases. 876 + Introduced xTaskCreateRestrictedStatic() so static allocation can be used 877 with the MPU. 878 + Ensure suspended tasks cannot be unsuspended by a received task 879 notification. 880 + Fix race condition in vTaskSetTimeOutState(). 881 + Updated trace recorder files to the latest version. 882 883Changes since FreeRTOS V9.0.0: 884 885 + Priority dis-inheritance behaviour has been enhanced in the case where a 886 task that attempted to take a mutex that was held by a lower priority task 887 timed out before it was able to obtain the mutex (causing the task that 888 holds the mutex to have its priority raised, then lowered again, in 889 accordance with the priority inheritance protocol). 890 + Split the overloaded xQueueGenericReceive() function into three separate 891 dedicated functions. 892 + Allow the default human readable text names given to the Idle and Timer 893 tasks to be overridden by defining the configIDLE_TASK_NAME and 894 configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h. 895 + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a 896 value of than than 0 when the system boots. This can be useful for 897 testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also 898 be used to test frequent tick overflows. 899 + Ensure the Cortex-M SysTick count is cleared to zero before starting the 900 first task. 901 + Add configASSERT() into ARM Cortex-M ports to check the number of priority 902 bit settings. 903 + Clear the 'control' register before starting ARM Cortex-M4F ports in case 904 the FPU is used before the scheduler is started. This just saves a few 905 bytes on the main stack as it prevents space being left for a later save 906 of FPU registers. 907 + Added xSemaphoreGetMutexHolderFromISR(). 908 + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. 909 + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used 910 to specify the stack size when using xTaskCreate(). For historic reasons, 911 when FreeRTOS was only used on small MCUs, the type was set to uint16_t, 912 but that can be too restrictive when FreeRTOS is used on larger 913 processors. configSTACK_DEPTH_TYPE defaults to uint16_t. 914 xTaskCreateStatic(), being a newer function, used a uint32_t. 915 + Increase the priority of the Windows threads used by the Win32 port. As 916 all the threads run on the same core, and the threads run with very high 917 priority, there is a risk that the host will become unresponsive, so also 918 prevent the Windows port executing on single core hosts. 919 920Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: 921 922 See https://www.FreeRTOS.org/FreeRTOS-V9.html 923 924 RTOS kernel updates: 925 926 + The prototype of the new xTaskCreateStatic() API function was modified to 927 remove a parameter and improve compatibility with other new 928 "CreateStatic()" API functions. The stack size parameter in 929 xTaskCreateStatic() is now uint32_t, which changes the prototype of the 930 callback functions. See the following URL: 931 https://www.FreeRTOS.org/xTaskCreateStatic.html 932 + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT 933 constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is 934 automatically given a floating point (FPU) context. 935 + GCC ARM Cortex-A port: It is now possible to automatically save and 936 restore all floating point (FPU) registers on entry to each potentially 937 nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of 938 vApplicationIRQHandler(). 939 + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task 940 entry address placed onto the stack of a task when the task is created for 941 strict compliance with the ARM Cortex-M3/4/7 architecture documentation 942 (no noticeable effect unless using the QMEU emulator). 943 + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only 944 supported on ARM Cortex-M3. 945 + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 946 API (other than static object creation) and added the 947 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to 948 demonstrate how to use the updated MPU port. 949 + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the 950 default low power tickless implementation. 951 + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the 952 first task that executes. 953 + Win32 ports: Reduce the amount of stack used and change the way Windows 954 threads are deleted to increase the maximum execution time. 955 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the 956 documentation page for this port before use. 957 + MPS430X IAR port: Update to be compatible with the latest EW430 tools 958 release. 959 + IAR32 GCC port: Correct vPortExitCritical() when 960 configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. 961 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), 962 xTaskGetTaskHandle() now has the alias xTaskGetHandle() and 963 pcQueueGetQueueName() now has an alias pcQueueGetName(). 964 + Fix various errors in comments and compiler warnings. 965 966 Demo application updates: 967 968 + Update Atmel Studio projects to use Atmel Studio 7. 969 + Update Xilinx SDK projects to use the 2016.1 version of the SDK. 970 + Remove dependency on legacy IO libraries from the PIC32 demos. 971 + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. 972 + Update the MSP432 libraries to the latest version. 973 + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC 974 compilers. 975 + Move the Atmel SAMA5D2 demo into the main distribution. 976 977Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) 978released March 30 2016: 979 980 NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details 981 982 + The functions that create RTOS objects using static memory allocation have 983 been simplified and will not revert to using dynamic allocation if a 984 buffer is passed into a function as NULL. 985 + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to 986 allow a FreeRTOS application to be built without a heap even being being 987 defined. The Win32 example located in the 988 /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as 989 a reference for projects that do not include a FreeRTOS heap. 990 + Minor run-time optimisations. 991 + Two new low power tickless implementations that target Silicon Labs EFM32 992 microcontrollers. 993 + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. 994 995Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) 996released February 19 2016: 997 998 RTOS Kernel Updates: 999 1000 + Major new feature - tasks, semaphores, queues, timers and event groups can 1001 now be created using statically allocated memory, so without any calls to 1002 pvPortMalloc(). 1003 + Major new features - Added the xTaskAbortDelay() API function which allows 1004 one task to force another task to immediately leave the Blocked state, 1005 even if the event the blocked task is waiting for has not occurred, or the 1006 blocked task's timeout has not expired. 1007 + Updates necessary to allow FreeRTOS to run on 64-bit architectures. 1008 + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS 1009 daemon task (which used to be called the timer service task) starts 1010 running. This is useful if the application includes initialisation code 1011 that would benefit from executing after the scheduler has been started. 1012 + Added the xTaskGetTaskHandle() API function, which obtains a task handle 1013 from the task's name. xTaskGetTaskHandle() uses multiple string compare 1014 operations, so it is recommended that it is called only once per task. 1015 The handle returned by xTaskGetTaskHandle() can then be stored locally for 1016 later re-use. 1017 + Added the pcQueueGetQueueName() API function, which obtains the name of 1018 a queue from the queue's handle. 1019 + Tickless idling (for low power applications) can now also be used when 1020 configUSE_PREEMPTION is 0. 1021 + If one task deletes another task, then the stack and TCB of the deleted 1022 task is now freed immediately. If a task deletes itself, then the stack 1023 and TCB of the deleted task are freed by the Idle task as before. 1024 + If a task notification is used to unblock a task from an ISR, but the 1025 xHigherPriorityTaskWoken parameter is not used, then pend a context switch 1026 that will then occur during the next tick interrupt. 1027 + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP 1028 settings, which previously was only used by heap_4.c. 1029 configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare 1030 the array that will be used as the FreeRTOS heap, and in-so-doing, place 1031 the heap at a specific memory location. 1032 + TaskStatus_t structures are used to obtain details of a task. 1033 TaskStatus_t now includes the bae address of the task's stack. 1034 + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t 1035 structure that contains information about a single task. Previously this 1036 information could only be obtained for all the tasks at once, as an array 1037 of TaskStatus_t structures. 1038 + Added the uxSemaphoreGetCount() API function. 1039 + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some 1040 Cortex-M3 port layers. 1041 1042 Demo Application Updates: 1043 1044 Further demo applications will be added prior to the final FreeRTOS V9 1045 release. 1046 1047 + Updated SAM4L Atmel Studio project to use Atmel Studio 7. 1048 + Added ARM Cortex-A53 64-bit port. 1049 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx 1050 Ultrascale MPSoC. 1051 + Added Cortex-M7 SAME70 GCC demo. 1052 + Added EFM32 Giant and Wonder Gecko demos. 1053 1054 1055Changes between V8.2.2 and V8.2.3 released October 16, 2015 1056 1057 RTOS kernel updates: 1058 1059 + Fix bug identified in a modification made in V8.2.2 to the software timer 1060 code that allows tickless low power applications to sleep indefinitely 1061 when software timers are used. 1062 + Simplify and improve efficiency of stack overflow checking. 1063 + Add xTaskNotifyStateClear() API function. 1064 + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM 1065 generic interrupt controller (GIC). 1066 + New PIC32MEC14xx port. 1067 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ 1068 port. 1069 + Zynq7000 port layer now declares the functions that setup and clear the 1070 tick interrupt as weak symbols so they can be overridden by the 1071 application, and uses a global XScuGic object so the same object can be 1072 used by the application code. 1073 + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is 1074 currently the only port that uses it. 1075 + Updates to RL78 and 78K0 IAR port layers to improve support for 1076 combinations of memory models. 1077 + Minor updates to heap_5.c to remove compiler warnings generated by some 1078 compilers. 1079 + License simplifications. See /FreeRTOS/License/license.txt in the 1080 official distribution. 1081 1082 FreeRTOS+ updates: 1083 1084 + Update directory names to use WolfSSL instead of CyaSSL, inline with 1085 WolfSSL's re-branding. 1086 + Update to latest WolfSSL code. 1087 + Update to latest FreeRTOS+Trace recorder code. 1088 + Add in the FreeRTOS+Trace recorder library required for streaming trace. 1089 1090 Demo application changes: 1091 1092 + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with 1093 floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. 1094 + General tidy up of spelling and compiler warnings. 1095 1096 1097Changes between V8.2.1 and V8.2.2 released August 12, 2015 1098 1099 RTOS kernel updates: 1100 1101 + Added Intel IA32/x86 32-bit port. 1102 + General maintenance. 1103 + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory 1104 protected systems, have been added to the newer event group and software 1105 timer functions. 1106 + Add the errno definitions used by FreeRTOS+ components into projdefs.h. 1107 + Remove the restriction that prevented tick-less idle implementations 1108 waiting indefinitely when software timers were used in the same 1109 application. 1110 + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of 1111 xTaskNotifyAndQuery(). 1112 + Add additional NOPs to the MSP430X port layers to ensure strict compliance 1113 with the hardware documentation. 1114 + Microblaze port: Added option for port optimised task selection. 1115 + Microblaze port: Previously tasks inherited the exception enable state 1116 at the time the task was created. Now all tasks are created with 1117 exceptions enabled if the Microblaze design supports exceptions. 1118 + Windows port: Add additional safe guards to ensure the correct start up 1119 sequence and thread switching timing. 1120 + Windows port: Improve the implementation of the port optimised task 1121 selection assembly code. 1122 + Update heap_4 and heap_5 to allow use on 64-bit processors. 1123 + Simplify the code that creates a queue. 1124 + General improved tick-less idle behaviour. 1125 + Ensure none of the variables in the common kernel files are initialised to 1126 anything other than zero. 1127 + Correct calculation of xHeapStructSize in heap_4 and heap_5. 1128 1129 Demo application updates: 1130 1131 + Added demo project for the new IA32/x86 port that targets the Galileo 1132 hardware. 1133 + Added MSP430FR5969 demos (previously provided as a separate download). 1134 + Added FreeRTOS BSP repository for automatic creation of FreeRTOS 1135 applications in the Xilinx SDK. 1136 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) 1137 + Update Xilinx SDK projects to use version 2015.2 of the SDK. 1138 + Remove Microblaze demos that were using obsolete tools. 1139 + Add MSP43FR5969 IAR and CCS demos. 1140 1141 FreeRTOS+ Updates: 1142 1143 + Updated FreeRTOS+Trace recorder library, which requires an update to the 1144 FreeRTOS+Trace application. 1145 + Added Reliance Edge source code and demo application. Reliance edge is 1146 a fail safe transactional file system ideal for applications that require 1147 file storage, and especially when high reliability is essential. 1148 + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI 1149 users to place the output buffer at a fixed memory address. 1150 + Improve the NetworkInterface.c file provided for the Windows port of 1151 FreeRTOS+UDP. 1152 1153Changes between V8.2.0 and V8.2.1 released 24th March 2015. 1154 1155 RTOS kernel updates: 1156 1157 + Added user definable and flexible thread local storage facility. 1158 + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() 1159 function to allow the timer's ID to be used as timer local storage. 1160 + Fixed a potential issue related to the use of queue sets from an ISR. 1161 + Some updates to the Xilinx Microblaze GCC port. 1162 + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. 1163 + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a 1164 minor errata work around. All other ARM Cortex-M7 core revisions should 1165 use the ARM Cortex-M4F port. 1166 + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. 1167 + Change some data types from uint32_t to size_t in preparation for 64-bit 1168 Windows port. 1169 + Update the PIC32 port to remove deprecation warnings output by the latest 1170 XC32 compilers. 1171 + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to 1172 overwrite items in two queues that are part of the same set. 1173 1174 Demo application updates: 1175 1176 + Added demo application for TI's ARM Cortex-M4F based MSP432 1177 microcontroller using IAR, Keil and CCS compilers. 1178 + Added demo application for STM32F ARM Cortex-M7 based microcontroller 1179 using IAR and Keil. 1180 + Added demo application for Atmel SAMV71 ARM Cortex-M7 based 1181 microcontroller using IAR and Keil. 1182 + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and 1183 runs on the KC705 evaluation board (Kintex FPGA). 1184 1185Changes between V8.1.2 and V8.2.0 released 16th January 2015 1186 1187 Changes between release candidate 1 and the official release are restricted 1188 to maintenance only. 1189 1190 Significant RTOS kernel updates: 1191 1192 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for 1193 details: https://www.FreeRTOS.org/RTOS-task-notifications.html 1194 + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into 1195 a new header file called FreeRTOS/Source/include/deprecated_definitions.h. 1196 This header file must be present to build. Note some of the obsolete 1197 definitions are still used by very old demo application projects. 1198 1199 Other RTOS kernel updates: 1200 1201 + Made xSemaphoreGiveFromISR() a function rather than a macro that calls 1202 xQueueGenericSendFromISR(). This allows for major performance 1203 enhancements at the expense of some additional code size if both functions 1204 are used in the same application. NOTE: In most uses cases such use of 1205 a semaphore can now be replaced with a task notification which is smaller 1206 and faster still. 1207 + The TCB is now always allocated such that the task's stack grows away from 1208 the TCB (improves debugging of stack overflows as the overflow will not 1209 overwrite the task's name). 1210 + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance 1211 enhancements at the cost of a little additional code space). 1212 + Queues are now allocated with a single call to pvPortMalloc() which 1213 allocates both the queue structure and the queue storage area. 1214 + Introduced a new critical section macro for reading the tick count that 1215 defines away to nothing in cases where the width of the tick allows the 1216 tick count to be read atomically (performance benefits - especially when 1217 optimisation is on). 1218 + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the 1219 application writer to provide their own heap array - and in so doing 1220 control the location of the heap. 1221 + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will 1222 include known values in both list and list item structures. The values 1223 are intended to assist debugging. If the values get overwritten then it 1224 is likely application code has written over RAM used by the kernel. 1225 + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of 1226 the interrupt control register to detect taskENTER_CRITICAL() being called 1227 from an interrupt. This has been changed to test all 8 bits. 1228 + Introduced uxTaskPriorityGetFromISR(). 1229 + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 1230 rather than equality to 1, and 2 and 3 are also valid values. 1231 + Cortex-A5 GIC-less port no longer passes the address of the interrupting 1232 peripheral into the interrupt handler. 1233 + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack 1234 belonging to a task when the task was deleted, even when the stack was 1235 allocated statically. 1236 + Utility (helper) functions that format task statistic information into 1237 human readable tables now pad task names with spaces to ensure columns 1238 line up correctly even where task name lengths vary greatly. 1239 + Update FreeRTOS+Trace recorder library to version 2.7.0. 1240 1241 Demo application updates: 1242 1243 + Added two new standard demo task sets: IntSemTest and TaskNotify. 1244 + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. 1245 + Added demo application for Altera Cyclone V Cortex-A9 MPU. 1246 + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in 1247 demo tasks for new RTOS features. 1248 + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test 1249 and demo tasks. 1250 + Fixed a corner case issue in Atmel SAM4L low power tickless 1251 implementation, and added button interrupt handling. 1252 + Make the interrupt queue tests more tolerant to heave CPU loads. 1253 + Updated MSVC FreeRTOS simulator demo to include the latest standard test 1254 and demo tasks. 1255 + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC 1256 simulator demo. 1257 + Updated all demos that use FreeRTOS+Trace to work with the latest trace 1258 recorder code. 1259 1260 1261Changes between V8.1.1 and V8.1.2 released September 2nd 2014 1262 1263 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the 1264 individual port layers where necessary so it does not affect ports that do 1265 not support the definition. 1266 1267Changes between V8.1.0 and V8.1.1 released August 29th 2014 1268 1269 By popular requests - a minor patch to V8.1.0 to re-instate the ability to 1270 give a mutex type semaphore (with priority inheritance) from an interrupt 1271 handler. 1272 1273Changes between V8.0.1 and V8.1.0 released August 26th 2014 1274 1275 FreeRTOS scheduler, kernel, demo and test updates: 1276 1277 + Improved the priority inheritance algorithms to assist integration with 1278 off the shelf middleware that may hold multiple mutexes simultaneously. 1279 + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to 1280 span multiple non-contiguous memory regions. 1281 + Updated all Cortex-A9 ports to help trap a couple of common usage errors - 1282 the first being when a task incorrectly attempts to exit its implementing 1283 function and the second being when a non interrupt safe API function is 1284 called from an interrupt. 1285 + Update all Cortex-A9 ports to remove obsolete mode switches prior to 1286 restoring a task context. 1287 + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. 1288 + Update all Cortex-M3/4F ports to trap a non interrupt safe API function 1289 being called from an interrupt handler. 1290 + Simplify the alignment checks in heap_4.c. 1291 + Update the MSVC Windows simulator demo to use heap_5.c in place of 1292 heap_4.c to ensure end users have an example to refer to. 1293 + Updated standard demo test code to test the new priority inheritance 1294 algorithms. 1295 + Updated the standard demo tasks to make use of stdint and the FreeRTOS 1296 specific typedefs that were introduced in FreeRTOS V8.0.0. 1297 + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive 1298 alternative to pdTICKS_PER_MS - both of which can be used to convert a 1299 time specified in milliseconds to a time specified in RTOS ticks. 1300 + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an 1301 incorrect value being written to the basepri register. This only effects 1302 users of the Tasking compiler. 1303 + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP 1304 example that demonstrates lwIP being used with both its raw and sockets 1305 interfaces. 1306 + Updated the CCS Cortex-R4 port to enable it to be built with the latest 1307 CCS compiler. 1308 1309 New ports and demo applications: 1310 1311 + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC 1312 compiler and one for the Renesas compiler. Both demos use e2 studio. 1313 + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. 1314 The new port is demonstrated on an Atmel SAMA5D3 XPlained board. 1315 1316 FreeRTOS+ component updates: 1317 1318 + Update CyaSSL to the latest version. 1319 + Updated the FreeRTOS+ components supplied directly by Real Time Engineers 1320 Ltd. to make use of stdint and the FreeRTOS specific typedefs that were 1321 introduced in FreeRTOS V8.0.0. 1322 + Rework and simplify the FreeRTOS+FAT SL RAM disk driver. 1323 1324 Miscellaneous updates and maintenance: 1325 1326 + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK 1327 hardware in place of the previously targeted Renesas internal (not 1328 publicly available) hardware. 1329 + Various other maintenance tasks. 1330 1331 1332Changes between V8.0.0 and V8.0.1 released 2nd May 2014 1333 1334 + Minor fixes to the event group functionality that was released in V8.0.0. 1335 The 'clear bits from ISR' functionality is now implemented using a 1336 deferred interrupt callback instead of a function, and the 'wait bits' and 1337 'task sync' functions now correctly clear internal control bits before 1338 returning a value in every possible path through the respective functions. 1339 + Ensure the updating of internal control data is protected by a critical 1340 section after a task is deleted or suspended. 1341 + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file 1342 when the offset was not a multiple of the sector size. 1343 + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, 1344 even when only the lest significant byte of the register is implemented. 1345 1346 Other updates: 1347 1348 + Updated the XMC4200 IAR project so it links with version 7.x of the IAR 1349 tools. 1350 + Add RL78L1C demo. 1351 + Add pcTimerGetName() API function. 1352 + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT 1353 is defined. 1354 1355Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 1356 1357 https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html 1358 1359 FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, 1360 although a change to the type used to reference character strings may result 1361 in application code generating a few (easily clearable) compiler warnings 1362 after the upgrade, and an updated typedef naming convention means use of the 1363 old typedef names is now discouraged. 1364 See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full 1365 information. 1366 1367 New features and functionality: 1368 1369 + Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html 1370 + Centralised deferred interrupt processing - see 1371 https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html 1372 1373 Other updates: 1374 1375 + Previously, when a task left the Blocked state, a context switch was 1376 performed if the priority of the unblocked task was greater than or equal 1377 to the priority of the Running task. Now a context switch is only 1378 performed if the priority of the unblocked task is greater than the 1379 priority of the Running task. 1380 + New low power tickless demonstration project that targets the ST STM32L 1381 microcontroller - see 1382 https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html 1383 + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. 1384 + Small change to the tickless low power implementation on the SAM4L to 1385 ensure the alarm value (compare match value) cannot be set to zero when a 1386 tickless period is exited due to an interrupt originating from a source 1387 other than the RTOS tick. 1388 + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse 1389 resource filters and match the functionality of the MSVC equivalent. 1390 + xTaskIsTaskSuspended() is no longer a public function. Use 1391 eTaskGetState() in its place. 1392 + Improved trace macros, including tracing of heap usage. 1393 + Remove one level of indirection when accepting interrupts on the PIC32MZ. 1394 + Add Cortex-A9 GCC port layer. 1395 + Add Xilinx Zynq demo application. 1396 1397 1398Changes between V7.5.3 and V7.6.0 released 18th November 2013 1399 1400 V7.6.0 changes some behaviour when the co-operative scheduler is used (when 1401 configUSE_PREEMPTION is set to 0). It is important to note that the 1402 behaviour of the pre-emptive scheduler is unchanged - the following 1403 description only applies when configUSE_PREEMPTION is set to 0: 1404 1405 WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of 1406 cases) a context switch will now only occur when a task places itself into 1407 the Blocked state, or explicitly calls taskYIELD(). This differs from 1408 previous versions, where a context switch would also occur when implicitly 1409 moving a higher priority task out of the Blocked state. For example, 1410 previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by 1411 writing to a queue, then the scheduler would switch to the higher priority 1412 task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by 1413 writing to a queue, task B will not start running until task A enters the 1414 Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not 1415 set to 0, so the normal pre-emptive scheduler is being used, then task B 1416 will start running immediately that it is moved out of the Blocked state]. 1417 1418 Other changes: 1419 1420 + Added a port layer and a demo project for the new PIC32MZ architecture. 1421 + Update the PIC32MX port layer to re-introduce some ehb instructions that 1422 were previously removed, add the ability to catch interrupt stack 1423 overflows (previously only task stack overflows were trapped), and also 1424 add the ability to catch an application task incorrectly attempting to 1425 return from its implementing function. 1426 + Make dramatic improvements to the performance of the Win32 simulator port 1427 layer. 1428 + Ensure tasks that are blocked indefinitely report their state as Blocked 1429 instead of Suspended. 1430 + Slight improvement to the Cortex-M4F port layers where previously one 1431 register was inadvertently being saved twice. 1432 + Introduce the xSemaphoreCreateBinary() API function to ensure consistency 1433 in the semantics of how each semaphore type is created. It is no longer 1434 recommended to use vSemaphoreCreateBinary() (the version prefixed with a 1435 'v'), although it will remain in the code for backward compatibility. 1436 + Update the Cortex-M0 port layers to allow the scheduler to be started 1437 without using the SVC handler. 1438 + Added a build configuration to the PIC32MX MPLAB X demo project that 1439 targets the PIC32 USB II starter kit. Previously all the build 1440 configurations required the Explorer 16 hardware. 1441 + Some of the standard demo tasks have been updated to ensure they execute 1442 correctly with the updated co-operative scheduling behaviour. 1443 + Added comprehensive demo for the Atmel SAM4E, including use of 1444 FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. 1445 1446 FreeRTOS+ Changes: 1447 1448 + Minor maintenance on FreeRTOS+UDP. 1449 1450Changes between V7.5.2 and V7.5.3 released October 14 2013 1451 1452 Kernel changes: 1453 1454 + Prior to V7.5.x yields requested from the tick hook would occur in the 1455 same tick interrupt - revert to that original behaviour. 1456 + New API function uxQueueSpacesAvailable(). 1457 + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 1458 and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that 1459 attempt to return from their implementing functions (tasks should call 1460 vTaskDelete( NULL ); if they want to exit). 1461 + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and 1462 portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. 1463 + Improved behaviour and robustness of the default Cortex-M tickless idle 1464 behaviour. 1465 + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to 1466 all Cortex-M4F ports. 1467 + Add Cortex-M0 port for Keil. 1468 + Updated Cortus port. 1469 + Ensure _impure_ptr is initialised before the scheduler is started. 1470 Previously it was not set until the first context switch. 1471 1472 FreeRTOS+ changes: 1473 1474 + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the 1475 FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction 1476 to the test that prevents the network event hook being called on the first 1477 network down event. The FreeRTOS+UDP change history is maintained 1478 separately. 1479 + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files 1480 provided in the NXP CMSIS library, then update the interrupts used by the 1481 LPC18xx demos accordingly. 1482 + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help 1483 strings to ensure the strings can be used with the JSON descriptions used 1484 in the FreeRTOS+Nabto demos. 1485 1486 Demo and miscellaneous changes: 1487 1488 + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes 1489 FreeRTOS+CLI 1490 + Added a demo for the Infineon Cortex-M0 that can be built with the IAR 1491 Keil and GCC tools. 1492 + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, 1493 with additional build configurations to directly support the XMC4200 and 1494 XMC4400 devices, in addition to the previously supported XMC4500. 1495 + Updated the demo application. 1496 + Added additional trace macros traceMALLOC and traceFREE to track heap 1497 usage. 1498 1499Changes between V7.5.0 and V7.5.2 released July 24 2013 1500 1501 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function 1502 compatible with the STM32 standard peripheral driver library, and adds 1503 an extra critical section to the default low power tickless mode 1504 implementation. Only users of the STM32 peripheral library or the default 1505 tickless implementation need update from version 7.5.0. 1506 1507Changes between V7.4.2 and V7.5.0 released July 19 2013 1508 1509 V7.5.0 is a major upgrade that includes multiple scheduling and efficiency 1510 improvements, and some new API functions. 1511 1512 Compatibility information for FreeRTOS users: 1513 FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one 1514 exception; the vTaskList() and vTaskGetRunTimeStats() functions are now 1515 considered legacy, having been replaced by the single uxTaskGetSystemState() 1516 function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in 1517 FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be 1518 available. 1519 1520 Compatibility information for FreeRTOS port writers: 1521 vTaskIncrementTick() is now called xTaskIncrementTick() (because it now 1522 returns a value). 1523 1524 Headline changes: 1525 1526 + Multiple scheduling and efficiency improvements. 1527 + Core kernel files now pass PC-Lint V8 static checking without outputting 1528 any warnings (information on the test conditions will follow). 1529 1530 New API functions: 1531 1532 + uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html 1533 + xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html 1534 + xQueueOverwriteFromISR() 1535 + xQueuePeekFromISR() 1536 1537 The following ports and demos, which were previously available separately, 1538 are now incorporated into the main FreeRTOS zip file download: 1539 1540 + ARM Cortex-A9 IAR 1541 + ARM Cortex-A9 ARM compiler 1542 + Renesas RZ 1543 + Microsemi SmartFusion2 1544 1545 New FreeRTOSConfig.h settings 1546 https://freertos.org/a00110.html 1547 1548 + configUSE_TIME_SLICING 1549 + configUSE_NEWLIB_REENTRANT 1550 + configUSE_STATS_FORMATTING_FUNCTIONS 1551 + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 1552 1553 Other changes: 1554 1555 + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 1556 options provides a mechanism that allows application writers to execute 1557 certain functions in privileged mode even when a task is running in user 1558 mode. 1559 + Ports that support interrupt nesting now include a configASSERT() that 1560 will trigger if an interrupt safe FreeRTOS function is called from an 1561 interrupt that has a priority designated as above the maximum system/API 1562 call interrupt priority. 1563 + The included FreeRTOS+Trace recorder code has been updated to the latest 1564 version, and the demo applications that use the trace recorder code have 1565 been updated accordingly. 1566 + The FreeRTOS Windows Simulator (MSVC version only) has been updated to 1567 include a new basic 'blinky' build option in addition to the original 1568 comprehensive build option. 1569 + Improve RAM usage efficiency of heap_4.c and heap_2.c. 1570 + Prevent heap_4.c from attempting to free memory blocks that were not 1571 allocated by heap_4.c, or have already been freed. 1572 + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs 1573 files have been removed from FreeRTOS/Demo/Common. 1574 + Fix build error when R4 port is build in co-operative mode. 1575 + Multiple port and demo application maintenance activities. 1576 1577Changes between V7.4.1 and V7.4.2 released May 1 2013 1578 1579 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 1580 1581 + Added FreeRTOS+FAT SL source code and demo project. The demo project 1582 runs in the FreeRTOS Windows simulator for easy and hardware independent 1583 experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl 1584 1585Changes between V7.4.0 and V7.4.1 released April 18 2013 1586 1587 + To ensure strict conformance with the spec and ensure compatibility with 1588 future chips data and instruction barrier instructions have been added to 1589 the yield macros of Cortex-M and Cortex-R port layers. For efficiency 1590 the Cortex-M port layer "yield" and "yield" from ISR are now implemented 1591 separately as the barrier instructions are not required in the ISR case. 1592 + Added FreeRTOS+UDP into main download. 1593 + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS 1594 directory with Source and Demo subdirectories. 1595 + Implemented the Berkeley sockets select() function in FreeRTOS+UDP. 1596 + Changed (unsigned) casting in calls to standard library functions with 1597 (size_t) casting. 1598 + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the 1599 tickless (tick suppression) low power FreeRTOS features. 1600 + Add a new RL78 IAR demo that targets numerous new RL78 chips and 1601 evaluation boards. 1602 + Adjusted stack alignment on RX200 ports to ensure an assert was not 1603 falsely triggered when configASSERT() is defined. 1604 + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest 1605 version of EWARM. 1606 + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). 1607 1608 1609Changes between V7.3.0 and V7.4.0 released February 20 2013 1610 1611 + New feature: Queue sets. See: 1612 https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html 1613 + Overhauled the default tickless idle mode implementation provided with the 1614 ARM Cortex-M3 port layers. 1615 + Enhanced tickless support in the core kernel code with the introduction of 1616 the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the 1617 eTaskConfirmSleepModeStatus() function. 1618 + Added the QueueSet.c common demo/test file. Several demo applications 1619 have been updated to use the new demo/test tasks. 1620 + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and 1621 demo applications. 1622 + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. 1623 + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a 1624 pre-processor macro for backward compatibility with the previous name. 1625 + Updated functions implemented in the core queue.c source file to allow 1626 queue.h to be included from the .c file directly (this prevents compiler 1627 warnings that were generated by some compilers). 1628 + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function 1629 with the CLZ compiler intrinsic that is provided by the latest versions of 1630 the CCS ARM compiler. 1631 + Updated all heap_x.c implementations to replace the structure that was 1632 used to ensure the start of the heap was aligned with a more portable 1633 direct C code implementation. 1634 + Added support for PIC24 devices that include EDS. 1635 + Minor optimisations to the PIC32 port layer. 1636 + Minor changes to tasks.c that allow the state viewer plug-ins to display 1637 additional information. 1638 + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an 1639 issue that could occur if the priority of the timer daemon task was set 1640 below the priority of tasks that used timer services. 1641 + Update the FreeRTOS+Trace recorder code to the latest version. 1642 1643Changes between V7.2.0 and V7.3.0 released October 31 2012 1644 1645 + Added ability to override the default scheduler task selection mechanism 1646 with implementations that make use of architecture specific instructions. 1647 + Added ability to suppress tick interrupts during idle time, and in so 1648 doing, provide the ability to make use of architecture specific low power 1649 functionality. 1650 + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper 1651 function. 1652 + Added the configSYSTICK_CLOCK_HZ configuration constant. 1653 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to 1654 directly support basic power saving functionality. 1655 + Added hooks to allow basic power saving to be augmented in the application 1656 by making use of chip specific functionality. 1657 + Minor change to allow mutex type semaphores to be used from interrupts 1658 (which would not be a normal usage model for a mutex). 1659 + Change the behaviour of the interrupt safe interrupt mask save and restore 1660 macros in the Cortex-M ports. The save macro now returns the previous 1661 mask value. The restore macro now uses the previous mask value. These 1662 changes are not necessary for the kernel's own implementation, and are 1663 made purely because the macros were being used by application writers. 1664 + Added eTaskStateGet() API function. 1665 + Added port specific optimisations to the PIC32 port layer, and updated the 1666 PIC32 demo applications to make use of this new feature. 1667 + Added port specific optimisations to the Win32 simulator port. 1668 + Added new ports and demo applications for the TI Hercules RM48 and TMS570 1669 safety microcontrollers. 1670 + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation 1671 boards. 1672 + Updated the PIC32 MPLAB X project to manually set the compiler include 1673 paths instead of using the IDE entry box following reports that the 1674 include paths were somehow being deleted. 1675 + Improved character handling in FreeRTOS+CLI. 1676 1677Changes between V7.1.1 and V7.2.0 released 14 August 2012 1678 1679 FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. 1680 1681 + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ 1682 source code, and example projects that use the FreeRTOS Win32 simulator. 1683 + Added a new example heap allocation implementation (heap_4.c) that 1684 includes memory block coalescence. 1685 + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. 1686 The demo is preconfigured to build using the free Atmel Studio 6 IDE and 1687 GCC compiler. 1688 + Added xSemaphoreTakeFromISR() implementation. 1689 + The last parameter in ISR safe FreeRTOS queue and semaphore functions 1690 (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it 1691 is not required. 1692 + Update the IAR and MSP430X ports to clear all lower power mode bits before 1693 exiting the tick interrupt [bug fix]. 1694 + Allow xQueueReset() to be used, even when the queues event lists are not 1695 empty. 1696 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was 1697 previously missing). 1698 + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to 1699 ensure it compiles with the latest ARM GCC compilers from Linaro. 1700 + Updated the prvReadGP() function in the NIOS II port to ensure the compiler 1701 can choose any register for the functions parameter (required at high 1702 compiler optimisation levels). 1703 + Add #error macros into the Keil and IAR Cortex-M ports to ensure they 1704 cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY 1705 to 0. 1706 + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and 1707 Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY 1708 parameter must not be set to 0. 1709 + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant 1710 (defaulted to 0). 1711 + Added two new list handling macros - for internal use only in upcoming new 1712 products. 1713 + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace 1714 macros. FreeRTOS+Trace supersedes the legacy trace. 1715 + Added a configASSERT() into the vPortFree() function in heap_1.c as it is 1716 invalid for the function to be called. 1717 + Made the xRxLock and xTxLock members of the queue structure volatile. 1718 This is probably not necessary, and is included as a precautionary 1719 measure. 1720 + Modify the assert() that checks to see if the priority passed into an 1721 xTaskCreate() function is within valid bounds to permit the assert to be 1722 used in the FreeRTOS MPU port. 1723 + The software timer service (daemon) task is now created in a way that 1724 to ensure compatibility with FreeRTOS MPU. 1725 1726Changes between V7.1.0 and V7.1.1 released May 1 2012 1727 1728 New ports: 1729 1730 The following ports are brand new: 1731 + Cortex-M3 Tasking 1732 1733 The following ports have been available as separate downloads for a number 1734 of months, but are now included in the main FreeRTOS download. 1735 + Cortex-M0 IAR 1736 + Cortex-M0 GCC 1737 + Cortex-M4F GCC (with full floating point support) 1738 1739 1740 New demos: 1741 1742 The following demos are brand new: 1743 + Renesas RX63N RDK (Renesas compiler) 1744 1745 The following demos have been available as separate downloads for a number 1746 of months, but are now included in the main FreeRTOS download. 1747 + NXP LPC1114 GCC/LPCXpresso 1748 + ST STM32F0518 IAR 1749 + Infineon XMC4500 GCC/Atollic 1750 + Infineon XMC4500 IAR 1751 + Infineon XMC4500 Keil 1752 + Infineon XMC4500 Tasking 1753 1754 1755 Kernel miscellaneous / maintenance: 1756 1757 + Introduced the portSETUP_TCB() macro to remove the requirement for the 1758 Windows simulator to use the traceTASK_CREATE() macro, leaving the trace 1759 macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace). 1760 + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future 1761 FreeRTOS+Trace versions to provide even more information to users. 1762 + Updated the FreeRTOS MPU port to be correct for changes that were 1763 introduced in FreeRTOS V7.1.0. 1764 + Introduced the xQueueReset() API function. 1765 + Introduced the xSemaphoreGetMutexHolder() API function. 1766 + Tidy up various port implementations to add the static key word where 1767 appropriate, and remove obsolete code. 1768 + Slight change to the initial stack frame given to the RX600 ports to allow 1769 them to be used in the Eclipse based E2Studio IDE without confusing GDB. 1770 + Correct the alignment given to the initial stack of Cortex-M4F tasks. 1771 + Added a NOP following each DINT instruction on MSP430 devices for strict 1772 conformance with the instructions on using DINT. 1773 + Changed the implementation of thread deletes in the Win32 port to prevent 1774 the port making use of the traceTASK_DELETE() trace macros - leaving this 1775 macro free for use by FreeRTOS+Trace. 1776 + Made some benign changes to the RX600 Renesas compiler port layer to 1777 ensure the code can be built to a library without essential code being 1778 removed by the linker. 1779 + Reverted the change in the name of the uxTaskNumber variable made in 1780 V7.1.0 as it broke the IAR plug-in. 1781 1782 1783 Demo miscellaneous / maintenance: 1784 1785 + The command interpreter has now been formally released as FreeRTOS+CLI, 1786 and been moved out of the main FreeRTOS download, to instead be available 1787 from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus. 1788 + flash_timer.c/h has been added to the list of standard demo tasks. This 1789 performs the same functionality as the flash.c tasks, but using software 1790 timers in place of tasks. 1791 + Upgraded the PIC32 demo as follows: Changes to how the library functions 1792 are called necessitated by the new compiler version, addition of MPLAB X 1793 project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, 1794 addition of simply blinky demo, updated FreeRTOSConfig.h to include more 1795 parameters, addition of hook function stubs. 1796 + The MSP430X IAR and CCS demos have been updated to ensure the power 1797 settings are correct for the configured CPU frequency. 1798 + Rowley CrossWorks projects have been updated to correct the "multiple 1799 definition of ..." warnings introduced when the toolchain was updated. 1800 + Updated various FreeRTOSConfig.h header files associated with projects 1801 that build with Eclipse to include a #error statement informing the user 1802 that the CreateProjectDirectoryStructure.bat batch file needs to be 1803 executed before the projects can be opened. 1804 + Renamed directories that included "CCS4" in their name to remove the '4' 1805 and instead just be "CCS". This is because the demo was updated and 1806 tested to also work with later Code Composer Studio versions. 1807 + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be 1808 50ms instead of 500ms. 1809 1810Changes between V7.0.2 and V7.1.0 released December 13 2011 1811 1812 New ports: 1813 1814 + Cortex-M4F IAR port. 1815 + Cortex-M4F Keil/RVDS port. 1816 + TriCore GCC port. 1817 1818 New demos: 1819 1820 + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development 1821 board. 1822 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on 1823 the IAR STM32F407ZG-SK starter kit. 1824 + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the 1825 TriBoard TC1782 evaluation board. 1826 + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an 1827 RX630 RSK (Renesas Starter Kit). 1828 1829 Miscellaneous / maintenance: 1830 1831 + Removed all calls to printf() from the K60/IAR Kinetis demo so the project 1832 can execute stand alone - without being connected to the debugger. 1833 + Completed the command interpreter framework. Command handlers now receive 1834 the entire command string, giving them direct access to parameters. 1835 Utility functions are provided to check the number of parameters, and 1836 return parameter sub-strings. 1837 + The previously documented fix for the bug in xTaskResumeFromISR() that 1838 effected (only) ports supporting interrupt nesting has now been 1839 incorporated into the main release. 1840 + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow 1841 specific ports to skip the second stack alignment check when a task is 1842 created. This is because the second check is not appropriate for some 1843 ports - including the new TriCore port where the checked pointer does not 1844 actually point to a stack. 1845 + The portCLEAN_UP_TCB() macro has been added to allow port specific clean 1846 up when a task is deleted - again this is required by the TriCore port. 1847 + Various other minor changes to ensure warning free builds on a growing 1848 number of microcontroller and toolchain platforms. This includes a 1849 (benign) correction to the prototype of the 1850 vApplicationStackOverflowHook() definition found in lots of recent demos. 1851 1852 Trace system: 1853 1854 + The legacy trace mechanism has been completely removed - it has been 1855 obsolete for the years since the trace macros were introduced. The 1856 configuration constant configUSE_TRACE_FACILITY is now used to optionally 1857 include additional queue and task information. The additional information 1858 is intended to make the trace mechanism more generic, and allow the trace 1859 output to provide more information. When configUSE_TRACE_FACILITY is set 1860 to 1: 1861 - the queue structure includes an additional member to hold the queue 1862 type, which can be base, mutex, counting semaphore, binary semaphore 1863 or recursive mutex. 1864 - the queue structure includes an additional member to hold a queue 1865 number. A trace tool can set and query the queue number for its own 1866 purposes. The kernel does not use the queue number itself. 1867 - the TCB structure includes an additional member to hold a task number 1868 number. A trace tool can set and query the task number for its own 1869 purposes. The kernel does not use the task number itself. 1870 + Queues and all types of semaphores are now automatically allocated their 1871 type as they are created. 1872 + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and 1873 traskTASK_PRIORITY_DISINHERIT(). 1874 + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that 1875 indicates the type of queue, mutex, or semaphore that failed to be 1876 created. 1877 + The position from which traceCREATE_MUTEX() is called has been moved from 1878 after the call to xQueueGenericSend() [within the same function] to before 1879 the call. This ensures the trace events occur in the correct order. 1880 + The value passed into tracePRIORITY_SET() has been corrected for the case 1881 where vTaskPrioritySet() is called with a null parameter. 1882 1883Changes between V7.0.1 and V7.0.2 released September 20 2011 1884 1885 New ports: 1886 1887 + The official FreeRTOS Renesas RX200 port and demo application have been 1888 incorporated into the main FreeRTOS zip file download. 1889 + The official FreeRTOS Renesas RL78 port and demo application have been 1890 incorporated into the main FreeRTOS zip file download. 1891 + The official FreeRTOS Freescale Kinetis K60 tower demo application has 1892 been incorporated into the main FreeRTOS zip file download. This includes 1893 an embedded web server example. 1894 + A new Microblaze V8 port layer has been created to replace the older, now 1895 deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, 1896 including exceptions, caches, and the floating point unit. A new 1897 Microblaze demo has also been added to demonstrate the new Microblaze V8 1898 port layer. The demo application was created using V13.1 of the Xilinx 1899 EDK, and includes a basic embedded web server that uses lwIP V1.4.0. 1900 + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been 1901 incorporated into the main FreeRTOS zip file download. Projects are 1902 provided for both the IAR and Keil toolchains. 1903 1904 1905 API additions: 1906 1907 + xTaskGetIdleTaskHandle() has been added. 1908 + xTaskGetTimerDaemonTaskHandle() has been added. 1909 + pcTaskGetTaskName() has been added. 1910 + vSemaphoreDelete() macro has been added to make it obvious how to delete 1911 a semaphore. In previous versions vQueueDelete() had to be used. 1912 + vTaskCleanUpResources() has been removed. It has been obsolete for a 1913 while. 1914 + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings 1915 being generated when the size of a pointer does not match the size of 1916 the stack type. This will (has already) be used in new ports, but will 1917 not be retrofitted to existing ports until the existing port itself is 1918 updated. 1919 1920 Other updates and news: 1921 1922 + The core files have all been modified to tighten the coding standard even 1923 further. These are style, not functional changes. 1924 + All ARM7 port layers have been slightly modified to prevent erroneous 1925 assert() failures when tasks are created and configASSERT() is defined. 1926 + All ARM IAR projects have been updated to build with the latest V6.2.x 1927 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was 1928 necessary due to a change in the way EWARM uses the CMSIS libraries. 1929 + The PIC32 port layer has been updated in preparation for V2 of the C32 1930 compiler. 1931 + The old Virtex-4 Microblaze demo has been marked as deprecated. Please 1932 use the brand new Spartan-6 port and demo in its place. 1933 + The bones of a new generic command interpreter is located in 1934 FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in 1935 progress, and not documented. It is however already in use. It will be 1936 documented in full when the projects that are already using it are 1937 completed. 1938 + A couple of new standard demos have been included. First, a version of 1939 flop.c called sp_flop.c. This is similar to flop.c, but uses single 1940 precision floats in place of double precision doubles. This allows the 1941 for testing ports to processors that have only single precision floating 1942 point units, and revert to using emulated calculations whenever a double 1943 is used. Second, comtest_strings.c has been included to allow the test 1944 of UART drivers when an entire string is transmitted at once. The 1945 previous comtest.c only used single character transmission and reception. 1946 + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and 1947 used by a couple of new demos. 1948 1949Changes between V7.0.0 and V7.0.1 released May 13 2011 1950 1951 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool 1952 chains. 1953 + Added a SmartFusion demo application for all of the IAR, Keil and 1954 SoftConsole (GCC/Eclipse) tool chains. 1955 + Updated the RX600 port and demo applications to take into account the 1956 different semantics required when using the latest (V1.0.2.0) version of 1957 the Renesas compiler. 1958 + Modified the RX600 Ethernet driver slightly to make it more robust under 1959 heavy load, and updated the uIP handling task to make use of the FreeRTOS 1960 software timers. 1961 + Slightly changed the PIC32 port layer to move an ehb instruction in line 1962 with the recommendations of the MIPS core manual, and ensure 8 byte stack 1963 alignment is truly always obtained. 1964 + Changed the behaviour when tasks are suspended before the scheduler has 1965 been started. Before, there needed to be at least one task that was not 1966 in the suspended state. This is no longer the case. 1967 1968Changes between V6.1.1 and V7.0.0 released April 8 2011 1969 1970 FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x 1971 1972 Main changes: 1973 1974 + Introduced a new software timer implementation. 1975 + Introduced a new common demo application file to exercise the new timer 1976 implementation. 1977 + Updated the Win32/MSVC simulator project to include the new software timer 1978 demo tasks and software timer tick hook test. Much simpler software timer 1979 demonstrations are included in the demo projects for both of the new ports 1980 (MSP430X with CCS4 and STM32 with TrueStudio). 1981 + Various enhancements to the kernel implementation in tasks.c. These are 1982 transparent to users and do not effect the pre-existing API. 1983 + Added calls to configASSERT() within the kernel code. configASSERT() is 1984 functionally equivalent to the standard C assert() macro, but does not 1985 rely on the compiler providing assert.h. 1986 1987 Other changes: 1988 1989 + Updated the MSP430X IAR port and demo project to include support for the 1990 medium memory model. 1991 + Added a demo project for the MSP430X that targets the MSP430X Discovery 1992 board and uses the Code Composer Studio 4 tools. This demo includes use 1993 of the new software timer implementation. 1994 + Added an STM32F100RB demo project that targets the STM32 Discovery Board 1995 and uses the TrueStudio Eclipse based IDE from Atollic. 1996 + Removed some compiler warnings from the PSoC demo application. 1997 + Updated the PIC32 port layer to ensure the 1998 configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter 1999 what its value is (within the valid range set by the microcontroller 2000 kernel). 2001 + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest 2002 MPLAB compiler versions from Microchip. 2003 + Various cosmetic changes to prepare for a standards compliance statement 2004 that will be published after the software release. 2005 2006 2007Changes between V6.1.0 and V6.1.1 released January 14 2011 2008 2009 + Added two new Windows simulator ports. One uses the free Microsoft Visual 2010 Studio 2010 express edition, and the other the free MingW/Eclipse 2011 environment. Demo projects are provided for both. 2012 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the 2013 GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. 2014 + Added a demo for the low power STM32L152 microcontroller using the IAR 2015 Embedded Workbench. 2016 + Added a new port for the MSP430X core using the IAR Embedded Workbench. 2017 + Updated all the RX62N demo projects that target the Renesas Demonstration 2018 Kit (RDK) to take into account the revered LED wiring on later hardware 2019 revisions, and the new J-Link debug interface DLL. 2020 + Updated all the RX62N demo projects so the IO page served by the example 2021 embedded web server works with all web browsers. 2022 + Updated the Red Suite projects to work with the up coming Red Suite 2023 release, and to use a more recent version of the CMSIS libraries. 2024 + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. 2025 + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() 2026 trace macro. 2027 + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment 2028 the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for 2029 more flexibility in how the time base for the run time statistics feature 2030 can be implemented. 2031 + Added a "cpsie i" instruction before the "svc 0" instruction used to start 2032 the scheduler in each of the Cortex M3 ports. This is to ensure that 2033 interrupts are globally enabled prior to the "svc 0" instruction being 2034 executed in cases where interrupts are left disabled by the C start up 2035 code. 2036 + Slight optimisation in the run time stats calculation. 2037 2038Changes between V6.0.5 and V6.1.0 released October 6 2010 2039 2040 + Added xTaskGetTickCountFromISR() function. 2041 + Modified vTaskSuspend() to allow tasks that have just been created to be 2042 immediately suspended even when the kernel has not been started. This 2043 allows them to effectively start in the Suspended state - a feature that 2044 has been asked for on numerous occasions to assist with initialisation 2045 procedures. 2046 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. 2047 + Added a STM32F103 demo application that uses the Rowley tools. 2048 + Under specific conditions xFreeBytesRemaining within heap_2.c could end up 2049 with an incorrect value. This has been fixed. 2050 + xTaskCreateGeneric() has a parameter that can be used to pass the handle 2051 of the task just created out to the calling task. The assignment to this 2052 parameter has been moved to ensure it is assigned prior to the newly 2053 created having any possibility of executing. This takes into account the 2054 case where the assignment is made to a global variable that is accessed by 2055 the newly created task. 2056 + Fixed some build time compiler warnings in various FreeTCPIP (based on 2057 uIP) files. 2058 + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. 2059 2060Changes between V6.0.4 and V6.0.5 released May 17 2010 2061 2062 + Added port and demo application for the Cortus APS3 processor. 2063 2064Changes between V6.0.3 and V6.0.4 released March 14 2010 2065 2066 + All the contributed files that were located in the Demo/Unsupported_Demos 2067 directory have been removed. These files are instead now available in the 2068 new Community Contributions section of the FreeRTOS website. See 2069 https://www.FreeRTOS.org/RTOS-contributed-ports.html 2070 + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory 2071 has been upgraded to use V2.x of the Rowley Crossworks STM32 support 2072 package. 2073 + An initial Energy Micro EFM32 demo has been included. This will be 2074 updated over the coming months to make better use of the low power modes 2075 the EFM32 provides. 2076 2077Changes between V6.0.2 and V6.0.3 released February 26 2010 2078 2079 + SuperH SH7216 (SH2A-FPU) port and demo application added. 2080 + Slight modification made to the default implementation of 2081 pvPortMallocAligned() and vPortFreeAligned() macros so by default they 2082 just call pvPortMalloc() and vPortFree(). The macros are only needed to 2083 be defined when a memory protection unit (MPU) is being used - and then 2084 only depending on other configuration settings. 2085 2086Changes between V6.0.1 and V6.0.2 released January 9th 2010 2087 2088 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. 2089 Previously the parameter was blank and therefore only an implicit 0 but 2090 newer GCC releases do not permit this. 2091 + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. 2092 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. 2093 + Updated prvListTaskWithinSingleList() is it works on processors where the 2094 stack grows up from low memory. 2095 + Corrected some comments. 2096 + Updated the startup file for the RVDS LPC21xx demo. 2097 2098Changes between V6.0.0 and V6.0.1 released November 15th 2009 2099 2100 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the 2101 stack pointer is where the compiler expects it to be when a task first 2102 starts executing. 2103 2104 The following minor changes only effect the Cortex-M3 MPU port: 2105 2106 + portRESET_PRIVILEGE() assembly macro updated to include a clobber list. 2107 + Added prototypes for all the privileged function wrappers to ensure no 2108 compile time warnings are generated no matter what the warning level 2109 setting. 2110 + Corrected the name of portSVC_prvRaisePrivilege to 2111 portSVC_RAISE_PRIVILEGE. 2112 + Added conditional compilation into xTaskGenericCreate() to prevent some 2113 compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. 2114 2115 2116Changes between V5.4.2 and V6.0.0 released October 16th 2009 2117 2118 FreeRTOS V6 is backward compatible with FreeRTOS V5.x. 2119 2120 Main changes: 2121 2122 + FreeRTOS V6 is the first version to include memory protection unit (MPU) 2123 support. Two ports now exist for the Cortex M3, the standard FreeRTOS 2124 which does not include MPU support, and FreeRTOS-MPU which does. 2125 + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added 2126 in support of FreeRTOS-MPU. 2127 + Wording for the GPL exception has been (hopefully) clarified. Also the 2128 license.txt file included in the download has been fixed (the previous 2129 version contained some corruption). 2130 2131 Other changes: 2132 2133 + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. 2134 + ARM7 GCC demo interrupt service routines wrappers have been modified to 2135 call the C portion using an __asm statement. This prevents the function 2136 call being inlined at higher optimisation levels. 2137 + ARM7 ports now automatically set the THUMB bit if necessary when 2138 setting up the initial stack of a task - removing the need for 2139 THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode 2140 tasks to be mixed more easily. 2141 + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. 2142 + Various demo application project files have been updated to be up to date 2143 with the latest IDE versions. 2144 + The linker scripts used with command line GCC demos have been updated to 2145 include an eh_frame section to allow their use with the latest Yagarto 2146 release. Likewise the demo makefiles have been updated to include 2147 command line options to reduce or eliminate the eh_frame section all 2148 together. 2149 + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the 2150 various memory allocation files and into the common portable.h header 2151 file. 2152 + Removed unnecessary use of portLONG, portSHORT and portCHAR. 2153 + Added LM3Sxxxx demo for Rowley CrossWorks. 2154 + Posix simulator has been upgraded - see the corresponding WEB page on the 2155 FreeRTOS.org site. 2156 2157 2158Changes between V5.4.1 and V5.4.2 released August 9th 2009 2159 2160 + Added a new port and demo app for the Altera Nios2 soft core. 2161 + Added LPC1768 demo for IAR. 2162 + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). 2163 + Changed clock frequency of LPC1768 demos to 99MHz. 2164 2165Changes between V5.4.0 and V5.4.1 released July 25th 2009 2166 2167 + New hook function added. vApplicationMallocFailedHook() is (optionally) 2168 called if pvPortMalloc() returns NULL. 2169 + Additional casting added to xTaskCheckForTimeOut(). This prevents 2170 problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a 2171 32 bit architecture (which would probably be a mistake, anyway). 2172 + Corrected the parameter passed to NVIC_SetPriority() to set the MAC 2173 interrupt priority in both LPC1768 demos. 2174 + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 2175 demo application to ensure the heap space was not completely consumed 2176 before the scheduler was started. 2177 2178Changes between V5.3.1 and V5.4.0 released July 13th 2009 2179 2180 + Added Virtex5 / PPC440 port and demos. 2181 + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The 2182 original demo was configured to use engineering samples of the CPU. The 2183 new demo has an improved Ethernet driver. 2184 + Added LPC1768 Rowley demo with zero copy Ethernet driver. 2185 + Reworked byte alignment code to ensure 8 byte alignment works correctly. 2186 + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. 2187 + Changed the initial stack setup for the PPC405 to ensure the small data 2188 area pointers are setup correctly. 2189 2190Changes between V5.3.0 and V5.3.1 released June 21st 2009 2191 2192 + Added ColdFire V1 MCF51CN128 port and WEB server demo. 2193 + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. 2194 + Changed the Cortex M3 port.c asm statements to __asm so it can be 2195 compiled using Rowley CrossWorks V2 in its default configuration. 2196 + Updated the Posix/Linux simulator contributed port. 2197 2198Changes between V5.2.0 and V5.3.0 released June 1st 2009 2199 2200 Main changes: 2201 2202 + Added new (optional) feature that gathers statistics on the amount of CPU 2203 time used by each task. 2204 + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based 2205 microcontroller. 2206 + Added a new demo application for the NXP LPC1766 Cortex-M3 based 2207 microcontroller. 2208 + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a 2209 Linux environment. 2210 2211 Minor changes: 2212 + Updated the Stellaris uIP WEB server demos to include the new run time 2213 statistics gathering feature - and include a served WEB page that 2214 presents the information in a tabular format. 2215 + Added in the lwIP port layer for the Coldfire MCF52259. 2216 + Updated the CrossWorks LPC2368 WEB server to include an image in the 2217 served content. 2218 + Changed some of the timing in the initialisation of the LPC2368 MAC to 2219 permit its use on all part revisions. 2220 + Minor modifications to the core uIP code to remove some compiler warnings. 2221 + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom 2222 demo to make use of the new function. 2223 + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using 2224 Rowley Crossworks. 2225 + Heap_1.c and Heap_2.c used to define structures for the purpose of data 2226 alignment. These have been converted to unions to save a few bytes of 2227 RAM that would otherwise be wasted. 2228 + Remove the call to strncpy() used to copy the task name into the TCB when 2229 the maximum task name is configured to be 1 byte long. 2230 2231Changes between V5.1.2 and V5.2.0 released March 14th 2009 2232 2233 + Optimised the queue send and receive functions (also used by semaphores). 2234 + Replaced the standard critical sections used to protect BIOS calls in the 2235 PC port to instead use scheduler locks. This is because the BIOS calls 2236 always return with interrupts enabled. 2237 + Corrected unclosed comments in boot.s. 2238 2239Changes between V5.1.1 and V5.1.2 released February 9th 2009 2240 2241 + Added NEC V850ES port and demo. 2242 + Added NEC 78K0R port and demo. 2243 + Added MCF52259 port and demo. 2244 + Added the AT91SAM9XE port and demo. 2245 + Updated the MCF52233 FEC driver to work around a silicon bug that 2246 prevents the part auto negotiating some network parameters. 2247 + Minor modifications to the MCF52233 makefile to permit it to be used 2248 on Linux hosts. 2249 + Updated the STM32 primer files to allow them to be built with the latest 2250 version of the RIDE tools. 2251 + Updated the threads.js Java script used for kernel aware debugging in 2252 the Rowley CrossWorks IDE. 2253 2254 2255Changes between V5.1.0 and V5.1.1 released November 20, 2008 2256 2257 + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse. 2258 + Added IAR MSP430 port and demo. 2259 + Corrected several compiler time issues that had crept in as tool versions 2260 change. 2261 + Included FreeRTOS-uIP - a faster uIP. This is not yet complete. 2262 2263Changes between V5.0.4 and V5.1.0 released October 24, 2008 2264 2265 + Added a new port and demo application for the ColdFire V2 core using the 2266 CodeWarrior development tools. 2267 + Replaced the ARM7 demo that used the old (and now no longer supported) 2268 Keil compiler with a new port that uses the new Keil/RVDS combo. 2269 + Stack overflow checking now works for stacks that grow up from low 2270 memory (PIC24 and dsPIC). 2271 + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct 2272 value of -1. 2273 + MSP430 port layers have been updated to permit tasks to place the 2274 microcontroller into power down modes 1 to 3. The demo applications have 2275 likewise been updated to demonstrate the new feature. 2276 + Replaced the two separate MSP430/Rowley port layers with a single and more 2277 flexible version. 2278 + Added more contributed ports, including ports for NEC and SAM9 2279 microcontrollers. 2280 + Changed the linker script used in the LPC2368 Eclipse demo. 2281 2282Changes between V5.0.3 and V5.0.4 released September 22, 2008 2283 2284 + Completely re-written port for ColdFire GCC. 2285 + Bug fix: All Cortex M3 ports have a minor change to the code that sets 2286 the pending interrupt. 2287 + Some header files require that FreeRTOS.h be included prior to their 2288 inclusion. #error message have been added to all such header file 2289 informing users to the cause of the compilation error should the headers 2290 not be included in the correct order. 2291 2292Changes between V5.0.2 and V5.0.3 released July 31, 2008 2293 2294 Changes relating to the Cortex M3: 2295 2296 + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3 2297 ports and demos. See the port documentation pages on the FreeRTOS.org 2298 WEB site for full usage information. 2299 + Improved efficiency of Cortex M3 port even further. 2300 + Ensure the Cortex M3 port works no matter where the vector table is 2301 located. 2302 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port 2303 (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY 2304 functionality. 2305 + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil 2306 projects to allow the WEB server to be conditionally excluded from the 2307 build and therefore allow use of the KickStart (code size limited) 2308 compiler version. 2309 2310 Other changes: 2311 2312 + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to 2313 an assembly file to allow use with all MPLAB compiler versions. This also 2314 allows the omit-frame-pointer optimisation to be turned off. 2315 2316Changes between V5.0.0 and V5.0.2 released May 30, 2008 2317 2318 + Updated the PIC32 port to allow queue API calls to be used from 2319 interrupts above the kernel interrupt priority, and to allow full 2320 interrupt nesting. Task stack usages has also been reduced. 2321 + Added a new PowerPC port that demonstrates how the trace macros can be 2322 used to allow the use of a floating point co-processor. The 2323 traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to 2324 save and restore the floating point context respectively for those tasks 2325 that actually use floating point operations. 2326 + BUG FIX: The first PPC405 port contained a bug in that it did not leave 2327 adequate space above the stack for the backchain to be saved when a task 2328 started to execute for the first time. 2329 + Updated queue.c to add in the means to allow interrupt nesting and for 2330 queue API functions to be called from interrupts that have a priority 2331 above the kernel priority. This is only supported on PIC32 ports thus 2332 far. 2333 + Fixed the compiler warnings that were generated when the latest version 2334 of WinAVR was used. 2335 + Remove all inline usage of 'inline' from the core kernel code. 2336 + Added the queue registry feature. The queue registry is provided as a 2337 means for kernel aware debuggers to locate queue definitions. It has no 2338 purpose unless you are using a kernel aware debugger. The queue registry 2339 will only be used when configQUEUE_REGISTRY_SIZE is greater than zero. 2340 + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to 2341 prevent them from having to be included in multiple demos. 2342 + Added a Keil STM32 demo application. 2343 + Changed the blocktim.c test files as it is no longer legitimate for all 2344 ports to call queue API functions from within a critical section. 2345 + Added the IntQueue.c test file to test the calling of queue API functions 2346 from different interrupt priority levels, and test interrupt nesting. 2347 2348Changes between V5.0.0 and V5.0.1 2349 2350 + V5.0.1 was a customer specific release. 2351 2352Changes between V4.8.0 and V5.0.0 released April 15, 2008 2353 2354 *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 *** 2355 2356 The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(), 2357 xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must 2358 update all calls to these functions to use the new calling convention! Your 2359 compiler might not issue any type mismatch warnings! 2360 2361 2362 Other changes: 2363 2364 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3 2365 microcontrollers. 2366 + New task hook feature added. 2367 + PowerPC demo updated to use version 10.1 of the Xilinx EDK. 2368 + Efficiency gains within the PIC32 port layer. 2369 2370Changes between V4.7.2 and V4.8.0 released March 26 2008 2371 2372 + Added a Virtex4 PowerPC 405 port and demo application. 2373 + Added optional stack overflow checking and new 2374 uxTaskGetStackHighWaterMark() function. 2375 + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and 2376 uxQueueMessagesWaitingFromISR() API functions. 2377 + Efficiency improvements to the Cortex-M3 port layer. NOTE: This 2378 requires that an SVC handler be installed in the application. 2379 + Efficiency improvements to the queue send and receive functions. 2380 + Added new trace macros. These are application definable to provide 2381 a flexible trace facility. 2382 + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex 2383 M3 port layer (bringing it up to the same standard as the IAR and GCC 2384 versions). 2385 + Ports that used the arm-stellaris-eabi-gcc tools have been converted to 2386 use the arm-non-eabi-gcc tools. 2387 2388Changes between V4.7.1 and V4.7.2 released February 21, 2008 2389 2390 + Added Fujitsu MB91460 port and demo. 2391 + Added Fujitsu MB96340 port and demo. 2392 + Tidied up the capitalisation of include files to facilitate builds on 2393 Linux hosts. 2394 + Removed some redundant casting that was generating warnings - but was 2395 included to remove warnings on other compilers. 2396 2397Changes between V4.7.0 and V4.7.1 released February 3, 2008 2398 2399 + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench 2400 for ARM. 2401 + Introduced recursive semaphore feature. 2402 + Updated LPC2368 demos to take into account silicon bugs in old chip 2403 revisions. 2404 + Updated STR9 uIP port to manually set the net mask and gateway addresses. 2405 + Updating demos to allow more to run with the co-operative scheduler. 2406 + Fixed co-operative scheduler behaviour upon the occurrence of a tick 2407 interrupt while the scheduler was suspended. 2408 + Updated documentation contained within semphr.h. 2409 + ARM7 GCC ports no longer use the IRQ attribute. 2410 2411Changes between V4.6.1 and V4.7.0 released December 6, 2007 2412 2413 + Introduced the counting semaphore macros and demo source files. The 2414 Open Watcom PC project has been updated to include the new demo. See 2415 the online documentation for more information. 2416 + Introduced the 'alternative' queue handling API and demo source files. 2417 The Open Watcom PC project has been updated to include the new demo 2418 source files. See the online documentation for more information. 2419 + Added AT91SAM7X Eclipse demo project. 2420 + Added the STM32 primer demo project for the GCC compiler and Ride IDE. 2421 + Removed the .lock files that were mistakenly included in the V4.6.1 2422 eclipse workspaces. 2423 2424Changes between V4.6.0 and V4.6.1 released November 5 2007 2425 2426 + Added support for the MIPS M4K based PIC32. 2427 + Added 'extern "C"' to all the header files to facilitate use with C++. 2428 2429Changes between V4.5.0 and V4.6.0 released October 28 2007 2430 2431 + Changed the method used to force a context switch within an ISR for the 2432 ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and 2433 portEXIT_SWITCHING_ISR() macros are no longer supported. This is to 2434 ensure correct behaviour no matter which GCC version is used, with or 2435 without the -fomit-frame-pointer option, and at all optimisation levels. 2436 + Corrected the prototype for xQueueGenericSend() within queue.h. 2437 2438Changes between V4.4.0 and V4.5.0 released September 17 2007 2439 2440 + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek() 2441 functionality. These should now be used in preference to the old 2442 xQueueSend() function - which is maintained for backward compatibility. 2443 + Added Mutex functionality. The behaviour of mutexes is subtly different 2444 to the already existing binary semaphores as mutexes automatically 2445 include a priority inheritance mechanism. 2446 + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour 2447 of the new functionality. 2448 + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and 2449 QPeek.c files. 2450 + Updated the GCC port for the Cortex M3 to include the 2451 configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only 2452 included in the IAR port. 2453 + Optimised the GCC and IAR port layer code - specifically the context 2454 switch code. 2455 + Consolidated the LM3Sxxxx EK demos for all development tools into a 2456 single project that automatically detects which version of the EK the 2457 application is executing on. 2458 + Added Eclipse support for LM3Sxxxx evaluation kits. 2459 + Added Eclipse support for the Keil LPC2368 evaluation kit. 2460 + Added the Demo/Drivers directory to hold code that is common to multiple 2461 demo application projects. 2462 + Included some minor bug fixes in the uIP 1.0 code. 2463 + Added an lwIP demo for the STR9 - thanks ST for assistance. 2464 + Updated the AVR32 port to ensure correct behaviour with full compiler 2465 optimisation. 2466 + Included binaries for OpenOCD FTDI and parallel port interfaces. 2467 2468Changes between V4.4.0 and V4.3.1 released July 31, 2007 2469 2470 + Added AVR32 UC3B demo application. 2471 + Updated AVR32 UC3A port and demo applications. 2472 + Added IAR lwIP demo for AVR32 UC3A. 2473 + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation 2474 (thanks Niu Yong for making the suggestion). 2475 + Added xTaskGetSchedulerState() API function. 2476 + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely 2477 have their block time adjusted (within xQueueSend() and xQueueReceive()), 2478 and are the subject of a call the vTaskResume() when they are not 2479 actually in the Suspended state (thanks Dan Searles for reporting the 2480 issues). 2481 2482 2483Changes between V4.3.0 and V4.3.1 released June 11, 2007 2484 2485 + Added STMicroelectronics STM32 Cortex-M3 demo application. 2486 + Updated ustdlib.c for the GCC LM3S6965 demo. 2487 2488Changes between V4.2.1 and V4.3.0 released June 5, 2007 2489 2490 + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24 2491 and dsPIC ports. See the LM3S6965 and PIC24 demo application 2492 documentation pages for more information. 2493 + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC 2494 tools, and changed the demo applications. 2495 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris 2496 microcontrollers. 2497 + Corrected bug in uIP the demos that prevented frames of approximately 1480 2498 bytes and over from being transmitted. 2499 + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org 2500 download. 2501 + Update to WizC PIC18 port to permit its use with version 14 of the 2502 compiler. Thanks Marcel! 2503 2504Changes between V4.2.1 and V4.2.0 released April 2, 2007 2505 2506 + Added AVR32 AT32UC3A ports for GCC and IAR. 2507 + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile. 2508 + Moved location of call to LCD_Init() in STR9 demo to ensure it is only 2509 called after the scheduler has been started. 2510 2511Changes between V4.1.3 and V4.2.0 released February 8, 2007 2512 2513 + Changes to both task.c and queue.c as a result of testing performed on 2514 the SafeRTOS code base. 2515 + Added Cortex-M3 LM3S811 demos for GCC and IAR tools. 2516 2517Changes between V4.1.2 and V4.1.3 released November 19, 2006 2518 2519 + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools. 2520 + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around 2521 to GCC bug at some optimisation levels. 2522 + Altered the way the heap is defined in the LM3S811 Keil demo to prevent 2523 the RAM usage from counting toward the code size limit calculation. 2524 + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within 2525 xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz. 2526 + Tasks that block on events with a timeout of portMAX_DELAY are now 2527 blocked indefinitely if configINCLUDE_vTaskSuspend is defined. 2528 Previously portMAX_DELAY was just the longest block time possible. This 2529 is still the case if configINCLUDE_vTaskSuspend is not defined. 2530 + Minor changes to some demo application files. 2531 2532Changes between V4.1.1 and V4.1.2 released October 21, 2006 2533 2534 + Added 16bit PIC ports and demos. 2535 + Added STR750 port and demo. 2536 2537 2538Changes between V4.1.0 and V4.1.1 released September 24, 2006 2539 2540 + Added the Luminary Micro Stellaris LM3S811 demo application. 2541 2542Changes between V4.0.5 and V4.1.0 released August 28, 2006 2543 2544 + Prior to V4.1.0, under certain documented circumstances, it was possible 2545 for xQueueSend() and xQueueReceive() to return without having completed 2546 and without their block time expiring. The block time effectively 2547 stated a maximum block time, and the return value of the function needed 2548 to be checked to determine the reason for returning. This is no longer 2549 the case as the functions will only return once the block time has 2550 expired or they are able to complete their operation. It is therefore no 2551 longer necessary to wrap calls within loops. 2552 + Changed the critical section handling in the IAR AVR port to correct the 2553 behaviour when used with later compiler versions. 2554 + Added the LPC2138 CrossWorks demo into the zip file. Previously this was 2555 only available as a separate download. 2556 + Modified the AVR demo applications to demonstrate the use of co-routines. 2557 2558Changes between V4.0.4 and V4.0.5 released August 13, 2006 2559 2560 + Introduced API function xTaskResumeFromISR(). Same functionality as 2561 xTaskResume(), but can be called from within an interrupt service routine. 2562 + Optimised vListInsert() in the case when the wake time is the maximum 2563 tick count value. 2564 + Bug fix: The 'value' of the event list item is updated when the priority 2565 of a task is changed. Previously only the priority of the TCB itself was 2566 changed. 2567 + vTaskPrioritySet() and vTaskResume() no longer use the event list item. 2568 This has not been necessary since V4.0.1 when the xMissedYield handling 2569 was added. 2570 + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz. 2571 + When ending the scheduler - do not try to attempt a context switch when 2572 deleting the current task. 2573 + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining 2574 the length from the rx descriptor. 2575 2576 2577Changes between V4.0.3 and V4.0.4 released June 22, 2006 2578 2579 + Added a port and demo application for the STR9 ARM9 based processors from 2580 ST. 2581 + Slight optimisation to the vTaskPrioritySet() function. 2582 + Included the latest uIP version (1.0) in the demo/common/ethernet 2583 directory. 2584 2585Changes between V4.0.2 and V4.0.3 released June 7, 2006 2586 2587 + Added a port and demo application for the Cortex-M3 target using the IAR 2588 development tools. 2589 + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the 2590 CrossStudio tools. 2591 + The heap size defined for the lwIP Rowley demo has been reduced so that 2592 the project will link correctly when using the command line GCC tools 2593 also. The makefile has also been modified to allow debugging. 2594 + The lwIP Rowley demo not includes a 'kernel aware' debug window. 2595 + The uIP Rowley project has been updated to build with V1.6 of CrossWorks. 2596 + The second set of tasks in the blockQ demo were created the wrong way 2597 around (inconsistent to the description in the file). This has been 2598 corrected. 2599 2600Changes between V4.0.1 and V4.0.2 released May 28, 2006 2601 2602 + Port and demo application added for the Tern Ethernet Engine controller. 2603 + Port and demo application added for MC9S12 using GCC, thanks to 2604 Jefferson "imajeff" Smith. 2605 + The function vTaskList() now suspends the scheduler rather than disabling 2606 interrupts during the creation of the task list. 2607 + Allow a task to delete itself by passing in its own handle. Previously 2608 this could only be done by passing in NULL. 2609 + Corrected the value passed to the WDG_PeriodValueConfig() library 2610 function in the STR71x demo. 2611 + The tick hook function is now called only within a tick isr. Previously 2612 it was also called when the tick function was called during the scheduler 2613 unlocking process. 2614 + The EMAC driver in the SAM7X lwIP demo has been made more robust as per 2615 the thread: https://sourceforge.net/forum/message.php?msg_id=3714405 2616 + In the PC ports: Add function prvSetTickFrequencyDefault() to set the 2617 DOS tick back to its proper value when the scheduler exits. Thanks 2618 Raynald! 2619 + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT 2620 macro where the BP register was not popped from the stack correctly. The 2621 BP value would never get used so this did not cause a problem, but it has 2622 been corrected all the same. 2623 2624 2625Changes between V4.0.0 and V4.0.1 released April 7 2006 2626 2627 + Improved the ARM CORTEX M3 ports so they now only have to service 2628 pendSV interrupts. 2629 + Added a Luminary Micro port and demo for use with Rowley CrossWorks. 2630 + Added the xMissedYield handling to tasks.c. 2631 2632Changes between V3.2.4 and V4.0.0 2633 2634 Major changes: 2635 2636 + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers. 2637 + Added new co-routine functionality. 2638 2639 Other kernel changes: 2640 2641 + An optional tick hook call is now included in the tick function. 2642 + Introduced the xMiniListItem structure and removed the list pxHead 2643 member in order to reduce RAM usage. 2644 + Added the following definitions to the FreeRTOSConfig.h file included 2645 with every port: 2646 configUSE_TICK_HOOK 2647 configUSE_CO_ROUTINES 2648 configMAX_CO_ROUTINE_PRIORITIES 2649 + The volatile qualification has been changed on the list members to allow 2650 the task.c code to be tidied up a bit. 2651 + The scheduler can now be started even if no tasks have been created! 2652 This is to allow co-routines to run when there are no tasks. 2653 + A task being woken by an event will now preempt the currently running task 2654 even if its priority is only equal to the currently running task. 2655 2656 Port and demo application changes: 2657 2658 + Updated the WinAVR demo to compile with the latest version of WinAVR 2659 with no warnings generated. 2660 + Changed the WinAVR makefile to make chars signed - needed for the 2661 co-routine code if BaseType_t is set to char. 2662 + Added new demo application file crflash.c. This demonstrates co-routine 2663 functionality including passing data between co-routines. 2664 + Added new demo application file crhook.c. This demonstrates co-routine 2665 and tick hook functionality including passing data between and ISR and 2666 a co-routine. 2667 + Some NOP's were missing following stmdb{}^ instructions in various ARM7 2668 ports. These have been added. 2669 + Updated the Open Watcom PC demo project to include the crflash and crhook 2670 demo co-routines as an example of their use. 2671 + Updated the H8S demo to compile with the latest version of GCC. 2672 + Updated the SAM7X EMAC drivers to take into account the hardware errata 2673 regarding lost packets. 2674 + Changed the default MAC address used by some WEB server demos as the 2675 original addresses used was not liked by some routers. 2676 + Modified the SAM7X/IAR startup code slightly to prevent it hanging on 2677 some systems when the code is executed using a j-link debugger. The 2678 j-link macro file configures the PLL before the code executes so 2679 attempting to configure it again in the startup code was causing a 2680 problem for some user. Now a check is performed first to see if the 2681 PLL is already set up. 2682 + GCC port now contain all assembler code in a single asm block rather than 2683 individual blocks as before. 2684 + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler 2685 choose the register to use as a temporary register during the context 2686 switch. 2687 + Added portNOP() macro. 2688 + The compare match load value on LPC2000 ports now has 1 added to correct 2689 the value used. 2690 + The minimal stack depth has been increased slightly on the WIZC PIC18 2691 port. 2692 2693Changes between V3.2.3 and V3.2.4 2694 2695 + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above. 2696 Many thanks to Glen Biagioni for the provided update. 2697 + Added a new Microblaze port and demo application. 2698 + Modified the SAM7X EMAC demo to default to use the MII interface rather 2699 than the RMII interface. 2700 + Modified the startup sequence of the SAM7X demo slightly to allow the 2701 EMAC longer to auto negotiate. 2702 2703Changes between V3.2.2 and V3.2.3 2704 2705 + Added MII interface support to the SAM7X EMAC peripheral driver. 2706 Previously versions worked with the RMII interface only. 2707 + Added command line GCC support to the SAM7X lwIP demo. Previously the 2708 project could only be built using the CrossWorks IDE. Modifications to 2709 this end include the addition of a standard makefile and linker script to 2710 the download, and some adjustments to the stacks allocated to each task. 2711 + Changed the page returned by the lwIP WEB server demo to display the 2712 task status table rather than the TCP/IP statistics. 2713 + Corrected the capitalisation of some header file includes and makefile 2714 dependencies to facilitate use on Linux host computers. 2715 + The various LPC2000 ports had a mistake in the timer setup where the 2716 prescale value was written to T0_PC instead of T0_PR. This would have 2717 no effect unless a prescale value was actually required. This has been 2718 corrected. 2719 2720Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005 2721 2722 + Added an IAR port for the Philips LPC2129 2723 + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded 2724 Workbench V4.30a format. 2725 + Updated the J-Link macro file included with the SAM7X uIP demo project 2726 to allow the demo board to be reset over the J-Link. 2727 2728Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005 2729 2730 + Added lwIP demo for AT91SAM7X using Rowley tools. 2731 + Added uIP demo for AT91SAM7X using IAR tools. 2732 + Added function xTaskGetCurrentTaskHandle(). 2733 + Renamed events.h to mevents.h to prevent it conflicting with the events.h 2734 generated automatically by the HCS12 processor expert utility. events.h 2735 is only used by the PC demo application. 2736 + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value 2737 expected by the compiler, and the compilers do not write to this 2738 register. 2739 + The HCS12 banked model demo now creates the 'suicide' tasks immediately 2740 prior to starting the scheduler. These tasks should be the last tasks to 2741 get started in order for the test to function correctly. 2742 2743Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005 2744 2745 V3.2.0 introduces two new MSP430 ports and corrects a minor kernel 2746 issues. Thanks to Ares.qi for his input. 2747 2748 + Added two MSP430 ports that use the Rowley CrossWorks development tools. 2749 One port just mirrors the existing GCC port. The other port was provided 2750 by Milos Prokic. Thanks! 2751 + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume() 2752 are called while the scheduler is locked (by a call to 2753 vTaskSuspendAll()). When this is done the subject task now starts to 2754 execute immediately when the scheduler is unlocked if it has the highest 2755 priority that is ready to run. Previously there was a possibility that 2756 the task would not run until the next RTOS tick or call to portYIELD(). 2757 + Another similar small correction ensures that in the case where more than 2758 one task is blocked on a semaphore or queue, the task with the highest 2759 priority is guaranteed to be unblocked first. 2760 + Added a couple of more test tasks to the PC demo which cover the points 2761 above. 2762 2763Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005 2764 2765 This release updates the HCS12 port. The common kernel code 2766 remains unchanged. 2767 2768 + Updated the HCS12 port to support banking and introduced a demo 2769 application for the MC9S12DP256. The new demo application is 2770 located in the Demo/HCS12_CodeWarrior_banked directory. 2771 + The name of the directory containing the MC9S12F32 demo application 2772 has been changed to Demo/HCS12_CodeWarrior_small (as in 'small' 2773 memory model). 2774 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the 2775 demo application is now 24MHz. Previously it was 8MHz. 2776 + The demo application file Demo/Common/Minimal/death.c has a slight 2777 alteration to prevent it using floating point variables. 2778 2779 2780Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005 2781 2782 + Added new ports for ST Microsystems STR71x, and Freescale HCS12 2783 microcontrollers. Currently the HCS12 port is limited to the small 2784 memory model. Large memory models will be supported in the next 2785 release. 2786 + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his 2787 continuing contribution. 2788 + The accuracy of the AVR port timer setup has been improved. Thanks to 2789 Thomas Krutmann for this contribution. 2790 + Added a new conditional compilation macro configIDLE_SHOULD_YIELD. 2791 See the WEB documentation for details. 2792 + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks. 2793 + Slight modification to the SAM7 release build configuration to correct 2794 an include path definition. 2795 + Updated the MPLAB PIC18 documentation to provide extra details on linker 2796 file configuration. 2797 2798Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005 2799 2800 V3.0.0 includes many enhancements, so this history list is broken into 2801 subsections as follows: 2802 2803 API changes 2804 New ports 2805 Directory name changes 2806 Kernel and miscellaneous changes changes 2807 2808 - API changes 2809 2810 + Each port now defines BaseType_t as the data type that is most 2811 efficient for that architecture. The type BaseType_t is used 2812 extensively in API calls necessitating the following changes to the 2813 FreeRTOS API function prototypes. 2814 2815 See the "New for V3.0.0" section of the FreeRTOS online 2816 documentation for full details of API changes. 2817 2818 - New ports 2819 2820 + The AT91FR40008 ARM7 port contributed by John Feller is now included 2821 in the download (thanks John!). 2822 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van 2823 Lieshout is now included in the download (thanks Marcel!). 2824 + The IAR port for the AVR microcontroller has been upgraded to V3.0.0 2825 and is now a supported port. 2826 2827 - Directory name changes 2828 2829 For consistency, and to allow integration of the new ports, the 2830 following directory names have been changed. 2831 2832 + The source/portable/GCC/ARM7 directory has been renamed 2833 source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming 2834 of other GCC ARM7 ports. 2835 + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to 2836 accommodate the wizC/fedC PIC port. 2837 + The demo applications for the two AVR ports no longer share the same 2838 directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR 2839 directory and the IAR port in the Demo/AVR_ATMega323_IAR directory. 2840 2841 2842 - Kernel and miscellaneous changes changes 2843 2844 See the "New for V3.0.0" section of the FreeRTOS online 2845 documentation for more information. 2846 2847 + Previously 'portmacro.h' contained some user editable definitions 2848 relating to the user application, and some fixed definitions relating 2849 specifically to the port being used. The application specific 2850 definitions have been removed from 'portmacro.h' and placed inside a 2851 new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now 2852 never be modified by the user. A 'FreeRTOSConfig.h' is now included 2853 in each of FreeRTOS/Demo subdirectories - as it's settings relate to 2854 the demo application rather than being specific to the port. 2855 + Introduced configUSE_IDLE_HOOK in idle task. 2856 + The idle task will yield when another idle priority task is ready to 2857 run. Previously the idle task would run to the end of its time slice 2858 regardless. 2859 + The idle task is now created when the scheduler is started. This 2860 requires less stack than the previous scheme where it was created upon 2861 creation of the first application task. 2862 + The function usPortCheckFreeStackSpace() has been renamed 2863 usTaskCheckFreeStackSpace() and moved from the portable layer to 2864 tasks.c. 2865 + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE. 2866 + The portheap.c file included with the AVR port has been deleted. The 2867 AVR demo now uses the standard heap1 sample memory allocator. 2868 + The GCC AVR port is now build using the standard make utility. The 2869 batch files used previously have been deleted. This means a recent 2870 version of WinAVR is required in order to create a binary suitable for 2871 source level debugging. 2872 + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION 2873 constant as a parameter. Instead the constant is used directly within 2874 tasks.c and no parameter is required. 2875 + The header file 'FreeRTOS.h' has been created and is used to include 2876 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary 2877 order. FreeRTOS.h can now be included in place of these other 2878 headers. 2879 + The header file 'errors.h' has been deleted. The definitions it 2880 contained are now located within 'projdefs.h'. 2881 + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc(). 2882 Previously an unsigned short was used. 2883 + When resuming the scheduler a yield is performed if either a tick has 2884 been missed, or a task is moved from the pending ready list into a 2885 ready list. Previously a yield was not performed on this second 2886 condition. 2887 + In heap1.c an overflow check has been added to ensure the next free 2888 byte variable does not wrap around. 2889 + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO() 2890 macros. 2891 + The MPLAB PIC port now saved the TABLAT register in interrupt service 2892 routines. 2893 2894Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005 2895 2896 This version adds support for the H8 processor. 2897 2898 Other changes: 2899 2900 + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each 2901 individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM 2902 limited ports to allocate fewer characters to the task name. 2903 + AVR port - Replaced the inb() and outb() functions with direct memory 2904 access. This allows the port to be built with the 20050414 build of 2905 WinAVR. 2906 + GCC LPC2106 port - removed the 'static' from the definition of 2907 vNonPreemptiveTick() to allow the demo to link when using the cooperative 2908 scheduler. 2909 + GCC LPC2106 port - Corrected the optimisation options in the batch files 2910 ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case 2911 -o is replaced by an uppercase -O. 2912 + Tasks.c - The strcpy call has been removed when copying across the task 2913 name into the TCB. 2914 + Updated the trace visualisation to always be 4 byte aligned so it can be 2915 used on ARM architectures. 2916 + There are now two tracecon executables (that convert the trace file binary 2917 into an ASCII file). One for big endian targets and one for little endian 2918 targets. 2919 + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called 2920 too often in the idle task. 2921 + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt 2922 mask with the RX_DATA_BK1. 2923 2924 2925Changes between V2.5.5 and V2.6.0 - Released January 16, 2005 2926 2927 + Added the API function vTaskDelayUntil(). The demo app file 2928 Demo/Common/Minimal/flash.c has been updated to demonstrate its use. 2929 + Added INCLUDE_vTaskDelay conditional compilation. 2930 + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to 2931 Demo/ARM7_AT91SAM7S64_IAR for consistency. 2932 + Modified the AT91SAM7S USB driver to allow descriptors that have 2933 a length that is an exact multiple of the FIFO to be transmitted. 2934 2935Changes between V2.5.4 and V2.5.5 - Released January 3, 2005 2936 2937 This version adds support for the Atmel SAM7 ARM7 microcontrollers 2938 along with the IAR development tools. 2939 2940 Other changes: 2941 2942 + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC. 2943 + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil. 2944 + Modified the Philips ARM7 serial interrupt service routines to only 2945 process one interrupt per call. This seems to enable the ISR to 2946 operate more quickly. 2947 + Removed the 'far' keyword from the Open Watcom portable layer source 2948 files. This allows their use with V1.3 of Open Watcom. 2949 + Minor modifications to the SDCC build files to allow their use under 2950 Linux. Thanks to Frieder Ferlemann for this contribution. 2951 + Small change to sTaskCreate() to allow a context switch even when 2952 pxCreatedTask is NULL. Thanks to Kamil for this contribution. 2953 + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick() 2954 definitions. 2955 2956Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004 2957 2958 This is an important maintenance release. 2959 2960 The function cTaskResumeAll() has been modified so it can be used safely 2961 prior to the kernel being initialised. This was an issue as 2962 cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun 2963 for highlighting this issue. 2964 2965Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004 2966 2967 The critical section handling functions have been changed for the GCC ARM7 2968 port. Some optimisation levels use the stack differently to others. This 2969 means the interrupt flags cannot always be stored on the stack and are 2970 instead now stored in a variable, which is then saved as part of the 2971 tasks context. This allows the GCC ARM7 port to be used at all 2972 optimisation levels - including -Os. 2973 2974 Other minor changes: 2975 2976 + MSP430 definition of usCriticalNesting now uses the volatile qualifier. 2977 This is probably not required but added just in case. 2978 2979Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004 2980 2981 + Added the Keil ARM7 port. 2982 + Slight modification to comtest.c to make the delay periods more random. 2983 This creates a better test condition. 2984 2985Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004 2986 2987 + Added the MSP430 port. 2988 + Extra comments added to the GCC ARM7 port.c and portISR.c files. 2989 + The memory pool allocated within heap_1.c has been placed within a 2990 structure to ensure correct memory alignment on 32bit systems. 2991 + Within the GCC ARM7 serial drivers an extra check is made to ensure 2992 the post to the queue was successful if then attempting immediately 2993 retrieve the posted character. 2994 + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS 2995 as the old name was misleading. 2996 2997 2998Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004 2999 3000 The RTOS source code download now includes three separate memory allocation 3001 schemes - so you can choose the most appropriate for your application. 3002 These are found in the Source/Portable/MemMang directory. The demo 3003 application projects have also been updated to demonstrate the new schemes. 3004 See the "Memory Management" page of the API documentation for more details. 3005 3006 + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang 3007 directory. 3008 + Replaced the portheap.c files for each demo application with one of the 3009 new memory allocation files. 3010 + Updated the portmacro.h file for each demo application to include the 3011 constants required for the new memory allocators: portTOTAL_HEAP_SIZE and 3012 portBYTE_ALIGNMENT. 3013 + Added a new test to the ARM7 demo application that tests the operation 3014 of the heap_2 memory allocator. 3015 3016 3017Changes between V2.4.1 and V2.4.2 - Released July 14, 2004 3018 3019 + The ARM7 port now supports THUMB mode. 3020 + Modification to the ARM7 demo application serial port driver. 3021 3022Changes between V2.4.0 and V2.4.1 - Released July 2, 2004 3023 3024 + Rationalised the ARM7 port version of portEXIT_CRITICAL() - 3025 improvements provided by Bill Knight. 3026 + Made demo serial driver more complete and robust. 3027 3028 3029Changes between V2.4.0 and V2.3.1 - Released June 30, 2004 3030 3031 + Added the first ARM7 port - thanks to Bill Knight for the assistance 3032 provided. 3033 + Added extra files to the Demo/Common/Minimal directory. These are 3034 equivalent to their Demo/Common/Full counterparts but with the 3035 calls to the functions defined in print.c removed. 3036 + Added TABLAT to the list of registers saved as part of a PIC18 context. 3037 3038Changes between V2.3.0 and V2.3.1 - Released June 25, 2004 3039 3040 + Changed the way the vector table is defined to be more portable. 3041 + Corrected the definitions of SPH and SPL in portmacro.s90. 3042 The previous definitions prevented V2.3.0 operating if the iom323.h 3043 header file was included in portmacro.s90. 3044 3045Changes between V2.2.0 and V2.3.0 - Released June 19, 2004 3046 3047 + Added an AVR port that uses the IAR compiler. 3048 + Explicit use of 'signed' qualifier on plain char types. 3049 + Modified the Open Watcom project files to use 'signed' as the 3050 default char type. 3051 + Changed odd calculation of initial pxTopOfStack value when 3052 portSTACK_GROWTH < 0. 3053 + Added inline qualifier to context switch functions within task.c. 3054 Ports that do not support the (non ANSI) inline keyword have the 3055 inline #define'd away in their respective portmacro.h files. 3056 3057Changes between V2.1.1 and V2.2.0 - Released May 18, 2004 3058 3059 + Added Cygnal 8051 port. 3060 + PCLATU and PCLATH are now saved as part of the PIC18 context. This 3061 allows function pointers to be used within tasks. Thanks to Javier 3062 Espeche for the enhancement. 3063 + Minor changes to demo application files to reduce stack usage. 3064 + Minor changes to prevent compiler warnings when compiling the new port. 3065 3066Changes between V2.1.0 and V2.1.1 - Released March 12, 2004 3067 3068 + Bug fix - pxCurrentTCB is now initialised before the call to 3069 prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed 3070 while null during the initialisation sequence. Thanks to Giuseppe 3071 Franco for the correction. 3072 3073Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004 3074 3075 V2.1.0 has significant reworks that greatly reduce the amount of time 3076 the kernel has interrupts disabled. The first section of modifications 3077 listed here must be taken into account by users. The second section 3078 are related to the kernel implementation and as such are transparent. 3079 3080 Section1 : 3081 3082 + The typedef TickType_t has been introduced. All delay times should 3083 now use a variable of type TickType_t in place of the unsigned long's 3084 used previously. API function prototypes have been updated 3085 appropriately. 3086 + The configuration macro USE_16_BIT_TICKS has been introduced. If set 3087 to 1 TickType_t is defined as an unsigned short. If set to 0 3088 TickType_t is defined as an unsigned long. See the configuration 3089 section of the API documentation for more details. 3090 + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete. 3091 + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a 3092 value (see the API documentation). 3093 + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type 3094 it returns now depends on the USE_16_BIT_TICKS definition. 3095 + cQueueReceive() must now >never< be used from within an ISR. Use the new 3096 cQueueReceiveFromISR() function instead. 3097 3098 Section 2: 3099 3100 + A mechanism has been introduced that allows a queue to be accessed by 3101 a task and ISR simultaneously. 3102 + A "pending ready" queue has been introduced that enables interrupts to 3103 be processed when the scheduler is suspended. 3104 + The list implementation has been improved to provide faster item 3105 removal. 3106 + The scheduler now makes use of the scheduler suspend mechanism in places 3107 where previously interrupts were disabled. 3108 3109Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004 3110 3111 + Introduced new API functions: 3112 vTaskPriorityGet () 3113 vTaskPrioritySet () 3114 vTaskSuspend () 3115 vTaskResume () 3116 vTaskSuspendAll () 3117 vTaskResumeAll () 3118 + Added conditional compilation options that allow the components of the 3119 kernel that are unused by an application to be excluded from the build. 3120 See the Configuration section on the WEB site for more information (on 3121 the API pages). The macros have been added to each portmacro.h file ( 3122 sometimes called prtmacro.h). 3123 + Rearranged tasks.c. 3124 + Added demo application file dynamic.c. 3125 + Updated the PC demo application to make use of dynamic.c. 3126 + Updated the documentation contained in the kernel header files. 3127 + Creating a task now causes a context switch if the task being created 3128 has a higher priority than the calling task - assuming the kernel is 3129 running. 3130 + vTaskDelete() now only causes a context switch if the calling task is 3131 the task being deleted. 3132 3133Changes between V1.2.5 and V1.2.6 - Released December 31, 2003 3134 3135 Barring the change to the interrupt vector (PIC port) these are minor 3136 enhancements. 3137 3138 + The interrupt vector used for the PIC master ISR has been changed from 3139 0x18 to 0x08 - where it should have always been. The incorrect address 3140 still works but probably executes a number of NOP's before getting to the 3141 ISR. 3142 + Changed the baud rate used by the AVR demo application to 38400. This 3143 has an error percentage of less than one percent with an 8MHz clock. 3144 + Raised the priority of the Rx task in demo\full\comtest.c. This only 3145 affects the Flashlite and PC ports. This was done to prevent the Rx 3146 buffer becoming full. 3147 + Reverted the Flashlite COM port driver back so it does not use the DMA. 3148 The DMA appears to miss characters under stress. The Borland Flashlite 3149 port was also calculating a register value incorrectly resulting in the 3150 wrong DMA source address being used. The same code worked fine when 3151 compiling with Open Watcom. Other minor enhancements were made to the 3152 interrupt handling. 3153 + Modified the PIC serial Rx ISR to check for and clear overrun errors. 3154 Overrun errors seem to prevent any further characters being received. 3155 + The PIC demo projects now have some optimisation switched on. 3156 3157 3158Changes between V1.2.4 and V1.2.5 3159 3160 Small fix made to the PIC specific port.c file described below. 3161 3162 + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global 3163 interrupt flag setting. Using the two bits defined within 3164 portINITAL_INTERRUPT_STATE was causing the w register to get clobbered 3165 before the test was performed. 3166 3167Changes between V1.2.3 and V1.2.4 3168 3169 V1.2.4 contains a release version of the PIC18 port. 3170 An optional exception has been included with the GPL. See the licensing 3171 section of www.FreeRTOS.org for details. 3172 3173 + The function xPortInitMinimal() has been renamed to 3174 xSerialPortInitMinimal() and the function xPortInit() has been renamed 3175 to xSerialPortInit(). 3176 + The function sSerialPutChar() has been renamed cSerialPutChar() and 3177 the function return type chaned to portCHAR. 3178 + The integer and flop tasks now include calls to tskYIELD(), allowing 3179 them to be used with the cooperative scheduler. 3180 + All the demo applications now use the integer and comtest tasks when the 3181 cooperative scheduler is being used. Previously they were only used with 3182 the preemptive scheduler. 3183 + Minor changes made to operation of minimal versions of comtest.c and 3184 integer.c. 3185 + The ATMega port definition of portCPU_CLOSK_HZ definition changed to 3186 8MHz base 10, previously it base 16. 3187 3188 3189 3190Changes between V1.2.2a and V1.2.3 3191 3192 The only change of any significance is to the license, which has changed 3193 from the Open Software License to the GNU GPL. 3194 3195 The zip file also contains a pre-release version of the PIC18 port. This 3196 has not yet completed testing and as such does not constitute part of the 3197 V1.2.3 release. It is still however covered by the GNU GPL. 3198 3199 There are minor source code changes to accommodate the PIC C compiler. 3200 These mainly involve more explicit casting. 3201 3202 + sTaskCreate() has been modified slightly to make use of the 3203 portSTACK_GROWTH macro. This is required for the PIC port where the 3204 stack grows in the opposite direction to the other existing ports. 3205 + prvCheckTasksWaitingTermination() has been modified slightly to bring 3206 the decrementing of usCurrentNumberOfTasks within the critical section, 3207 where it should have been since the creation of an eight bit port. 3208 3209Changes between V1.2.2 and V1.2.2a 3210 3211 The makefile and buildcoff.bat files included with the AVR demo application 3212 have been modified for use with the September 2003 build of WinAVR. No 3213 source files have changed. 3214 3215Changes between V1.2.1 and V1.2.2 3216 3217 There are only minor changes here to allow the PC and Flashlite 186 ports 3218 to use the Borland V4.52 compiler, as supplied with the Flashlite 186 3219 development kit. 3220 3221 + Introduced a BCC directory under source\portable. This contains all the 3222 files specific to the Borland compiler port. 3223 + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS. 3224 + Modified comtest.c to increase the rate at which the string is 3225 transmitted and received on the serial port. The Flashlite 186 demo 3226 app baud rate has also been increased. 3227 + The values of the constants used in both integer.c files have been 3228 increased to force the Borland compiler to use 32 bit values. The 3229 Borland optimiser placed the previous values in 16 bit registers, and in 3230 So doing invalidated the test. 3231 3232Changes between V1.2.0 and V1.2.1 3233 3234 This version includes some minor changes to the list implementation aimed 3235 at improving the context switch time - with is now approximately 10% faster. 3236 Changes include the removal of some null pointer assignment checks. These 3237 were redundant where the scheduler uses the list functions, but means any 3238 user application choosing to use the same list functions must now check 3239 that no NULL pointers are passed as a parameter. 3240 3241 The Flashlite 186 serial port driver has also been modified to use a DMA 3242 channel for transmissions. The serial driver is fully functional but still 3243 under development. Flashlite users may prefer to use V1.2.0 for now. 3244 3245 Details: 3246 3247 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600. 3248 + Use vSerialPutString() instead of single character puts in 3249 Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial 3250 driver. Also the check variable only stops incrementing after two 3251 consecutive failures. 3252 + semtest.c creates four tasks, two of which operate at the idle priority. 3253 The tasks that operate at the idle priority now use a lower expected 3254 count than those running at a higher priority. This prevents the low 3255 priority tasks from signalling an error because they have not been 3256 scheduled enough time for each of them to count the shared variable to 3257 the higher original value. 3258 + The flashlite 186 serial driver now uses a DMA channel for transmissions. 3259 + Removed the volatile modifier from the list function parameters. This was 3260 only ever included to prevent compiler warnings. Now warnings are 3261 removed by casting parameters where the calls are made. 3262 + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been 3263 removed from list.c and added as macros in list.h. 3264 + usNumberOfItems has been added to the list structure. This removes the 3265 need for a pointer comparison when checking if a list is empty, and so 3266 is slightly faster. 3267 + Removed the NULL check in vListRemove(). This makes the call faster but 3268 necessitates any application code utilising the list implementation to 3269 ensure NULL pointers are not passed. 3270 + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds 3271 per tick). This is what it always should have been. 3272 3273Changes between V1.01 and V1.2.0 3274 3275 The majority of these changes were made to accommodate the 8bit AVR port. 3276 The scheduler workings have not changed, but some of the data types used 3277 have been made more friendly to an eight bit environment. 3278 3279 Details: 3280 3281 + Changed the version numbering format. 3282 + Added AVR port. 3283 + Split the directory demo\common into demo\common\minimal and 3284 demo\common\full. The files in the full directory are for systems with 3285 a display (currently PC and Flashlite 186 demo's). The files in the 3286 minimal directory are for systems with limited RAM and no display 3287 (currently MegaAVR). 3288 + Minor changes to demo application function prototypes to make more use 3289 of 8bit data types. 3290 + Within the scheduler itself the following functions have slightly 3291 modified declarations to make use of 8bit data types where possible: 3292 xQueueCreate(), 3293 sQueueReceive(), 3294 sQUeueReceive(), 3295 usQueueMessageWaiting(), 3296 sQueueSendFromISR(), 3297 sSemaphoreTake(), 3298 sSemaphoreGive(), 3299 sSemaphoreGiveFromISR(), 3300 sTaskCreate(), 3301 sTaskMoveFromEventList(). 3302 3303 Where the return type has changed the function name has also changed in 3304 accordance with the naming convention. For example 3305 usQueueMessageWaiting() has become ucQueueMessageWaiting(). 3306 + The definition tskMAX_PRIORITIES has been moved from task.h to 3307 portmacro.h and renamed portMAX_PRIORITIES. This allows different 3308 ports to allocate a different maximum number of priorities. 3309 + By default the trace facility is off, previously USE_TRACE_FACILITY 3310 was defined. 3311 + comtest.c now uses a psuedo random delay between sends. This allows for 3312 better testing as the interrupts do not arrive at regular intervals. 3313 + Minor change to the Flashlite serial port driver. The driver is written 3314 to demonstrate the scheduler and is not written to be efficient. 3315 3316 3317 3318Changes between V1.00 and V1.01 3319 3320 These changes improve the ports. The scheduler itself has not changed. 3321 3322 Improved context switch mechanism used when performing a context 3323 switch from an ISR (both the tick ISR and the serial comms ISR's within 3324 the demo application). The new mechanism is faster and uses less stack. 3325 3326 The assembler file portasm.asm has been replaced by a header file 3327 portasm.h. This includes a few assembler macro definitions. 3328 3329 All saving and restoring of registers onto/off of the stack is now handled 3330 by the compiler. This means the initial stack setup for a task has to 3331 mimic the stack used by the compiler, which is different for debug and 3332 release builds. 3333 3334 Slightly changed the operation of the demo application, details below. 3335 3336 Details: 3337 3338 + portSWITCH_CONTEXT() replaced by vPortFirstContext(). 3339 + pxPortInitialiseStack() modified to replicate the stack used by the 3340 compiler. 3341 + portasm.asm file removed. 3342 + portasm.h introduced. This contains macro definitions for 3343 portSWITCH_CONTEXT() and portFIRST_CONTEXT(). 3344 + Context switch from ISR now uses the compiler generated interrupt 3345 mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving 3346 the save/restore to compiler generated code. 3347 + Calls to taskYIELD() during ISR's have been replaced by calling the 3348 simpler and faster portSWITCH_CONTEXT(). 3349 + The Flashlite 186 port now uses 186 instruction set (used to use 80x86 3350 instructions only). 3351 + The blocking queue tasks within the demo application did not operate 3352 quite as described. This has been corrected. 3353 + The priority of the comtest Rx task within the demo application has been 3354 lowered. Received characters are now processed (read from the queue) at 3355 the idle priority, allowing low priority tasks to run evenly at times of 3356 a high communications overhead. 3357 + Prevent the call to kbhit() in main.c for debug builds as the debugger 3358 seems to have problems stepping over the call. This if for the PC port 3359 only. 3360
