1Documentation and download available at https://www.FreeRTOS.org/ 2 3Changes between FreeRTOS V11.1.0 and FreeRTOS V11.2.0 released March 04, 2025 4 5 + Add CC-RH port for Renesas F1Kx devices. We thank @TrongNguyenR for their 6 contribution. 7 + Add Pointer Authentication (PAC) and Branch Target Identification (BTI) 8 support to the ARMv8-M ports. We thank @AhmedIsmail02 for their 9 contribution. 10 + Add Floating Point Unit (FPU) support to the ARM_AARCH64 port. We thank 11 @StefanBalt for their contribution. 12 + Add FPU Safe Application IRQ Handler suport to the ARM_AARCH64_SRE port. 13 We thank @GhMarwen for their contribution. 14 + Add Privileged eXecute Never MPU attribute support to the ARMv8-M ports. 15 We thank @AhmedIsmail02 for their contribution. 16 + Update XMOS xcore.ai port to be compatible with FreeRTOS Kernel version 17 11. We thank @ACascarino for their contribution. 18 + ARM_CRx_No_GIC port updates: 19 - Remove inline assembly and move assembly code to separate portASM.S 20 file. 21 - Add support for Floating Point Unit (FPU). 22 - Add support to allow the application writer to handle SVC calls raised 23 from the application code. 24 - Add support for vApplicationFPUSafeIRQHandler. 25 + POSIX port updates: 26 - Set PTHREAD_MUTEX_ROBUST attribute on the mutex to prevent application 27 hangs when a thread dies while holding a mutex. 28 - Avoid calling pthread_sigmask on non-FreeROS threads when 29 vPortEndScheduler is called from a non-FreeRTOS thread. We thank 30 @johnboiles for their contribution. 31 - Remove unnecessary call to pthread_attr_setstacksize. We thank 32 @hollinsky for their contribution. 33 - Add an assert to catch if vPortYield is called from a non-FreeRTOS 34 thread. We thank @johnboiles for their contribution. 35 - Fix Posix port compilation on FreeBSD. We thank @tymmej for their 36 contribution. 37 + Update the Xtensa port and move it to the Partner-Supported-Ports 38 repository. We thank @ianstcdns for their contribution. 39 + Add vPortGenerateSimulatedInterruptFromWindowsThread API in the MSVC-MingW 40 port to enable native windows thread to synchronize with FreeRTOS task 41 through simulated interrupt. 42 + Update Windows port to use Waitable Timer instead of Sleep to improve tick 43 accuracy. We thank @bknicholls and @leegeth for their contribution. 44 + Update the value of queueQUEUE_TYPE_SET to a unique value (5) to allow 45 tracers to differentiate between queues and queue sets. We thank @schilkp 46 for their contribution. 47 + Add traceSTARTING_SCHEDULER tracing hook to enable tracers to run code on 48 startup. We thank @schilkp for their contribution. 49 + Define vApplicationGetTimerTaskMemory only when configUSE_TIMERS is set to 50 1. We thank @HazardyKnusperkeks for their contribution. 51 + Reset xNextTaskUnblockTime in task notify FromISR APIs to allow the core 52 to enter sleep mode at the earliest possible time when using tickless 53 idle. 54 + Optimize xTaskIncrementTick for SMP by removing xYieldRequiredForCore. We 55 thank @cymizer for their contribution. 56 + Update the SMP scheduler to re-select a core to yield when the core 57 affinity of a ready task is changed. 58 + Update xEventGroupSetBits to read the event bits value to be returned to 59 the caller while the scheduler is suspended. This fixes dereference after 60 the event group is deleted by higher priority task. We thank @skotopes for 61 their contribution. 62 + Optimize certain getter APIs by removing unnecessary calls to 63 task{ENTER|EXIT}_CRITICAL() when the data access is atomic. We thank 64 @GuilhermeGiacomoSimoes for their contribution. 65 + Optimize xTaskNotifyWait and ulTaskNotifyTake APIs to suspend the 66 scheduler only if the task is not already notified, and the caller is 67 willing to wait for the notification. We thank @jefftenney for 68 their contribution. 69 + Fix error checking of prvCreateIdleTasks. We thank @kakkoko for their 70 contribution. 71 + Update SMP lock macros and critical nesting macros to pass core ID as an 72 argument. This reduces the number of accesses to a peripheral register to 73 query core ID. We thank @felixvanoost for their contribution. 74 + Add stack pointer bounds check when configCHECK_FOR_STACK_OVERFLOW is set 75 to 2 to improve reliability of stack overflow detection. We thank 76 @jiladahe1997 for their contribution. 77 + Update run-time stats to include time elapsed since the last context 78 switch for the currently running task. 79 + Add xQueueCreateSetStatic API for static creation of Queue Sets. We thank 80 @kzorer for their contribution. 81 + Update the traceMALLOC() macro to pass the actual size of the allocated 82 block for secure_heap, heap_2, heap_4 and heap_5. We thank @DazzlingOkami 83 for their contribution. 84 + Update heap_1 to use heapADD_WILL_OVERFLOW macro to improve readability. 85 We thank @wdfk-prog for their contribution. 86 + Add pointer protection to the pxNextFreeBlock member of the allocated 87 block's metadata in heap_4 and heap_5 when configENABLE_HEAP_PROTECTOR is 88 set to 1. We thank @Saiiijchan for their contribution. 89 + Allow the application writer to override pointer validation for heap_5 90 when configENABLE_HEAP_PROTECTOR is used. We thank @Saiiijchan for their 91 contribution. 92 + Add xPortResetHeapMinimumEverFreeHeapSize to heap_4.c and heap_5.c. 93 We thank @TomasGalbickaNXP for their contribution. 94 + Add NULL check in the event_create function in the POSIX port. We thank 95 @laroche for their contribution. 96 + Use _GNU_SOURCE macro instead of __USE_GNU in the Posix port. We thank 97 @maxiaogood for their contribution. 98 + Use the new __ARM_FP macro instead of the deprectred __VFP_FP__ macro in 99 GCC/ARM_CM7, GCC/ARM_CM4_MPU, and GCC/ARM_CM4F ports. We thank @haydenridd 100 for their contribution. 101 + Add portMEMORY_BARRIER definition to the Xtensa port. We thank @superroc 102 for their contribution. 103 + Move the hardware include msp430.h to port.c from portmacro.h. We thank 104 @mayl for their contribution. 105 + Update ARM assembly syntax for Cortex-M ports. We thank @laroche for their 106 contribution. 107 + Update the Windows port to records a pending yield in 108 vPortCloseRunningThread to ensure that the next tick interrupt schedules 109 the next task regardless of the value of configUSE_PREEMPTION. 110 + Fix the context switch issue in the RL78 port. We thank @KeitaKashima for 111 their contribution. 112 + Fix compilation issue in ARM CM0 port when using Keil MDK. We thank 113 @TomasGalbickaNXP for their contribution. 114 + Fix IA32 port compilation when configUSE_COMMON_INTERRUPT_ENTRY_POINT is 115 set to 0. We thank @Ryzee119 for their contribution. 116 + Store configMTIMECMP_BASE_ADDRESS in a 64-bit integer for the RISC-V port. 117 We thank @vishwamartur for their contribution. 118 + Fix nested interrupt handling and optimize FPU related context switching 119 for the F1Kx port. We thank @TrongNguyenR for their contribution. 120 + Update the RP2040 port to add support for Raspberry Pi Pico SDK 2.0.0. 121 We thank @kilograham for their contribution. 122 + Fix the return value of portYIELD_FROM_ISR macro for the MSVC-MingW port. 123 We thank @wwhheerree for their contribution. 124 + Optimize vApplicationFPUSafeIRQHandler for the Coretex-A9 port by 125 removing the unnecessarily preserved callee saved registers. We thank 126 @Saiiijchan for their contribution. 127 + Fix the context array size for MPU ports to ensure the saved context 128 location falls within the reserved context area rather than overlapping 129 with the next MPU_SETTINGS structure member. 130 + Update CMake files for RP2040 port to fetch the port from the 131 Community-Supported-Ports repo. We thank @kilograham for their 132 contribution. 133 + Fix CMake file for the GCC ARM_CM0 port to include MPU files. We thank 134 @0mhu for their contribution. 135 + Add an example of human readable table generated by vTaskListTasks() in 136 the function documentation. We thank @wwhheerree for their contribution. 137 138Changes between FreeRTOS V11.0.1 and FreeRTOS V11.1.0 released April 22, 2024 139 140 + Add ARMv7-R port with Memory Protection Unit (MPU) support. 141 + Add Memory Protection Unit (MPU) support to the Cortex-M0 port. 142 + Add stream batching buffer. A stream batching buffer differs from a stream 143 buffer when a task reads from a non-empty buffer: 144 - The task reading from a non-empty stream buffer returns immediately 145 regardless of the amount of data in the buffer. 146 - The task reading from a non-empty steam batching buffer blocks until the 147 amount of data in the buffer exceeds the trigger level or the block time 148 expires. 149 We thank @cperkulator for their contribution. 150 + Add the ability to change task notification index for stream buffers. We 151 thank @glemco for their contribution. 152 + Add xStreamBufferResetFromISR and xMessageBufferResetFromISR APIs to reset 153 stream buffer and message buffer from an Interrupt Service Routine (ISR). 154 We thank @HagaiMoshe for their contribution. 155 + Update all the FreeRTOS APIs to use configSTACK_DEPTH_TYPE for stack type. 156 We thank @feilipu for their contribution. 157 + Update vTaskEndScheduler to delete the timer and idle tasks, 158 once the scheduler is stopped. 159 + Make xTaskGetCurrentTaskHandleForCore() available to the single core 160 scheduler. We thank @Dazza0 for their contribution. 161 + Update uxTaskGetSystemState to not use the pxIndex member of the List_t 162 structure while iterating ready tasks list. The reason is that pxIndex 163 member must only used to select next ready task to run. We thank 164 @gemarcano for their inputs. 165 + Add a config option to the FreeRTOS SMP Kernel to set the default core 166 affinity mask for tasks created without an affinity mask. We thank @go2sh 167 for their contribution. 168 + Add configUSE_EVENT_GROUPS and configUSE_STREAM_BUFFERS configuration 169 constants to control the inclusion of event group and stream buffer 170 functionalities. 171 + Code changes to comply with MISRA C 2012. 172 + Add 64-bit support to the FreeRTOS Windows Simulator port. We thank @watsk 173 and @josesimoes for their contributions. 174 + Add support for 64-bit Microblaze processor to the MicroblazeV9 port. We 175 thank @mubinsyed for their contribution. 176 + Add support for MSP430 Embedded Application Binary Interface (EABI) to 177 the MSP430F449 port to make it work with both MSP430 GCC and MSPGCC 178 compilers. We thank @Forty-Bot for their contribution. 179 + Update xPortIsAuthorizedToAccessBuffer() on FreeRTOS ports with MPU 180 support to grant an unprivileged task access to all the memory before the 181 scheduler is started. 182 + Update the POSIX port to pass the FreeRTOS task name to pthread for 183 readable output in debuggers. We thank @Mixaill for their contribution. 184 + Update the POSIX port to ignore the user specified stack memory and only 185 pass the stack size to the pthread API to avoid errors caused when stack size 186 is smaller than the minimum. We thank @cmorgnaBE for their 187 contribution. 188 + Update the POSIX port to use a timer thread for tick interrupts instead of 189 POSIX timers to address issues with signal handling in non-FreeRTOS 190 pthreads. We thank @cmorgnaBE for their contribution. 191 + Update ARM_TFM port to support TF-Mv2.0.0 release of trusted-firmware-m. 192 We thanks @urutva for their contribution. 193 + Remove redundant constant pools in ARMv8 ports. We thank @urutva for their 194 contribution. 195 + Add APIs to reset the internal state of kernel modules. These APIs are 196 primarily intended to be used in the testing frameworks that restart the 197 scheduler. 198 + Use kernel provided implementations of vApplicationGetIdleTaskMemory() and 199 vApplicationGetTimerTaskMemory() in the RP2040 port. We thank @dpslwk for 200 their contribution. 201 + Fix atomic enter/exit critical section macro definitions in atomic.h for 202 ports that support nested interrupts. We thank @sebunger for their 203 contribution. 204 + Fix compiler warnings in the MSP430F449 port when compiled with the 205 MSP430 GCC compiler. We thank @Forty-Bot for their contribution. 206 + Update the scheduler suspension usage in ulTaskGenericNotifyTake and 207 xTaskGenericNotifyWait() to enhance code readability. We thank @Dazza0 for 208 their contribution. 209 + Add support for latest version of MPU wrappers( mpu_wrappers_v2) in CMake. 210 We thank @IsaacDynamo for their contribution. 211 + Update CMake support to create only one static library containing both the 212 kernel common code and the kernel port code. We thank @barnatahmed for 213 their contribution. 214 215Changes between FreeRTOS V11.0.0 and FreeRTOS V11.0.1 released December 21, 2023 216 217 + Updated the SBOM file. 218 219Changes between FreeRTOS V10.6.2 and FreeRTOS V11.0.0 released December 18, 2023 220 221 + SMP merged into the mainline: While FreeRTOS introduced Asymmetric 222 Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the 223 first to merge Symmetric Multiprocessing (SMP) support into the mainline 224 release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks 225 across multiple identical processor cores. We thank Mike Bruno and Jerry 226 McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of 227 Espressif Systems for their contributions. 228 + Switch MISRA compliance checking from PC Lint to Coverity, and update from 229 MISRA C:2004 to MISRA C:2012. 230 + Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of 231 each configuration item. Application writers can use this template as a 232 starting point to create the FreeRTOSConfig.h file for their application. 233 + Add a template FreeRTOS port which can be used as a starting point for 234 developing a new FreeRTOS port. 235 + Add bounds checking and obfuscation to internal heap block pointers in 236 heap_4.c and heap_5.c to help catch pointer corruptions. The application can 237 enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their 238 FreeRTOSConfig.h. We thank @oliverlavery for their contribution. 239 + Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf 240 with snprintf. 241 + Add trace macros to ports that enable tracing the interaction of ISRs with 242 scheduler events. We thank @conara for their contribution. 243 + Add trace macros that enable tracing of entering and exiting all APIs. We 244 thank @Techcore123 for their contribution. 245 + Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the 246 base priority of a task. The base priority of a task is the priority that 247 was last assigned to the task - which due to priority inheritance, may not 248 be the current priority of the task. 249 + Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in 250 milliseconds. We thank @Dazza0 for their contribution. 251 + Add default implementations of vApplicationGetIdleTaskMemory and 252 vApplicationGetTimerTaskMemory. The application can enable these default 253 implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their 254 FreeRTOSConfig.h. We thank @mdnr-g for their contribution. 255 + Update vTaskGetInfo to include start and end of the stack whenever both 256 values are available. We thank @vinceburns for their contribution. 257 + Prevent tasks waiting for a notification from being resumed by calls to 258 vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their 259 contribution. 260 + Add asserts to validate that the application has correctly installed 261 FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices. 262 We thank @jefftenney for their contribution. 263 + Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and 264 Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64 265 architecture. We thank @urutva for their contribution. 266 + Add CMake support to allow the application writer to select the RISC-V 267 chip extension. We thank @JoeBenczarski for their contribution. 268 + Add CMake support to allow the application writer to build an application 269 with static allocation only. We thank @conara for their contribution. 270 + Make taskYIELD available to unprivileged tasks for ARMv8-M ports. 271 + Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their 272 contribution. 273 + Update the SysTick setup code for ARMv8-M ports to first configure the clock 274 source and then enable SysTick. This is needed to address a bug in QEMU 275 versions older than 7.0.0, which causes an emulation error if SysTick is 276 enabled without first selecting a valid clock source. We thank @jefftenney 277 for their contribution. 278 + Add the port-optimized task selection algorithm optionally available for 279 ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their 280 contribution. 281 + Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing 282 unnecessary steps while splitting a large memory block into two. We thank 283 @Moral-Hao for their contribution. 284 + Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and 285 heap_5.c by moving the size calculation out of the critical section. We thank 286 @Moral-Hao for their contribution. 287 + Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic 288 operation of traversing a linked link from a critical section. We thank 289 @karver8 for their contribution. 290 + Fix stack end and stack size computation in POSIX port to meet the stack 291 alignment requirements on MacOS. We thank @tegimeki for their contribution. 292 + Update the vTaskPrioritySet implementation to use the new priority when the 293 task has inherited priority from a mutex it is holding, and the new priority 294 is bigger than the inherited priority. We thank @Moral-Hao for their 295 contribution. 296 + Add stack alignment adjustment if stack grows upwards. We thank @ivq for 297 their contribution. 298 + Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is 299 selected as the C library implementation to ensure that 300 pxPortInitialiseStack does not overwrite the data in the TLS block portion 301 of the stack. We thank @bebebib-rs for their contribution. 302 + Fix vPortEndScheduler() for the MSVC port so that the function 303 prvProcessSimulatedInterrupts is not stuck in an infinite loop when the 304 scheduler is stopped. We thank @Ju1He1 for their contribution. 305 + Add the Pull Request (PR) Process explaining the stages a PR goes through. 306 307Changes between FreeRTOS V10.6.1 and FreeRTOS V10.6.2 released November 29, 2023 308 309 + Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c) 310 introduced in version 10.6.0: 311 - Introduce Access Control List (ACL) feature to allow the application 312 writer to control an unprivileged task’s access to kernel objects. 313 - Update the system call entry mechanism to only require one Supervisor 314 Call (SVC) instruction. 315 - Wrap parameters for system calls with more than four parameters in a 316 struct to avoid special handling during system call entry. 317 - Fix 2 possible integer overflows. 318 - Convert some asserts to run time parameter checks. 319 320Changes between FreeRTOS V10.6.0 and FreeRTOS V10.6.1 released August 17, 2023 321 322 + Add runtime parameter checks to functions in mpu_wrappers_v2.c file. 323 The same checks are already performed in API implementations using 324 asserts. 325 We thank the following people for their inputs in these changes: 326 - Lan Luo, Zixia Liu of School of Computer Science and Technology, 327 Anhui University of Technology, China. 328 - Xinwen Fu of Department of Computer Science, University of 329 Massachusetts Lowell, USA. 330 - Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of 331 Computer Science and Engineering, Southeast University, China. 332 333Changes between FreeRTOS V10.5.1 and FreeRTOS 10.6.0 released July 13, 2023 334 335 + Add a new MPU wrapper that places additional restrictions on unprivileged 336 tasks. The following is the list of changes introduced with the new MPU 337 wrapper: 338 339 1. Opaque and indirectly verifiable integers for kernel object handles: 340 All the kernel object handles (for example, queue handles) are now 341 opaque integers. Previously object handles were raw pointers. 342 2. Save the task context in Task Control Block (TCB): When a task is 343 swapped out by the scheduler, the task's context is now saved in its 344 TCB. Previously the task's context was saved on its stack. 345 3. Execute system calls on a separate privileged only stack: FreeRTOS 346 system calls, which execute with elevated privilege, now use a 347 separate privileged only stack. Previously system calls used the 348 calling task's stack. The application writer can control the size of 349 the system call stack using new configSYSTEM_CALL_STACK_SIZE config 350 macro. 351 4. Memory bounds checks: FreeRTOS system calls which accept a pointer 352 and de-reference it, now verify that the calling task has required 353 permissions to access the memory location referenced by the pointer. 354 5. System calls restrictions: The following system calls are no longer 355 available to unprivileged tasks: 356 - vQueueDelete 357 - xQueueCreateMutex 358 - xQueueCreateMutexStatic 359 - xQueueCreateCountingSemaphore 360 - xQueueCreateCountingSemaphoreStatic 361 - xQueueGenericCreate 362 - xQueueGenericCreateStatic 363 - xQueueCreateSet 364 - xQueueRemoveFromSet 365 - xQueueGenericReset 366 - xTaskCreate 367 - xTaskCreateStatic 368 - vTaskDelete 369 - vTaskPrioritySet 370 - vTaskSuspendAll 371 - xTaskResumeAll 372 - xTaskGetHandle 373 - xTaskCallApplicationTaskHook 374 - vTaskList 375 - vTaskGetRunTimeStats 376 - xTaskCatchUpTicks 377 - xEventGroupCreate 378 - xEventGroupCreateStatic 379 - vEventGroupDelete 380 - xStreamBufferGenericCreate 381 - xStreamBufferGenericCreateStatic 382 - vStreamBufferDelete 383 - xStreamBufferReset 384 Also, an unprivileged task can no longer use vTaskSuspend to suspend 385 any task other than itself. 386 387 We thank the following people for their inputs in these enhancements: 388 - David Reiss of Meta Platforms, Inc. 389 - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling 390 of School of Computer Science and Engineering, Southeast University, 391 China. 392 - Xinwen Fu of Department of Computer Science, University of 393 Massachusetts Lowell, USA. 394 - Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of 395 Colorado Boulder, USA. 396 + Add Cortex-M35P port. Contributed by @urutva. 397 + Add embedded extension (RV32E) support to the IAR RISC-V port. 398 + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by 399 @chrisnc. 400 + Add APIs to get the application supplied buffers from statically 401 created kernel objects. The following new APIs are added: 402 - xTaskGetStaticBuffers 403 - xQueueGetStaticBuffers 404 - xQueueGenericGetStaticBuffers 405 - xSemaphoreGetStaticBuffer 406 - xEventGroupGetStaticBuffer 407 - xStreamBufferGetStaticBuffers 408 - xMessageBufferGetStaticBuffers 409 These APIs enable the application writer to obtain static buffers from 410 the kernel object and free/reuse them at the time of deletion. Earlier 411 the application writer had to maintain the association of static buffers 412 and the kernel object in the application. Contributed by @Dazza0. 413 + Add Thread Local Storage (TLS) support using picolibc function. Contributed 414 by @keith-packard. 415 + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result, 416 the number of bits in an event group also increases with big data type. Contributed 417 by @Hadatko. 418 + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready 419 tasks. Contributed by @Dazza0. 420 + Update heap_4 and heap_5 to add padding only if the resulting block is not 421 already aligned. 422 + Fix the scheduler logic in a couple of places to not preempt a task when an 423 equal priority task becomes ready. 424 + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden. 425 + Fix clang compiler warnings. Contributed by @phelter. 426 + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from 427 interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY. 428 Contributed by @urutva. 429 + Add xPortIsInsideInterrupt API to ARM_CM0 ports. 430 + Fix build warning in MSP430X port when large data model is used. 431 + Add the ability to use Cortex-R5 port on the parts without FPU. 432 + Fix build warning in heap implementations on PIC24/dsPIC. 433 + Update interrupt priority asserts for Cortex-M ports so that these do not fire 434 on QEMU which does not implement PRIO bits. 435 + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority. 436 configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings 437 these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc. 438 + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed 439 by @jacky309. 440 + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain. 441 + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu. 442 + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate. 443 444Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022 445 + Updated the kernel version in manifest and SBOM 446 447Changes between FreeRTOS V10.4.6 and FreeRTOS V10.5.0 released September 16 2022 448 449 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that 450 already independently gained the ability to execute injected code to 451 read from or write to arbitrary addresses by passing a negative argument 452 as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or 453 vTaskSetThreadLocalStoragePointer respectively. A check has been added to 454 ensure that passing a negative argument as the xIndex parameter does not 455 cause arbitrary read or write. 456 We thank Certibit Consulting, LLC for reporting this issue. 457 + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task 458 to invoke any function with privilege by passing it as a parameter to 459 MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate, 460 MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate 461 and MPU_xTaskCreateStatic have been updated to only allow creation of 462 unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and 463 MPU_xTimerPendFunctionCall APIs have been removed. 464 We thank Huazhong University of Science and Technology for reporting 465 this issue. 466 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that 467 already independently gained the ability to execute injected code to 468 achieve further privilege escalation by branching directly inside a 469 FreeRTOS MPU API wrapper function with a manually crafted stack frame. 470 The local stack variable `xRunningPrivileged` has been removed so that 471 a manually crafted stack frame cannot be used for privilege escalation 472 by branching directly inside a FreeRTOS MPU API wrapper. 473 We thank Certibit Consulting, LLC, Huazhong University of Science and 474 Technology and the SecLab team at Northeastern University for reporting 475 this issue. 476 + ARMv7-M MPU ports: It was possible to configure overlapping memory 477 protection unit (MPU) regions such that an unprivileged task could access 478 privileged data. The kernel now uses highest numbered MPU regions for 479 kernel protections to prevent such MPU configurations. 480 We thank the SecLab team at Northeastern University for reporting this 481 issue. 482 + Add support for ARM Cortex-M55. 483 + Add support for ARM Cortex-M85. Contributed by @gbrtth. 484 + Add vectored mode interrupt support to the RISC-V port. 485 + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port. 486 Contributed by @Limoto. 487 + Heap improvements: 488 - Add a check to heap_2 to track if a memory block is allocated to 489 the application or not. The MSB of the size field is used for this 490 purpose. The same check already exists in heap_4 and heap_5. This 491 check prevents double free errors. 492 - Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4 493 and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using 494 vPortFree() is automatically cleared to zero. 495 - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same 496 signature as the standard library calloc function. 497 - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by 498 @Octaviarius. 499 + Add the ability to override send and receive completed callbacks for each 500 instance of a stream buffer or message buffer. Earlier there could be 501 one send and one receive callback for all instances of stream and message 502 buffers. Having separate callbacks per instance allows different message 503 and stream buffers to be used differently - for example, some for inter core 504 communication and others for same core communication. 505 The feature can be controlled by setting the configuration option 506 configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1, 507 APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback() 508 (and likewise APIs for message buffer) can be used to create a stream buffer 509 or message buffer instance with application provided callback overrides. When 510 the option is set to 0, then the default callbacks as defined by 511 sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain 512 backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The 513 functionality is currently not supported for MPU enabled ports. 514 + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it 515 is not tied to newlib and can be used with other c-runtime libraries also. 516 The default behavior for newlib support is kept same for backward 517 compatibility. 518 + Add support to build and link FreeRTOS using CMake build system. Contributed 519 by @yhsb2k. 520 + Add support to generate Software Bill of Materials (SBOM) for every release. 521 + Add support for 16 MPU regions to the GCC Cortex-M33 ports. 522 + Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports. 523 The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND 524 when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core. 525 + Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support 526 the case when the SysTick timer is not clocked from the same source as the CPU. 527 + Add hardware stack protection support to MicroBlazeV9 port. This ensures that 528 the CPU immediately raises Stack Protection Violation exception as soon as any 529 task violates its stack limits. Contributed by @uecasm. 530 + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this 531 option is set to 1, ListItem_t and MiniLitItem_t remain separate types. 532 However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t 533 are both typedefs of the same struct xLIST_ITEM. This addresses some issues 534 observed when strict-aliasing and link time optimization are enabled. 535 To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1. 536 + Simplify prvInitialiseNewTask to memset newly allocated TCB structures 537 to zero, and remove code that set individual structure members to zero. 538 + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds 539 without any warning with -Wmissing-prototypes compiler option. 540 + Add top of stack and end of stack to the task info report obtained using 541 vTaskGetInfo(). Contributed by @shreyasbharath. 542 + Add a cap to the cRxLock and cTxLock members of the queue data structure. 543 These locks count the number items received and sent to the queue while 544 the queue was locked. These are later used to unblock tasks waiting on 545 the queue when the queue is unlocked. This PR caps the values of the 546 cRxLock and cTxLock to the number of tasks in the system because we cannot 547 unblock more tasks than there are in the system. Note that the same assert 548 could still be triggered is the application creates more than 127 tasks. 549 + Changed uxAutoReload parameter in timer functions to xAutoReload. The 550 type is now BaseType_t. This matches the type of pdTRUE and pdFALSE. 551 The new function xTimerGetAutoReload() provides the auto-reload state as 552 a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the 553 original UBaseType_t return value. 554 + Fix support for user implementations of tickless idle that call 555 vTaskStepTick() with xExpectedIdleTime ticks to step. The new code 556 ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick() 557 instead of inside vTaskStepTick(). This fixes the typical case where a task 558 wakes up one tick late and a rare case assertion failure when xTickCount\ 559 rolls over. Contributed by @jefftenney. 560 + Fix deadlock in event groups when pvPortMalloc and vPortFree functions 561 are protected with a mutex. Contributed by @clemenskresser. 562 + Fix a warning in tasks.c when compiled with -Wduplicated-branches 563 GCC option. Contributed by @pierrenoel-bouteville-act. 564 + Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION 565 is set to zero. Contributed by @rdpoor. 566 + Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly 567 copies length on big endian platforms too. 568 + Remove the need for INCLUDE_vTaskSuspend to be set to 1 569 when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv. 570 + Update the RL78 IAR port to the latest version of IAR which uses the 571 industry standard ELF format as opposed to earlier UBROF object format. 572 Contributed by @felipe-iar. 573 + Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This 574 allows the PIC24 family of 16 bit processors to read the tick count without 575 a critical section when the tick count is also 16 bits. 576 + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when 577 Link Time Optimization is enabled. Contributed by @niniemann. 578 + Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform. 579 Contributed by @cmdrf. 580 + Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is 581 8-byte aligned. This fixes the unaligned access exception. Contributed 582 by @Atomar25. 583 + Fix Interrupt Handler Register Function and Exception Process in NiosII 584 Port. Contributed by @ghost. 585 + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore 586 interrupt acknowledge register. This ensures that the SRE port behavior 587 matches the Memory Mapped IO port. Contributed by @sviaunxp. 588 + Update the uncrustify config file to match the version of the uncrustify 589 used in the CI Action. Also, pin the version of uncrustify in CI. Contributed 590 by @swaldhoer. 591 592Changes between FreeRTOS V10.4.5 and FreeRTOS V10.4.6 released November 12 2021 593 594 + ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the 595 internal functions xPortRaisePrivilege and vPortResetPrivilege by changing 596 them to macros. 597 + Introduce a new config configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which 598 enables developers to prevent critical sections from unprivileged tasks. 599 It defaults to 1 for backward compatibility. Application should set it to 600 0 to disable critical sections from unprivileged tasks. 601 602Changes between FreeRTOS V10.4.4 and FreeRTOS V10.4.5 released September 10 2021 603 604 See https://www.FreeRTOS.org/FreeRTOS-V10.4.5.html 605 606 + Introduce configRUN_TIME_COUNTER_TYPE which enables developers to define 607 the type used to hold run time statistic counters. Defaults to uint32_t 608 for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type 609 (for example, uint64_t) in FreeRTOSConfig.h to override the default. 610 + Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing 611 ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns 612 the raw run time counter value, the new function returns the percentage of 613 the entire run time consumed by the idle task. Note the amount of idle 614 time is only a good measure of the slack time in a system if there are no 615 other tasks executing at the idle priority, tickless idle is not used, and 616 configIDLE_SHOULD_YIELD is set to 0. 617 + ARMv8-M secure-side port: Tasks that call secure functions from the 618 non-secure side of an ARMv8-M MCU (ARM Cortex-M23 and Cortex-M33) have two 619 contexts - one on the non-secure side and one on the secure-side. Previous 620 versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures 621 that reference secure-side contexts at run time. Now the structures are 622 allocated statically at compile time. The change necessitates the 623 introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant, 624 which sets the number of statically allocated secure contexts. 625 secureconfigMAX_SECURE_CONTEXTS defaults to 8 if left undefined. 626 Applications that only use FreeRTOS code on the non-secure side, such as 627 those running third-party code on the secure side, are not affected by 628 this change. 629 630Changes between FreeRTOS V10.4.3 and FreeRTOS V10.4.4 released May 28 2021 631 + Minor performance improvements to xTaskIncrementTick() achieved by providing 632 macro versions of uxListRemove() and vListInsertEnd(). 633 + Minor refactor of timers.c that obsoletes the need for the 634 tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to 635 post to its own event queue. A consequence of this change is that auto- 636 reload timers that miss their intended next execution time will execute 637 again immediately rather than executing again the next time the command 638 queue is processed. (thanks Jeff Tenney). 639 + Fix a race condition in the message buffer implementation. The 640 underlying cause was that length and data bytes are written and read as 641 two distinct operations, which both modify the size of the buffer. If a 642 context switch occurs after adding or removing the length bytes, but 643 before adding or removing the data bytes, then another task may observe 644 the message buffer in an invalid state. 645 + The xTaskCreate() and xTaskCreateStatic() functions accept a task priority 646 as an input parameter. The priority has always been silently capped to 647 (configMAX_PRIORITIES - 1) should it be set to a value above that priority. 648 Now values above that priority will also trigger a configASSERT() failure. 649 + Replace configASSERT( pcQueueName ) in vQueueAddToRegistry with a NULL 650 pointer check. 651 + Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration 652 constant that enables the stack allocated to tasks to come from a heap other 653 than the heap used by other memory allocations. This enables stacks to be 654 placed within special regions, such as fast tightly coupled memory. 655 + If there is an attempt to add the same queue or semaphore handle to the 656 queue registry more than once then prior versions would create two separate 657 entries. Now if this is done the first entry is overwritten rather than 658 duplicated. 659 + Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from 660 their respective repositories. 661 + Correct a build error in the POSIX port. 662 + Additional minor formatting updates, including replacing tabs with spaces 663 in more files. 664 + Other minor updates include adding additional configASSERT() checks and 665 correcting and improving code comments. 666 + Go look at the smp branch to see the progress towards the Symmetric 667 Multiprocessing Kernel. https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp 668 669Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020 670 671 V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html 672 673 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 674 675 + Changes to improve robustness and consistency for buffer allocation in 676 the heap, queue and stream buffer. 677 + The following functions can no longer be called from unprivileged code. 678 - xTaskCreateRestricted 679 - xTaskCreateRestrictedStatic 680 - vTaskAllocateMPURegions 681 682 683Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020 684 685 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 686 687 + Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked 688 between the first task starting to execute and that task making 689 a FreeRTOS API call. 690 + Introduced xTaskDelayUntil(), which is functionally equivalent to 691 vTaskDelayUntil(), with the addition of returning a value to 692 indicating whether or not the function placed the calling task into 693 the Blocked state or not. 694 + Update WolfSSL to 4.5.0 and add the FIPS ready demo. 695 + Add support for ESP IDF 4.2 to ThirdParty Xtensa port. 696 + Re-introduce uxTopUsedPriority to support OpenOCD debugging. 697 + Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules. 698 + Various general maintenance and improvements to MISRA compliance. 699 700 701Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020 702 703 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 704 705 + Fixed an incorrectly named parameter that prevented the 706 ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the 707 test code that prevented this error causing test failures. 708 709 710Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020 711 712 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html 713 714 Major enhancements: 715 716 + Task notifications: Prior to FreeRTOS V10.4.0 each created task had a 717 single direct to task notification. From FreeRTOS V10.4.0 each task has 718 an array of notifications. The direct to task notification API has been 719 extended with API functions postfixed with "Indexed" to enable the API to 720 operate on a task notification at any array index. See 721 https://www.freertos.org/RTOS-task-notifications.html for more information. 722 + Kernel ports that support memory protection units (MPUs): The ARMv7-M and 723 ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M 724 MPU ports now support devices that have 16 MPU regions, have the ability 725 to override default memory attributes for privileged code and data 726 regions, and have the ability to place the FreeRTOS kernel code outside of 727 the Flash memory. The ARMv8-M MPU ports now support tickless idle mode. 728 See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html 729 for more information. 730 731 Additional noteworthy updates: 732 733 + Code formatting is now automated to facilitate the increase in 734 collaborative development in Git. The auto-formated code is not identical 735 to the original formatting conventions. Most notably spaces are now used 736 in place of tabs. 737 + The prototypes for callback functions (those that start with "Application", 738 such as vApplicationStackOverflowHook()) are now in the FreeRTOS header 739 files, removing the need for application writers to add prototypes into 740 the C files in which they define the functions. 741 + New Renesas RXv3 port layer. 742 + Updates to the Synopsys ARC code, including support for EM and HS cores, 743 and updated BSP. 744 + Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in 745 the same way the Windows port layer enables FreeRTOS to run on Windows 746 hosts. 747 + Many other minor optimisations and enhancements. For full details 748 see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/main 749 750 751Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020 752 753 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html 754 755 + ./FreeRTOS-Labs directory was removed from this file. The libraries it 756 contained are now available as a separate download. 757 758Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020 759 760 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html 761 762 New and updated kernel ports: 763 764 + Added RISC-V port for the IAR compiler. 765 + Update the Windows simulator port to use a synchronous object to prevent 766 a user reported error whereby a task continues to run for a short time 767 after being moved to the Blocked state. Note we were not able to 768 replicate the reported issue and it likely depends on your CPU model. 769 + Correct alignment of stack top in RISC-V port when 770 configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes 771 the interrupt stack to be statically allocated. 772 + The RISC-V machine timer compare register can now be for any HART, whereas 773 previously it was always assumed FreeRTOS was running on HART 0. 774 + Update the sequence used to update the 64-bit machine timer 775 compare register on 32-bit cores to match that suggested in RISC-V 776 documentation. 777 + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler 778 ports. 779 + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to 780 match that of the ARMv8-M ports whereby privilege escalations can only 781 originate from within the kernel's own memory segment. Added 782 configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant. 783 + Update existing MPU ports to correctly disable the MPU before it is 784 updated. 785 + Added contributed port and demo application for a T-Head (formally C-SKY) 786 microcontroller. 787 788 New API functions: 789 790 + Added the vPortGetHeapStats() API function which returns information on 791 the heap_4 and heap_5 state. 792 + Added xTaskCatchUpTicks(), which corrects the tick count value after the 793 application code has held interrupts disabled for an extended period. 794 + Added xTaskNotifyValueClear() API function. 795 + Added uxTimerGetReloadMode() API function. 796 797 Other miscellaneous changes: 798 + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it 799 has the same type as variables with which it is compared to, and therefore 800 also renamed the variable xPendingTicks. 801 + Update Keil projects that use the MPU so memory regions come from linker 802 script (scatter file) variables instead of being hard coded. 803 + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR 804 compilers. 805 + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo. 806 + Added LPC54018 MPU demo. 807 + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter(). 808 809 810Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019: 811 812 + Added ARM Cortex-M23 port layer to complement the pre-existing ARM 813 Cortex-M33 port layer. 814 + The RISC-V port now automatically switches between 32-bit and 64-bit 815 cores. 816 + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering 817 when GCC link time optimisation is used. 818 + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and 819 prevent the secure side builds from removing symbols required by the 820 non secure side build. 821 + Introduced the portARCH_NAME to provide additional data to select semi- 822 automated build environments. 823 + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before 824 updating the MPU registers. 825 826 + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo. 827 + Added LPC55S69 ARM Cortex-M33 demo. 828 + Added an STM32 dual core AMP stress test demo. 829 830 831Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019: 832 833 + Added GCC RISC-V MCU port with three separate demo applications. 834 + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports 835 with Keil simulator demo. 836 + Update the method used to detect if a timer is active. Previously the 837 timer was deemed to be inactive if it was not referenced from a list. 838 However, when a timer is updated it is temporarily removed from, then 839 re-added to a list, so now the timer's active status is stored separately. 840 + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and 841 xTaskGetApplicationTaskTagFromISR() API functions. 842 + Updated third party Xtensa port so it is MIT licensed. 843 + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas 844 compiler RX600v2 port to enable switching between platform.h and 845 iodefine.h includes within that port's port.c file. 846 + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged 847 anyway. 848 + Added uxTaskGetStackHighWaterMark2() function to enable the return type to 849 be changed without breaking backward compatibility. 850 uxTaskGetStackHighWaterMark() returns a UBaseType_t as always, 851 uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the 852 user to determine the return type. 853 + Fixed issues in memory protected ports related to different combinations 854 of static memory only and dynamic memory only builds. As a result the 855 definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more 856 complex and was moved to FreeRTOS.h with a table explaining its definition. 857 + Added a 'get task tag from ISR' function. 858 + Change the method used to determine if a timer is active or not from just 859 seeing if it is referenced from the active timer list to storing its 860 active state explicitly. The change prevents the timer reporting that it 861 is inactive while it is being moved from one list to another. 862 + The pcName parameter passed into the task create functions can be NULL, 863 previously a name had to be provided. 864 + When using tickless idle, prvResetNextTaskUnblockTime() is now only called 865 in xTaskRemoveFromEventList() if the scheduler is not suspended. 866 + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for 867 FreeRTOS ports that run on architectures that have stack limit registers. 868 869 870Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018 871 872 + Reverted a few structure name changes that broke several kernel aware 873 debugger plug-ins. 874 + Updated to the latest trace recorder code. 875 + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code. 876 + Reverted moving some variables from file to function scope as doing so 877 broke debug scenarios that require the static qualifier to be removed. 878 879Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018 880 881 FreeRTOS Kernel Changes: 882 883 + Update lint checked MISRA compliance to use the latest MISRA standard, was 884 previously using the original MISRA standard. 885 + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be 886 unique types instead of void pointers, improving type safety. (this was 887 attempted some years back but had to be backed out due to bugs in some 888 debuggers). Note this required the pvContainer member of a ListItem_t 889 struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if 890 this causes an issue. 891 + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno 892 functionality in a more user friendly way - previously the generic thread 893 local storage feature was used for this purpose. 894 + Added Xtensa port and demo application for the XCC compiler. 895 + Changed the implementation of vPortEndScheduler() for the Win32 port to 896 simply call exit( 0 ). 897 + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect 898 the read modify write access to an internal Microblaze register. 899 + Fix minor niggles when the MPU is used with regards to prototype 900 differences, static struct size differences, etc. 901 + The usStackHighWaterMark member of the TaskStatus_t structure now has type 902 configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been 903 made when the configSTACK_DEPTH_TYPE type (which gets around the previous 904 16-bit limit on stack size specifications) was introduced. 905 + Added the xMessageBufferNextLengthBytes() API function and likewise stream 906 buffer equivalent. 907 + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes 908 used to hold the length of a message in the message buffer to be reduced. 909 configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example, 910 messages can never be more than 255 bytes it could be set to uint8_t, 911 saving 3 bytes each time a message is written into the message buffer 912 (assuming sizeof( size_t ) is 4). 913 + Updated the StaticTimer_t structure to ensure it matches the size of the 914 Timer_t structure when the size of TaskFunction_t does not equal the size 915 of void *. 916 + Update various Xilinx demos to use 2018.1 version of the SDK tools. 917 + Various updates to demo tasks to maintain test coverage. 918 + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by 919 FreeRTOS+TCP, which was brought into the main download in FreeRTOS 920 V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and 921 FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP. 922 923 FreeRTOS+TCP Changes: 924 925 + Multiple security improvements and fixes in packet parsing routines, DNS 926 caching, and TCP sequence number and ID generation. 927 + Disable NBNS and LLMNR by default. 928 + Add TCP hang protection by default. 929 930 We thank Ori Karliner of Zimperium zLabs Team for reporting these issues. 931 932 933Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017 934 935 + Fix position of "#if defined( __cplusplus )" in stream_buffer.h. 936 + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in 937 mpu_prototypes.h. 938 + Correct formatting in vTaskList() helper function when it prints the state 939 of the currently executing task. 940 + Introduce #error if stream_buffer.c is built without 941 configUSE_TASK_NOTIFICATIONS set to 1. 942 + Update FreeRTOS+TCP to V2.0.0 943 - Improve the formatting of text that displays the available netword 944 interfaces when FreeRTOS+TCP is used on Windows with WinPCap. 945 - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user 946 definable callback to execute when data arrives on a socket. 947 948Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0: 949 950 The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license 951 952 New Features and components: 953 954 + Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html 955 + Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html 956 + Move FreeRTOS+TCP into the main repository, along with the basic Win32 957 TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator. 958 959 New ports or demos: 960 961 + Added demo for TI SimpleLink CC3220 MCU. 962 + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx 963 MCUs. 964 + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation 965 in the MPU port. 966 967 Fixes or enhancements: 968 969 + Cortex-M ports push additional register prior to calling 970 vTaskSwitchContext to ensure 8-byte alignment is maintained. Only 971 important if a user defined tick hook function performs an operation that 972 requires 8-byte alignment. 973 + Optimisations to the implementation of the standard tickless idle mode on 974 Cortex-M devices. 975 + Improvements to the Win32 port including using higher priority threads. 976 + Ensure interrupt stack alignment on PIC32 ports. 977 + Updated GCC TriCore port to build with later compiler versions. 978 + Update mpu_wrappers.c to support static allocation. 979 + The uxNumberOfItems member of List_t is now volatile - solving an issue 980 when the IAR compiler was used with maximum optimization. 981 + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start 982 address is saved into each task's TCB (assuming stack grows down). 983 + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined 984 functionality, and user defined initialisation, to be added to FreeRTOS's 985 tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is 986 set to 1 a user provided header file called freertos_task_c_additions.h 987 will be included at the bottom of tasks.c. Functions defined in that 988 header file can call freertos_tasks_c_additions_init(), which in turn 989 calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined. 990 FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h. 991 + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be 992 defined by a user in FreeRTOSConfig.h. The macro is called before 993 assessing whether to enter tickless idle mode or not. If the macro sets 994 x to zero then tickless idle mode will not be entered. This allows users 995 to abort tickless idle mode entry before the tickless idle function is 996 even called - previously it was only possible to abort from within the 997 tickless idle function itself. 998 + Added configPRINTF(), which can be defined by users to allow all libraries 999 to use the same print formatter. 1000 + Introduced configMAX() and configMIN() macros which default to standard 1001 max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the 1002 application writer defines the same macros in FreeRTOSConfig.h. 1003 + Corrected the definition of StaticTask_t in the case where 1004 INCLUDE_xTaskAbortDelay is set to 1. 1005 + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of 1006 which can be defined to strings in FreeRTOSConfig.h to change the default 1007 names of the timer service and idle tasks respectively. 1008 + Only fill the stack of a newly created task with a known value if stack 1009 checking, or high water mark checking/viewing, is in use - removing the 1010 dependency on memset() in other cases. 1011 + Introduced xTaskCreateRestrictedStatic() so static allocation can be used 1012 with the MPU. 1013 + Ensure suspended tasks cannot be unsuspended by a received task 1014 notification. 1015 + Fix race condition in vTaskSetTimeOutState(). 1016 + Updated trace recorder files to the latest version. 1017 1018Changes since FreeRTOS V9.0.0: 1019 1020 + Priority dis-inheritance behaviour has been enhanced in the case where a 1021 task that attempted to take a mutex that was held by a lower priority task 1022 timed out before it was able to obtain the mutex (causing the task that 1023 holds the mutex to have its priority raised, then lowered again, in 1024 accordance with the priority inheritance protocol). 1025 + Split the overloaded xQueueGenericReceive() function into three separate 1026 dedicated functions. 1027 + Allow the default human readable text names given to the Idle and Timer 1028 tasks to be overridden by defining the configIDLE_TASK_NAME and 1029 configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h. 1030 + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a 1031 value of than than 0 when the system boots. This can be useful for 1032 testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also 1033 be used to test frequent tick overflows. 1034 + Ensure the Cortex-M SysTick count is cleared to zero before starting the 1035 first task. 1036 + Add configASSERT() into ARM Cortex-M ports to check the number of priority 1037 bit settings. 1038 + Clear the 'control' register before starting ARM Cortex-M4F ports in case 1039 the FPU is used before the scheduler is started. This just saves a few 1040 bytes on the main stack as it prevents space being left for a later save 1041 of FPU registers. 1042 + Added xSemaphoreGetMutexHolderFromISR(). 1043 + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. 1044 + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used 1045 to specify the stack size when using xTaskCreate(). For historic reasons, 1046 when FreeRTOS was only used on small MCUs, the type was set to uint16_t, 1047 but that can be too restrictive when FreeRTOS is used on larger 1048 processors. configSTACK_DEPTH_TYPE defaults to uint16_t. 1049 xTaskCreateStatic(), being a newer function, used a uint32_t. 1050 + Increase the priority of the Windows threads used by the Win32 port. As 1051 all the threads run on the same core, and the threads run with very high 1052 priority, there is a risk that the host will become unresponsive, so also 1053 prevent the Windows port executing on single core hosts. 1054 1055Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: 1056 1057 See https://www.FreeRTOS.org/FreeRTOS-V9.html 1058 1059 RTOS kernel updates: 1060 1061 + The prototype of the new xTaskCreateStatic() API function was modified to 1062 remove a parameter and improve compatibility with other new 1063 "CreateStatic()" API functions. The stack size parameter in 1064 xTaskCreateStatic() is now uint32_t, which changes the prototype of the 1065 callback functions. See the following URL: 1066 https://www.FreeRTOS.org/xTaskCreateStatic.html 1067 + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT 1068 constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is 1069 automatically given a floating point (FPU) context. 1070 + GCC ARM Cortex-A port: It is now possible to automatically save and 1071 restore all floating point (FPU) registers on entry to each potentially 1072 nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of 1073 vApplicationIRQHandler(). 1074 + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task 1075 entry address placed onto the stack of a task when the task is created for 1076 strict compliance with the ARM Cortex-M3/4/7 architecture documentation 1077 (no noticeable effect unless using the QMEU emulator). 1078 + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only 1079 supported on ARM Cortex-M3. 1080 + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 1081 API (other than static object creation) and added the 1082 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to 1083 demonstrate how to use the updated MPU port. 1084 + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the 1085 default low power tickless implementation. 1086 + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the 1087 first task that executes. 1088 + Win32 ports: Reduce the amount of stack used and change the way Windows 1089 threads are deleted to increase the maximum execution time. 1090 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the 1091 documentation page for this port before use. 1092 + MPS430X IAR port: Update to be compatible with the latest EW430 tools 1093 release. 1094 + IAR32 GCC port: Correct vPortExitCritical() when 1095 configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. 1096 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), 1097 xTaskGetTaskHandle() now has the alias xTaskGetHandle() and 1098 pcQueueGetQueueName() now has an alias pcQueueGetName(). 1099 + Fix various errors in comments and compiler warnings. 1100 1101 Demo application updates: 1102 1103 + Update Atmel Studio projects to use Atmel Studio 7. 1104 + Update Xilinx SDK projects to use the 2016.1 version of the SDK. 1105 + Remove dependency on legacy IO libraries from the PIC32 demos. 1106 + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. 1107 + Update the MSP432 libraries to the latest version. 1108 + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC 1109 compilers. 1110 + Move the Atmel SAMA5D2 demo into the main distribution. 1111 1112Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) 1113released March 30 2016: 1114 1115 NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details 1116 1117 + The functions that create RTOS objects using static memory allocation have 1118 been simplified and will not revert to using dynamic allocation if a 1119 buffer is passed into a function as NULL. 1120 + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to 1121 allow a FreeRTOS application to be built without a heap even being being 1122 defined. The Win32 example located in the 1123 /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as 1124 a reference for projects that do not include a FreeRTOS heap. 1125 + Minor run-time optimisations. 1126 + Two new low power tickless implementations that target Silicon Labs EFM32 1127 microcontrollers. 1128 + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. 1129 1130Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) 1131released February 19 2016: 1132 1133 RTOS Kernel Updates: 1134 1135 + Major new feature - tasks, semaphores, queues, timers and event groups can 1136 now be created using statically allocated memory, so without any calls to 1137 pvPortMalloc(). 1138 + Major new features - Added the xTaskAbortDelay() API function which allows 1139 one task to force another task to immediately leave the Blocked state, 1140 even if the event the blocked task is waiting for has not occurred, or the 1141 blocked task's timeout has not expired. 1142 + Updates necessary to allow FreeRTOS to run on 64-bit architectures. 1143 + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS 1144 daemon task (which used to be called the timer service task) starts 1145 running. This is useful if the application includes initialisation code 1146 that would benefit from executing after the scheduler has been started. 1147 + Added the xTaskGetTaskHandle() API function, which obtains a task handle 1148 from the task's name. xTaskGetTaskHandle() uses multiple string compare 1149 operations, so it is recommended that it is called only once per task. 1150 The handle returned by xTaskGetTaskHandle() can then be stored locally for 1151 later re-use. 1152 + Added the pcQueueGetQueueName() API function, which obtains the name of 1153 a queue from the queue's handle. 1154 + Tickless idling (for low power applications) can now also be used when 1155 configUSE_PREEMPTION is 0. 1156 + If one task deletes another task, then the stack and TCB of the deleted 1157 task is now freed immediately. If a task deletes itself, then the stack 1158 and TCB of the deleted task are freed by the Idle task as before. 1159 + If a task notification is used to unblock a task from an ISR, but the 1160 xHigherPriorityTaskWoken parameter is not used, then pend a context switch 1161 that will then occur during the next tick interrupt. 1162 + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP 1163 settings, which previously was only used by heap_4.c. 1164 configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare 1165 the array that will be used as the FreeRTOS heap, and in-so-doing, place 1166 the heap at a specific memory location. 1167 + TaskStatus_t structures are used to obtain details of a task. 1168 TaskStatus_t now includes the bae address of the task's stack. 1169 + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t 1170 structure that contains information about a single task. Previously this 1171 information could only be obtained for all the tasks at once, as an array 1172 of TaskStatus_t structures. 1173 + Added the uxSemaphoreGetCount() API function. 1174 + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some 1175 Cortex-M3 port layers. 1176 1177 Demo Application Updates: 1178 1179 Further demo applications will be added prior to the final FreeRTOS V9 1180 release. 1181 1182 + Updated SAM4L Atmel Studio project to use Atmel Studio 7. 1183 + Added ARM Cortex-A53 64-bit port. 1184 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx 1185 Ultrascale MPSoC. 1186 + Added Cortex-M7 SAME70 GCC demo. 1187 + Added EFM32 Giant and Wonder Gecko demos. 1188 1189 1190Changes between V8.2.2 and V8.2.3 released October 16, 2015 1191 1192 RTOS kernel updates: 1193 1194 + Fix bug identified in a modification made in V8.2.2 to the software timer 1195 code that allows tickless low power applications to sleep indefinitely 1196 when software timers are used. 1197 + Simplify and improve efficiency of stack overflow checking. 1198 + Add xTaskNotifyStateClear() API function. 1199 + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM 1200 generic interrupt controller (GIC). 1201 + New PIC32MEC14xx port. 1202 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ 1203 port. 1204 + Zynq7000 port layer now declares the functions that setup and clear the 1205 tick interrupt as weak symbols so they can be overridden by the 1206 application, and uses a global XScuGic object so the same object can be 1207 used by the application code. 1208 + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is 1209 currently the only port that uses it. 1210 + Updates to RL78 and 78K0 IAR port layers to improve support for 1211 combinations of memory models. 1212 + Minor updates to heap_5.c to remove compiler warnings generated by some 1213 compilers. 1214 + License simplifications. See /FreeRTOS/License/license.txt in the 1215 official distribution. 1216 1217 FreeRTOS+ updates: 1218 1219 + Update directory names to use WolfSSL instead of CyaSSL, inline with 1220 WolfSSL's re-branding. 1221 + Update to latest WolfSSL code. 1222 + Update to latest FreeRTOS+Trace recorder code. 1223 + Add in the FreeRTOS+Trace recorder library required for streaming trace. 1224 1225 Demo application changes: 1226 1227 + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with 1228 floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. 1229 + General tidy up of spelling and compiler warnings. 1230 1231 1232Changes between V8.2.1 and V8.2.2 released August 12, 2015 1233 1234 RTOS kernel updates: 1235 1236 + Added Intel IA32/x86 32-bit port. 1237 + General maintenance. 1238 + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory 1239 protected systems, have been added to the newer event group and software 1240 timer functions. 1241 + Add the errno definitions used by FreeRTOS+ components into projdefs.h. 1242 + Remove the restriction that prevented tick-less idle implementations 1243 waiting indefinitely when software timers were used in the same 1244 application. 1245 + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of 1246 xTaskNotifyAndQuery(). 1247 + Add additional NOPs to the MSP430X port layers to ensure strict compliance 1248 with the hardware documentation. 1249 + Microblaze port: Added option for port optimised task selection. 1250 + Microblaze port: Previously tasks inherited the exception enable state 1251 at the time the task was created. Now all tasks are created with 1252 exceptions enabled if the Microblaze design supports exceptions. 1253 + Windows port: Add additional safe guards to ensure the correct start up 1254 sequence and thread switching timing. 1255 + Windows port: Improve the implementation of the port optimised task 1256 selection assembly code. 1257 + Update heap_4 and heap_5 to allow use on 64-bit processors. 1258 + Simplify the code that creates a queue. 1259 + General improved tick-less idle behaviour. 1260 + Ensure none of the variables in the common kernel files are initialised to 1261 anything other than zero. 1262 + Correct calculation of xHeapStructSize in heap_4 and heap_5. 1263 1264 Demo application updates: 1265 1266 + Added demo project for the new IA32/x86 port that targets the Galileo 1267 hardware. 1268 + Added MSP430FR5969 demos (previously provided as a separate download). 1269 + Added FreeRTOS BSP repository for automatic creation of FreeRTOS 1270 applications in the Xilinx SDK. 1271 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) 1272 + Update Xilinx SDK projects to use version 2015.2 of the SDK. 1273 + Remove Microblaze demos that were using obsolete tools. 1274 + Add MSP43FR5969 IAR and CCS demos. 1275 1276 FreeRTOS+ Updates: 1277 1278 + Updated FreeRTOS+Trace recorder library, which requires an update to the 1279 FreeRTOS+Trace application. 1280 + Added Reliance Edge source code and demo application. Reliance edge is 1281 a fail safe transactional file system ideal for applications that require 1282 file storage, and especially when high reliability is essential. 1283 + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI 1284 users to place the output buffer at a fixed memory address. 1285 + Improve the NetworkInterface.c file provided for the Windows port of 1286 FreeRTOS+UDP. 1287 1288Changes between V8.2.0 and V8.2.1 released 24th March 2015. 1289 1290 RTOS kernel updates: 1291 1292 + Added user definable and flexible thread local storage facility. 1293 + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() 1294 function to allow the timer's ID to be used as timer local storage. 1295 + Fixed a potential issue related to the use of queue sets from an ISR. 1296 + Some updates to the Xilinx Microblaze GCC port. 1297 + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. 1298 + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a 1299 minor errata work around. All other ARM Cortex-M7 core revisions should 1300 use the ARM Cortex-M4F port. 1301 + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. 1302 + Change some data types from uint32_t to size_t in preparation for 64-bit 1303 Windows port. 1304 + Update the PIC32 port to remove deprecation warnings output by the latest 1305 XC32 compilers. 1306 + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to 1307 overwrite items in two queues that are part of the same set. 1308 1309 Demo application updates: 1310 1311 + Added demo application for TI's ARM Cortex-M4F based MSP432 1312 microcontroller using IAR, Keil and CCS compilers. 1313 + Added demo application for STM32F ARM Cortex-M7 based microcontroller 1314 using IAR and Keil. 1315 + Added demo application for Atmel SAMV71 ARM Cortex-M7 based 1316 microcontroller using IAR and Keil. 1317 + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and 1318 runs on the KC705 evaluation board (Kintex FPGA). 1319 1320Changes between V8.1.2 and V8.2.0 released 16th January 2015 1321 1322 Changes between release candidate 1 and the official release are restricted 1323 to maintenance only. 1324 1325 Significant RTOS kernel updates: 1326 1327 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for 1328 details: https://www.FreeRTOS.org/RTOS-task-notifications.html 1329 + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into 1330 a new header file called FreeRTOS/Source/include/deprecated_definitions.h. 1331 This header file must be present to build. Note some of the obsolete 1332 definitions are still used by very old demo application projects. 1333 1334 Other RTOS kernel updates: 1335 1336 + Made xSemaphoreGiveFromISR() a function rather than a macro that calls 1337 xQueueGenericSendFromISR(). This allows for major performance 1338 enhancements at the expense of some additional code size if both functions 1339 are used in the same application. NOTE: In most uses cases such use of 1340 a semaphore can now be replaced with a task notification which is smaller 1341 and faster still. 1342 + The TCB is now always allocated such that the task's stack grows away from 1343 the TCB (improves debugging of stack overflows as the overflow will not 1344 overwrite the task's name). 1345 + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance 1346 enhancements at the cost of a little additional code space). 1347 + Queues are now allocated with a single call to pvPortMalloc() which 1348 allocates both the queue structure and the queue storage area. 1349 + Introduced a new critical section macro for reading the tick count that 1350 defines away to nothing in cases where the width of the tick allows the 1351 tick count to be read atomically (performance benefits - especially when 1352 optimisation is on). 1353 + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the 1354 application writer to provide their own heap array - and in so doing 1355 control the location of the heap. 1356 + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will 1357 include known values in both list and list item structures. The values 1358 are intended to assist debugging. If the values get overwritten then it 1359 is likely application code has written over RAM used by the kernel. 1360 + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of 1361 the interrupt control register to detect taskENTER_CRITICAL() being called 1362 from an interrupt. This has been changed to test all 8 bits. 1363 + Introduced uxTaskPriorityGetFromISR(). 1364 + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 1365 rather than equality to 1, and 2 and 3 are also valid values. 1366 + Cortex-A5 GIC-less port no longer passes the address of the interrupting 1367 peripheral into the interrupt handler. 1368 + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack 1369 belonging to a task when the task was deleted, even when the stack was 1370 allocated statically. 1371 + Utility (helper) functions that format task statistic information into 1372 human readable tables now pad task names with spaces to ensure columns 1373 line up correctly even where task name lengths vary greatly. 1374 + Update FreeRTOS+Trace recorder library to version 2.7.0. 1375 1376 Demo application updates: 1377 1378 + Added two new standard demo task sets: IntSemTest and TaskNotify. 1379 + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. 1380 + Added demo application for Altera Cyclone V Cortex-A9 MPU. 1381 + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in 1382 demo tasks for new RTOS features. 1383 + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test 1384 and demo tasks. 1385 + Fixed a corner case issue in Atmel SAM4L low power tickless 1386 implementation, and added button interrupt handling. 1387 + Make the interrupt queue tests more tolerant to heave CPU loads. 1388 + Updated MSVC FreeRTOS simulator demo to include the latest standard test 1389 and demo tasks. 1390 + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC 1391 simulator demo. 1392 + Updated all demos that use FreeRTOS+Trace to work with the latest trace 1393 recorder code. 1394 1395 1396Changes between V8.1.1 and V8.1.2 released September 2nd 2014 1397 1398 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the 1399 individual port layers where necessary so it does not affect ports that do 1400 not support the definition. 1401 1402Changes between V8.1.0 and V8.1.1 released August 29th 2014 1403 1404 By popular requests - a minor patch to V8.1.0 to re-instate the ability to 1405 give a mutex type semaphore (with priority inheritance) from an interrupt 1406 handler. 1407 1408Changes between V8.0.1 and V8.1.0 released August 26th 2014 1409 1410 FreeRTOS scheduler, kernel, demo and test updates: 1411 1412 + Improved the priority inheritance algorithms to assist integration with 1413 off the shelf middleware that may hold multiple mutexes simultaneously. 1414 + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to 1415 span multiple non-contiguous memory regions. 1416 + Updated all Cortex-A9 ports to help trap a couple of common usage errors - 1417 the first being when a task incorrectly attempts to exit its implementing 1418 function and the second being when a non interrupt safe API function is 1419 called from an interrupt. 1420 + Update all Cortex-A9 ports to remove obsolete mode switches prior to 1421 restoring a task context. 1422 + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. 1423 + Update all Cortex-M3/4F ports to trap a non interrupt safe API function 1424 being called from an interrupt handler. 1425 + Simplify the alignment checks in heap_4.c. 1426 + Update the MSVC Windows simulator demo to use heap_5.c in place of 1427 heap_4.c to ensure end users have an example to refer to. 1428 + Updated standard demo test code to test the new priority inheritance 1429 algorithms. 1430 + Updated the standard demo tasks to make use of stdint and the FreeRTOS 1431 specific typedefs that were introduced in FreeRTOS V8.0.0. 1432 + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive 1433 alternative to pdTICKS_PER_MS - both of which can be used to convert a 1434 time specified in milliseconds to a time specified in RTOS ticks. 1435 + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an 1436 incorrect value being written to the basepri register. This only effects 1437 users of the Tasking compiler. 1438 + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP 1439 example that demonstrates lwIP being used with both its raw and sockets 1440 interfaces. 1441 + Updated the CCS Cortex-R4 port to enable it to be built with the latest 1442 CCS compiler. 1443 1444 New ports and demo applications: 1445 1446 + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC 1447 compiler and one for the Renesas compiler. Both demos use e2 studio. 1448 + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. 1449 The new port is demonstrated on an Atmel SAMA5D3 XPlained board. 1450 1451 FreeRTOS+ component updates: 1452 1453 + Update CyaSSL to the latest version. 1454 + Updated the FreeRTOS+ components supplied directly by Real Time Engineers 1455 Ltd. to make use of stdint and the FreeRTOS specific typedefs that were 1456 introduced in FreeRTOS V8.0.0. 1457 + Rework and simplify the FreeRTOS+FAT SL RAM disk driver. 1458 1459 Miscellaneous updates and maintenance: 1460 1461 + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK 1462 hardware in place of the previously targeted Renesas internal (not 1463 publicly available) hardware. 1464 + Various other maintenance tasks. 1465 1466 1467Changes between V8.0.0 and V8.0.1 released 2nd May 2014 1468 1469 + Minor fixes to the event group functionality that was released in V8.0.0. 1470 The 'clear bits from ISR' functionality is now implemented using a 1471 deferred interrupt callback instead of a function, and the 'wait bits' and 1472 'task sync' functions now correctly clear internal control bits before 1473 returning a value in every possible path through the respective functions. 1474 + Ensure the updating of internal control data is protected by a critical 1475 section after a task is deleted or suspended. 1476 + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file 1477 when the offset was not a multiple of the sector size. 1478 + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, 1479 even when only the lest significant byte of the register is implemented. 1480 1481 Other updates: 1482 1483 + Updated the XMC4200 IAR project so it links with version 7.x of the IAR 1484 tools. 1485 + Add RL78L1C demo. 1486 + Add pcTimerGetName() API function. 1487 + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT 1488 is defined. 1489 1490Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 1491 1492 https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html 1493 1494 FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, 1495 although a change to the type used to reference character strings may result 1496 in application code generating a few (easily clearable) compiler warnings 1497 after the upgrade, and an updated typedef naming convention means use of the 1498 old typedef names is now discouraged. 1499 See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full 1500 information. 1501 1502 New features and functionality: 1503 1504 + Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html 1505 + Centralised deferred interrupt processing - see 1506 https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html 1507 1508 Other updates: 1509 1510 + Previously, when a task left the Blocked state, a context switch was 1511 performed if the priority of the unblocked task was greater than or equal 1512 to the priority of the Running task. Now a context switch is only 1513 performed if the priority of the unblocked task is greater than the 1514 priority of the Running task. 1515 + New low power tickless demonstration project that targets the ST STM32L 1516 microcontroller - see 1517 https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html 1518 + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. 1519 + Small change to the tickless low power implementation on the SAM4L to 1520 ensure the alarm value (compare match value) cannot be set to zero when a 1521 tickless period is exited due to an interrupt originating from a source 1522 other than the RTOS tick. 1523 + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse 1524 resource filters and match the functionality of the MSVC equivalent. 1525 + xTaskIsTaskSuspended() is no longer a public function. Use 1526 eTaskGetState() in its place. 1527 + Improved trace macros, including tracing of heap usage. 1528 + Remove one level of indirection when accepting interrupts on the PIC32MZ. 1529 + Add Cortex-A9 GCC port layer. 1530 + Add Xilinx Zynq demo application. 1531 1532 1533Changes between V7.5.3 and V7.6.0 released 18th November 2013 1534 1535 V7.6.0 changes some behaviour when the co-operative scheduler is used (when 1536 configUSE_PREEMPTION is set to 0). It is important to note that the 1537 behaviour of the pre-emptive scheduler is unchanged - the following 1538 description only applies when configUSE_PREEMPTION is set to 0: 1539 1540 WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of 1541 cases) a context switch will now only occur when a task places itself into 1542 the Blocked state, or explicitly calls taskYIELD(). This differs from 1543 previous versions, where a context switch would also occur when implicitly 1544 moving a higher priority task out of the Blocked state. For example, 1545 previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by 1546 writing to a queue, then the scheduler would switch to the higher priority 1547 task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by 1548 writing to a queue, task B will not start running until task A enters the 1549 Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not 1550 set to 0, so the normal pre-emptive scheduler is being used, then task B 1551 will start running immediately that it is moved out of the Blocked state]. 1552 1553 Other changes: 1554 1555 + Added a port layer and a demo project for the new PIC32MZ architecture. 1556 + Update the PIC32MX port layer to re-introduce some ehb instructions that 1557 were previously removed, add the ability to catch interrupt stack 1558 overflows (previously only task stack overflows were trapped), and also 1559 add the ability to catch an application task incorrectly attempting to 1560 return from its implementing function. 1561 + Make dramatic improvements to the performance of the Win32 simulator port 1562 layer. 1563 + Ensure tasks that are blocked indefinitely report their state as Blocked 1564 instead of Suspended. 1565 + Slight improvement to the Cortex-M4F port layers where previously one 1566 register was inadvertently being saved twice. 1567 + Introduce the xSemaphoreCreateBinary() API function to ensure consistency 1568 in the semantics of how each semaphore type is created. It is no longer 1569 recommended to use vSemaphoreCreateBinary() (the version prefixed with a 1570 'v'), although it will remain in the code for backward compatibility. 1571 + Update the Cortex-M0 port layers to allow the scheduler to be started 1572 without using the SVC handler. 1573 + Added a build configuration to the PIC32MX MPLAB X demo project that 1574 targets the PIC32 USB II starter kit. Previously all the build 1575 configurations required the Explorer 16 hardware. 1576 + Some of the standard demo tasks have been updated to ensure they execute 1577 correctly with the updated co-operative scheduling behaviour. 1578 + Added comprehensive demo for the Atmel SAM4E, including use of 1579 FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. 1580 1581 FreeRTOS+ Changes: 1582 1583 + Minor maintenance on FreeRTOS+UDP. 1584 1585Changes between V7.5.2 and V7.5.3 released October 14 2013 1586 1587 Kernel changes: 1588 1589 + Prior to V7.5.x yields requested from the tick hook would occur in the 1590 same tick interrupt - revert to that original behaviour. 1591 + New API function uxQueueSpacesAvailable(). 1592 + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 1593 and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that 1594 attempt to return from their implementing functions (tasks should call 1595 vTaskDelete( NULL ); if they want to exit). 1596 + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and 1597 portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. 1598 + Improved behaviour and robustness of the default Cortex-M tickless idle 1599 behaviour. 1600 + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to 1601 all Cortex-M4F ports. 1602 + Add Cortex-M0 port for Keil. 1603 + Updated Cortus port. 1604 + Ensure _impure_ptr is initialised before the scheduler is started. 1605 Previously it was not set until the first context switch. 1606 1607 FreeRTOS+ changes: 1608 1609 + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the 1610 FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction 1611 to the test that prevents the network event hook being called on the first 1612 network down event. The FreeRTOS+UDP change history is maintained 1613 separately. 1614 + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files 1615 provided in the NXP CMSIS library, then update the interrupts used by the 1616 LPC18xx demos accordingly. 1617 + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help 1618 strings to ensure the strings can be used with the JSON descriptions used 1619 in the FreeRTOS+Nabto demos. 1620 1621 Demo and miscellaneous changes: 1622 1623 + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes 1624 FreeRTOS+CLI 1625 + Added a demo for the Infineon Cortex-M0 that can be built with the IAR 1626 Keil and GCC tools. 1627 + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, 1628 with additional build configurations to directly support the XMC4200 and 1629 XMC4400 devices, in addition to the previously supported XMC4500. 1630 + Updated the demo application. 1631 + Added additional trace macros traceMALLOC and traceFREE to track heap 1632 usage. 1633 1634Changes between V7.5.0 and V7.5.2 released July 24 2013 1635 1636 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function 1637 compatible with the STM32 standard peripheral driver library, and adds 1638 an extra critical section to the default low power tickless mode 1639 implementation. Only users of the STM32 peripheral library or the default 1640 tickless implementation need update from version 7.5.0. 1641 1642Changes between V7.4.2 and V7.5.0 released July 19 2013 1643 1644 V7.5.0 is a major upgrade that includes multiple scheduling and efficiency 1645 improvements, and some new API functions. 1646 1647 Compatibility information for FreeRTOS users: 1648 FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one 1649 exception; the vTaskList() and vTaskGetRunTimeStats() functions are now 1650 considered legacy, having been replaced by the single uxTaskGetSystemState() 1651 function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in 1652 FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be 1653 available. 1654 1655 Compatibility information for FreeRTOS port writers: 1656 vTaskIncrementTick() is now called xTaskIncrementTick() (because it now 1657 returns a value). 1658 1659 Headline changes: 1660 1661 + Multiple scheduling and efficiency improvements. 1662 + Core kernel files now pass PC-Lint V8 static checking without outputting 1663 any warnings (information on the test conditions will follow). 1664 1665 New API functions: 1666 1667 + uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html 1668 + xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html 1669 + xQueueOverwriteFromISR() 1670 + xQueuePeekFromISR() 1671 1672 The following ports and demos, which were previously available separately, 1673 are now incorporated into the main FreeRTOS zip file download: 1674 1675 + ARM Cortex-A9 IAR 1676 + ARM Cortex-A9 ARM compiler 1677 + Renesas RZ 1678 + Microsemi SmartFusion2 1679 1680 New FreeRTOSConfig.h settings 1681 https://freertos.org/a00110.html 1682 1683 + configUSE_TIME_SLICING 1684 + configUSE_NEWLIB_REENTRANT 1685 + configUSE_STATS_FORMATTING_FUNCTIONS 1686 + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 1687 1688 Other changes: 1689 1690 + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 1691 options provides a mechanism that allows application writers to execute 1692 certain functions in privileged mode even when a task is running in user 1693 mode. 1694 + Ports that support interrupt nesting now include a configASSERT() that 1695 will trigger if an interrupt safe FreeRTOS function is called from an 1696 interrupt that has a priority designated as above the maximum system/API 1697 call interrupt priority. 1698 + The included FreeRTOS+Trace recorder code has been updated to the latest 1699 version, and the demo applications that use the trace recorder code have 1700 been updated accordingly. 1701 + The FreeRTOS Windows Simulator (MSVC version only) has been updated to 1702 include a new basic 'blinky' build option in addition to the original 1703 comprehensive build option. 1704 + Improve RAM usage efficiency of heap_4.c and heap_2.c. 1705 + Prevent heap_4.c from attempting to free memory blocks that were not 1706 allocated by heap_4.c, or have already been freed. 1707 + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs 1708 files have been removed from FreeRTOS/Demo/Common. 1709 + Fix build error when R4 port is build in co-operative mode. 1710 + Multiple port and demo application maintenance activities. 1711 1712Changes between V7.4.1 and V7.4.2 released May 1 2013 1713 1714 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 1715 1716 + Added FreeRTOS+FAT SL source code and demo project. The demo project 1717 runs in the FreeRTOS Windows simulator for easy and hardware independent 1718 experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl 1719 1720Changes between V7.4.0 and V7.4.1 released April 18 2013 1721 1722 + To ensure strict conformance with the spec and ensure compatibility with 1723 future chips data and instruction barrier instructions have been added to 1724 the yield macros of Cortex-M and Cortex-R port layers. For efficiency 1725 the Cortex-M port layer "yield" and "yield" from ISR are now implemented 1726 separately as the barrier instructions are not required in the ISR case. 1727 + Added FreeRTOS+UDP into main download. 1728 + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS 1729 directory with Source and Demo subdirectories. 1730 + Implemented the Berkeley sockets select() function in FreeRTOS+UDP. 1731 + Changed (unsigned) casting in calls to standard library functions with 1732 (size_t) casting. 1733 + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the 1734 tickless (tick suppression) low power FreeRTOS features. 1735 + Add a new RL78 IAR demo that targets numerous new RL78 chips and 1736 evaluation boards. 1737 + Adjusted stack alignment on RX200 ports to ensure an assert was not 1738 falsely triggered when configASSERT() is defined. 1739 + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest 1740 version of EWARM. 1741 + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). 1742 1743 1744Changes between V7.3.0 and V7.4.0 released February 20 2013 1745 1746 + New feature: Queue sets. See: 1747 https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html 1748 + Overhauled the default tickless idle mode implementation provided with the 1749 ARM Cortex-M3 port layers. 1750 + Enhanced tickless support in the core kernel code with the introduction of 1751 the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the 1752 eTaskConfirmSleepModeStatus() function. 1753 + Added the QueueSet.c common demo/test file. Several demo applications 1754 have been updated to use the new demo/test tasks. 1755 + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and 1756 demo applications. 1757 + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. 1758 + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a 1759 pre-processor macro for backward compatibility with the previous name. 1760 + Updated functions implemented in the core queue.c source file to allow 1761 queue.h to be included from the .c file directly (this prevents compiler 1762 warnings that were generated by some compilers). 1763 + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function 1764 with the CLZ compiler intrinsic that is provided by the latest versions of 1765 the CCS ARM compiler. 1766 + Updated all heap_x.c implementations to replace the structure that was 1767 used to ensure the start of the heap was aligned with a more portable 1768 direct C code implementation. 1769 + Added support for PIC24 devices that include EDS. 1770 + Minor optimisations to the PIC32 port layer. 1771 + Minor changes to tasks.c that allow the state viewer plug-ins to display 1772 additional information. 1773 + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an 1774 issue that could occur if the priority of the timer daemon task was set 1775 below the priority of tasks that used timer services. 1776 + Update the FreeRTOS+Trace recorder code to the latest version. 1777 1778Changes between V7.2.0 and V7.3.0 released October 31 2012 1779 1780 + Added ability to override the default scheduler task selection mechanism 1781 with implementations that make use of architecture specific instructions. 1782 + Added ability to suppress tick interrupts during idle time, and in so 1783 doing, provide the ability to make use of architecture specific low power 1784 functionality. 1785 + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper 1786 function. 1787 + Added the configSYSTICK_CLOCK_HZ configuration constant. 1788 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to 1789 directly support basic power saving functionality. 1790 + Added hooks to allow basic power saving to be augmented in the application 1791 by making use of chip specific functionality. 1792 + Minor change to allow mutex type semaphores to be used from interrupts 1793 (which would not be a normal usage model for a mutex). 1794 + Change the behaviour of the interrupt safe interrupt mask save and restore 1795 macros in the Cortex-M ports. The save macro now returns the previous 1796 mask value. The restore macro now uses the previous mask value. These 1797 changes are not necessary for the kernel's own implementation, and are 1798 made purely because the macros were being used by application writers. 1799 + Added eTaskStateGet() API function. 1800 + Added port specific optimisations to the PIC32 port layer, and updated the 1801 PIC32 demo applications to make use of this new feature. 1802 + Added port specific optimisations to the Win32 simulator port. 1803 + Added new ports and demo applications for the TI Hercules RM48 and TMS570 1804 safety microcontrollers. 1805 + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation 1806 boards. 1807 + Updated the PIC32 MPLAB X project to manually set the compiler include 1808 paths instead of using the IDE entry box following reports that the 1809 include paths were somehow being deleted. 1810 + Improved character handling in FreeRTOS+CLI. 1811 1812Changes between V7.1.1 and V7.2.0 released 14 August 2012 1813 1814 FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. 1815 1816 + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ 1817 source code, and example projects that use the FreeRTOS Win32 simulator. 1818 + Added a new example heap allocation implementation (heap_4.c) that 1819 includes memory block coalescence. 1820 + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. 1821 The demo is preconfigured to build using the free Atmel Studio 6 IDE and 1822 GCC compiler. 1823 + Added xSemaphoreTakeFromISR() implementation. 1824 + The last parameter in ISR safe FreeRTOS queue and semaphore functions 1825 (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it 1826 is not required. 1827 + Update the IAR and MSP430X ports to clear all lower power mode bits before 1828 exiting the tick interrupt [bug fix]. 1829 + Allow xQueueReset() to be used, even when the queues event lists are not 1830 empty. 1831 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was 1832 previously missing). 1833 + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to 1834 ensure it compiles with the latest ARM GCC compilers from Linaro. 1835 + Updated the prvReadGP() function in the NIOS II port to ensure the compiler 1836 can choose any register for the functions parameter (required at high 1837 compiler optimisation levels). 1838 + Add #error macros into the Keil and IAR Cortex-M ports to ensure they 1839 cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY 1840 to 0. 1841 + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and 1842 Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY 1843 parameter must not be set to 0. 1844 + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant 1845 (defaulted to 0). 1846 + Added two new list handling macros - for internal use only in upcoming new 1847 products. 1848 + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace 1849 macros. FreeRTOS+Trace supersedes the legacy trace. 1850 + Added a configASSERT() into the vPortFree() function in heap_1.c as it is 1851 invalid for the function to be called. 1852 + Made the xRxLock and xTxLock members of the queue structure volatile. 1853 This is probably not necessary, and is included as a precautionary 1854 measure. 1855 + Modify the assert() that checks to see if the priority passed into an 1856 xTaskCreate() function is within valid bounds to permit the assert to be 1857 used in the FreeRTOS MPU port. 1858 + The software timer service (daemon) task is now created in a way that 1859 to ensure compatibility with FreeRTOS MPU. 1860 1861Changes between V7.1.0 and V7.1.1 released May 1 2012 1862 1863 New ports: 1864 1865 The following ports are brand new: 1866 + Cortex-M3 Tasking 1867 1868 The following ports have been available as separate downloads for a number 1869 of months, but are now included in the main FreeRTOS download. 1870 + Cortex-M0 IAR 1871 + Cortex-M0 GCC 1872 + Cortex-M4F GCC (with full floating point support) 1873 1874 1875 New demos: 1876 1877 The following demos are brand new: 1878 + Renesas RX63N RDK (Renesas compiler) 1879 1880 The following demos have been available as separate downloads for a number 1881 of months, but are now included in the main FreeRTOS download. 1882 + NXP LPC1114 GCC/LPCXpresso 1883 + ST STM32F0518 IAR 1884 + Infineon XMC4500 GCC/Atollic 1885 + Infineon XMC4500 IAR 1886 + Infineon XMC4500 Keil 1887 + Infineon XMC4500 Tasking 1888 1889 1890 Kernel miscellaneous / maintenance: 1891 1892 + Introduced the portSETUP_TCB() macro to remove the requirement for the 1893 Windows simulator to use the traceTASK_CREATE() macro, leaving the trace 1894 macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace). 1895 + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future 1896 FreeRTOS+Trace versions to provide even more information to users. 1897 + Updated the FreeRTOS MPU port to be correct for changes that were 1898 introduced in FreeRTOS V7.1.0. 1899 + Introduced the xQueueReset() API function. 1900 + Introduced the xSemaphoreGetMutexHolder() API function. 1901 + Tidy up various port implementations to add the static key word where 1902 appropriate, and remove obsolete code. 1903 + Slight change to the initial stack frame given to the RX600 ports to allow 1904 them to be used in the Eclipse based E2Studio IDE without confusing GDB. 1905 + Correct the alignment given to the initial stack of Cortex-M4F tasks. 1906 + Added a NOP following each DINT instruction on MSP430 devices for strict 1907 conformance with the instructions on using DINT. 1908 + Changed the implementation of thread deletes in the Win32 port to prevent 1909 the port making use of the traceTASK_DELETE() trace macros - leaving this 1910 macro free for use by FreeRTOS+Trace. 1911 + Made some benign changes to the RX600 Renesas compiler port layer to 1912 ensure the code can be built to a library without essential code being 1913 removed by the linker. 1914 + Reverted the change in the name of the uxTaskNumber variable made in 1915 V7.1.0 as it broke the IAR plug-in. 1916 1917 1918 Demo miscellaneous / maintenance: 1919 1920 + The command interpreter has now been formally released as FreeRTOS+CLI, 1921 and been moved out of the main FreeRTOS download, to instead be available 1922 from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus. 1923 + flash_timer.c/h has been added to the list of standard demo tasks. This 1924 performs the same functionality as the flash.c tasks, but using software 1925 timers in place of tasks. 1926 + Upgraded the PIC32 demo as follows: Changes to how the library functions 1927 are called necessitated by the new compiler version, addition of MPLAB X 1928 project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, 1929 addition of simply blinky demo, updated FreeRTOSConfig.h to include more 1930 parameters, addition of hook function stubs. 1931 + The MSP430X IAR and CCS demos have been updated to ensure the power 1932 settings are correct for the configured CPU frequency. 1933 + Rowley CrossWorks projects have been updated to correct the "multiple 1934 definition of ..." warnings introduced when the toolchain was updated. 1935 + Updated various FreeRTOSConfig.h header files associated with projects 1936 that build with Eclipse to include a #error statement informing the user 1937 that the CreateProjectDirectoryStructure.bat batch file needs to be 1938 executed before the projects can be opened. 1939 + Renamed directories that included "CCS4" in their name to remove the '4' 1940 and instead just be "CCS". This is because the demo was updated and 1941 tested to also work with later Code Composer Studio versions. 1942 + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be 1943 50ms instead of 500ms. 1944 1945Changes between V7.0.2 and V7.1.0 released December 13 2011 1946 1947 New ports: 1948 1949 + Cortex-M4F IAR port. 1950 + Cortex-M4F Keil/RVDS port. 1951 + TriCore GCC port. 1952 1953 New demos: 1954 1955 + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development 1956 board. 1957 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on 1958 the IAR STM32F407ZG-SK starter kit. 1959 + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the 1960 TriBoard TC1782 evaluation board. 1961 + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an 1962 RX630 RSK (Renesas Starter Kit). 1963 1964 Miscellaneous / maintenance: 1965 1966 + Removed all calls to printf() from the K60/IAR Kinetis demo so the project 1967 can execute stand alone - without being connected to the debugger. 1968 + Completed the command interpreter framework. Command handlers now receive 1969 the entire command string, giving them direct access to parameters. 1970 Utility functions are provided to check the number of parameters, and 1971 return parameter sub-strings. 1972 + The previously documented fix for the bug in xTaskResumeFromISR() that 1973 effected (only) ports supporting interrupt nesting has now been 1974 incorporated into the main release. 1975 + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow 1976 specific ports to skip the second stack alignment check when a task is 1977 created. This is because the second check is not appropriate for some 1978 ports - including the new TriCore port where the checked pointer does not 1979 actually point to a stack. 1980 + The portCLEAN_UP_TCB() macro has been added to allow port specific clean 1981 up when a task is deleted - again this is required by the TriCore port. 1982 + Various other minor changes to ensure warning free builds on a growing 1983 number of microcontroller and toolchain platforms. This includes a 1984 (benign) correction to the prototype of the 1985 vApplicationStackOverflowHook() definition found in lots of recent demos. 1986 1987 Trace system: 1988 1989 + The legacy trace mechanism has been completely removed - it has been 1990 obsolete for the years since the trace macros were introduced. The 1991 configuration constant configUSE_TRACE_FACILITY is now used to optionally 1992 include additional queue and task information. The additional information 1993 is intended to make the trace mechanism more generic, and allow the trace 1994 output to provide more information. When configUSE_TRACE_FACILITY is set 1995 to 1: 1996 - the queue structure includes an additional member to hold the queue 1997 type, which can be base, mutex, counting semaphore, binary semaphore 1998 or recursive mutex. 1999 - the queue structure includes an additional member to hold a queue 2000 number. A trace tool can set and query the queue number for its own 2001 purposes. The kernel does not use the queue number itself. 2002 - the TCB structure includes an additional member to hold a task number 2003 number. A trace tool can set and query the task number for its own 2004 purposes. The kernel does not use the task number itself. 2005 + Queues and all types of semaphores are now automatically allocated their 2006 type as they are created. 2007 + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and 2008 traskTASK_PRIORITY_DISINHERIT(). 2009 + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that 2010 indicates the type of queue, mutex, or semaphore that failed to be 2011 created. 2012 + The position from which traceCREATE_MUTEX() is called has been moved from 2013 after the call to xQueueGenericSend() [within the same function] to before 2014 the call. This ensures the trace events occur in the correct order. 2015 + The value passed into tracePRIORITY_SET() has been corrected for the case 2016 where vTaskPrioritySet() is called with a null parameter. 2017 2018Changes between V7.0.1 and V7.0.2 released September 20 2011 2019 2020 New ports: 2021 2022 + The official FreeRTOS Renesas RX200 port and demo application have been 2023 incorporated into the main FreeRTOS zip file download. 2024 + The official FreeRTOS Renesas RL78 port and demo application have been 2025 incorporated into the main FreeRTOS zip file download. 2026 + The official FreeRTOS Freescale Kinetis K60 tower demo application has 2027 been incorporated into the main FreeRTOS zip file download. This includes 2028 an embedded web server example. 2029 + A new Microblaze V8 port layer has been created to replace the older, now 2030 deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, 2031 including exceptions, caches, and the floating point unit. A new 2032 Microblaze demo has also been added to demonstrate the new Microblaze V8 2033 port layer. The demo application was created using V13.1 of the Xilinx 2034 EDK, and includes a basic embedded web server that uses lwIP V1.4.0. 2035 + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been 2036 incorporated into the main FreeRTOS zip file download. Projects are 2037 provided for both the IAR and Keil toolchains. 2038 2039 2040 API additions: 2041 2042 + xTaskGetIdleTaskHandle() has been added. 2043 + xTaskGetTimerDaemonTaskHandle() has been added. 2044 + pcTaskGetTaskName() has been added. 2045 + vSemaphoreDelete() macro has been added to make it obvious how to delete 2046 a semaphore. In previous versions vQueueDelete() had to be used. 2047 + vTaskCleanUpResources() has been removed. It has been obsolete for a 2048 while. 2049 + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings 2050 being generated when the size of a pointer does not match the size of 2051 the stack type. This will (has already) be used in new ports, but will 2052 not be retrofitted to existing ports until the existing port itself is 2053 updated. 2054 2055 Other updates and news: 2056 2057 + The core files have all been modified to tighten the coding standard even 2058 further. These are style, not functional changes. 2059 + All ARM7 port layers have been slightly modified to prevent erroneous 2060 assert() failures when tasks are created and configASSERT() is defined. 2061 + All ARM IAR projects have been updated to build with the latest V6.2.x 2062 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was 2063 necessary due to a change in the way EWARM uses the CMSIS libraries. 2064 + The PIC32 port layer has been updated in preparation for V2 of the C32 2065 compiler. 2066 + The old Virtex-4 Microblaze demo has been marked as deprecated. Please 2067 use the brand new Spartan-6 port and demo in its place. 2068 + The bones of a new generic command interpreter is located in 2069 FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in 2070 progress, and not documented. It is however already in use. It will be 2071 documented in full when the projects that are already using it are 2072 completed. 2073 + A couple of new standard demos have been included. First, a version of 2074 flop.c called sp_flop.c. This is similar to flop.c, but uses single 2075 precision floats in place of double precision doubles. This allows the 2076 for testing ports to processors that have only single precision floating 2077 point units, and revert to using emulated calculations whenever a double 2078 is used. Second, comtest_strings.c has been included to allow the test 2079 of UART drivers when an entire string is transmitted at once. The 2080 previous comtest.c only used single character transmission and reception. 2081 + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and 2082 used by a couple of new demos. 2083 2084Changes between V7.0.0 and V7.0.1 released May 13 2011 2085 2086 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool 2087 chains. 2088 + Added a SmartFusion demo application for all of the IAR, Keil and 2089 SoftConsole (GCC/Eclipse) tool chains. 2090 + Updated the RX600 port and demo applications to take into account the 2091 different semantics required when using the latest (V1.0.2.0) version of 2092 the Renesas compiler. 2093 + Modified the RX600 Ethernet driver slightly to make it more robust under 2094 heavy load, and updated the uIP handling task to make use of the FreeRTOS 2095 software timers. 2096 + Slightly changed the PIC32 port layer to move an ehb instruction in line 2097 with the recommendations of the MIPS core manual, and ensure 8 byte stack 2098 alignment is truly always obtained. 2099 + Changed the behaviour when tasks are suspended before the scheduler has 2100 been started. Before, there needed to be at least one task that was not 2101 in the suspended state. This is no longer the case. 2102 2103Changes between V6.1.1 and V7.0.0 released April 8 2011 2104 2105 FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x 2106 2107 Main changes: 2108 2109 + Introduced a new software timer implementation. 2110 + Introduced a new common demo application file to exercise the new timer 2111 implementation. 2112 + Updated the Win32/MSVC simulator project to include the new software timer 2113 demo tasks and software timer tick hook test. Much simpler software timer 2114 demonstrations are included in the demo projects for both of the new ports 2115 (MSP430X with CCS4 and STM32 with TrueStudio). 2116 + Various enhancements to the kernel implementation in tasks.c. These are 2117 transparent to users and do not effect the pre-existing API. 2118 + Added calls to configASSERT() within the kernel code. configASSERT() is 2119 functionally equivalent to the standard C assert() macro, but does not 2120 rely on the compiler providing assert.h. 2121 2122 Other changes: 2123 2124 + Updated the MSP430X IAR port and demo project to include support for the 2125 medium memory model. 2126 + Added a demo project for the MSP430X that targets the MSP430X Discovery 2127 board and uses the Code Composer Studio 4 tools. This demo includes use 2128 of the new software timer implementation. 2129 + Added an STM32F100RB demo project that targets the STM32 Discovery Board 2130 and uses the TrueStudio Eclipse based IDE from Atollic. 2131 + Removed some compiler warnings from the PSoC demo application. 2132 + Updated the PIC32 port layer to ensure the 2133 configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter 2134 what its value is (within the valid range set by the microcontroller 2135 kernel). 2136 + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest 2137 MPLAB compiler versions from Microchip. 2138 + Various cosmetic changes to prepare for a standards compliance statement 2139 that will be published after the software release. 2140 2141 2142Changes between V6.1.0 and V6.1.1 released January 14 2011 2143 2144 + Added two new Windows simulator ports. One uses the free Microsoft Visual 2145 Studio 2010 express edition, and the other the free MingW/Eclipse 2146 environment. Demo projects are provided for both. 2147 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the 2148 GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. 2149 + Added a demo for the low power STM32L152 microcontroller using the IAR 2150 Embedded Workbench. 2151 + Added a new port for the MSP430X core using the IAR Embedded Workbench. 2152 + Updated all the RX62N demo projects that target the Renesas Demonstration 2153 Kit (RDK) to take into account the reversed LED wiring on later hardware 2154 revisions, and the new J-Link debug interface DLL. 2155 + Updated all the RX62N demo projects so the IO page served by the example 2156 embedded web server works with all web browsers. 2157 + Updated the Red Suite projects to work with the up coming Red Suite 2158 release, and to use a more recent version of the CMSIS libraries. 2159 + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. 2160 + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() 2161 trace macro. 2162 + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment 2163 the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for 2164 more flexibility in how the time base for the run time statistics feature 2165 can be implemented. 2166 + Added a "cpsie i" instruction before the "svc 0" instruction used to start 2167 the scheduler in each of the Cortex M3 ports. This is to ensure that 2168 interrupts are globally enabled prior to the "svc 0" instruction being 2169 executed in cases where interrupts are left disabled by the C start up 2170 code. 2171 + Slight optimisation in the run time stats calculation. 2172 2173Changes between V6.0.5 and V6.1.0 released October 6 2010 2174 2175 + Added xTaskGetTickCountFromISR() function. 2176 + Modified vTaskSuspend() to allow tasks that have just been created to be 2177 immediately suspended even when the kernel has not been started. This 2178 allows them to effectively start in the Suspended state - a feature that 2179 has been asked for on numerous occasions to assist with initialisation 2180 procedures. 2181 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. 2182 + Added a STM32F103 demo application that uses the Rowley tools. 2183 + Under specific conditions xFreeBytesRemaining within heap_2.c could end up 2184 with an incorrect value. This has been fixed. 2185 + xTaskCreateGeneric() has a parameter that can be used to pass the handle 2186 of the task just created out to the calling task. The assignment to this 2187 parameter has been moved to ensure it is assigned prior to the newly 2188 created having any possibility of executing. This takes into account the 2189 case where the assignment is made to a global variable that is accessed by 2190 the newly created task. 2191 + Fixed some build time compiler warnings in various FreeTCPIP (based on 2192 uIP) files. 2193 + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. 2194 2195Changes between V6.0.4 and V6.0.5 released May 17 2010 2196 2197 + Added port and demo application for the Cortus APS3 processor. 2198 2199Changes between V6.0.3 and V6.0.4 released March 14 2010 2200 2201 + All the contributed files that were located in the Demo/Unsupported_Demos 2202 directory have been removed. These files are instead now available in the 2203 new Community Contributions section of the FreeRTOS website. See 2204 https://www.FreeRTOS.org/RTOS-contributed-ports.html 2205 + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory 2206 has been upgraded to use V2.x of the Rowley Crossworks STM32 support 2207 package. 2208 + An initial Energy Micro EFM32 demo has been included. This will be 2209 updated over the coming months to make better use of the low power modes 2210 the EFM32 provides. 2211 2212Changes between V6.0.2 and V6.0.3 released February 26 2010 2213 2214 + SuperH SH7216 (SH2A-FPU) port and demo application added. 2215 + Slight modification made to the default implementation of 2216 pvPortMallocAligned() and vPortFreeAligned() macros so by default they 2217 just call pvPortMalloc() and vPortFree(). The macros are only needed to 2218 be defined when a memory protection unit (MPU) is being used - and then 2219 only depending on other configuration settings. 2220 2221Changes between V6.0.1 and V6.0.2 released January 9th 2010 2222 2223 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. 2224 Previously the parameter was blank and therefore only an implicit 0 but 2225 newer GCC releases do not permit this. 2226 + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. 2227 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. 2228 + Updated prvListTaskWithinSingleList() is it works on processors where the 2229 stack grows up from low memory. 2230 + Corrected some comments. 2231 + Updated the startup file for the RVDS LPC21xx demo. 2232 2233Changes between V6.0.0 and V6.0.1 released November 15th 2009 2234 2235 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the 2236 stack pointer is where the compiler expects it to be when a task first 2237 starts executing. 2238 2239 The following minor changes only effect the Cortex-M3 MPU port: 2240 2241 + portRESET_PRIVILEGE() assembly macro updated to include a clobber list. 2242 + Added prototypes for all the privileged function wrappers to ensure no 2243 compile time warnings are generated no matter what the warning level 2244 setting. 2245 + Corrected the name of portSVC_prvRaisePrivilege to 2246 portSVC_RAISE_PRIVILEGE. 2247 + Added conditional compilation into xTaskGenericCreate() to prevent some 2248 compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. 2249 2250 2251Changes between V5.4.2 and V6.0.0 released October 16th 2009 2252 2253 FreeRTOS V6 is backward compatible with FreeRTOS V5.x. 2254 2255 Main changes: 2256 2257 + FreeRTOS V6 is the first version to include memory protection unit (MPU) 2258 support. Two ports now exist for the Cortex M3, the standard FreeRTOS 2259 which does not include MPU support, and FreeRTOS-MPU which does. 2260 + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added 2261 in support of FreeRTOS-MPU. 2262 + Wording for the GPL exception has been (hopefully) clarified. Also the 2263 license.txt file included in the download has been fixed (the previous 2264 version contained some corruption). 2265 2266 Other changes: 2267 2268 + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. 2269 + ARM7 GCC demo interrupt service routines wrappers have been modified to 2270 call the C portion using an __asm statement. This prevents the function 2271 call being inlined at higher optimisation levels. 2272 + ARM7 ports now automatically set the THUMB bit if necessary when 2273 setting up the initial stack of a task - removing the need for 2274 THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode 2275 tasks to be mixed more easily. 2276 + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. 2277 + Various demo application project files have been updated to be up to date 2278 with the latest IDE versions. 2279 + The linker scripts used with command line GCC demos have been updated to 2280 include an eh_frame section to allow their use with the latest Yagarto 2281 release. Likewise the demo makefiles have been updated to include 2282 command line options to reduce or eliminate the eh_frame section all 2283 together. 2284 + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the 2285 various memory allocation files and into the common portable.h header 2286 file. 2287 + Removed unnecessary use of portLONG, portSHORT and portCHAR. 2288 + Added LM3Sxxxx demo for Rowley CrossWorks. 2289 + Posix simulator has been upgraded - see the corresponding WEB page on the 2290 FreeRTOS.org site. 2291 2292 2293Changes between V5.4.1 and V5.4.2 released August 9th 2009 2294 2295 + Added a new port and demo app for the Altera Nios2 soft core. 2296 + Added LPC1768 demo for IAR. 2297 + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). 2298 + Changed clock frequency of LPC1768 demos to 99MHz. 2299 2300Changes between V5.4.0 and V5.4.1 released July 25th 2009 2301 2302 + New hook function added. vApplicationMallocFailedHook() is (optionally) 2303 called if pvPortMalloc() returns NULL. 2304 + Additional casting added to xTaskCheckForTimeOut(). This prevents 2305 problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a 2306 32 bit architecture (which would probably be a mistake, anyway). 2307 + Corrected the parameter passed to NVIC_SetPriority() to set the MAC 2308 interrupt priority in both LPC1768 demos. 2309 + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 2310 demo application to ensure the heap space was not completely consumed 2311 before the scheduler was started. 2312 2313Changes between V5.3.1 and V5.4.0 released July 13th 2009 2314 2315 + Added Virtex5 / PPC440 port and demos. 2316 + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The 2317 original demo was configured to use engineering samples of the CPU. The 2318 new demo has an improved Ethernet driver. 2319 + Added LPC1768 Rowley demo with zero copy Ethernet driver. 2320 + Reworked byte alignment code to ensure 8 byte alignment works correctly. 2321 + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. 2322 + Changed the initial stack setup for the PPC405 to ensure the small data 2323 area pointers are setup correctly. 2324 2325Changes between V5.3.0 and V5.3.1 released June 21st 2009 2326 2327 + Added ColdFire V1 MCF51CN128 port and WEB server demo. 2328 + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. 2329 + Changed the Cortex M3 port.c asm statements to __asm so it can be 2330 compiled using Rowley CrossWorks V2 in its default configuration. 2331 + Updated the Posix/Linux simulator contributed port. 2332 2333Changes between V5.2.0 and V5.3.0 released June 1st 2009 2334 2335 Main changes: 2336 2337 + Added new (optional) feature that gathers statistics on the amount of CPU 2338 time used by each task. 2339 + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based 2340 microcontroller. 2341 + Added a new demo application for the NXP LPC1766 Cortex-M3 based 2342 microcontroller. 2343 + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a 2344 Linux environment. 2345 2346 Minor changes: 2347 + Updated the Stellaris uIP WEB server demos to include the new run time 2348 statistics gathering feature - and include a served WEB page that 2349 presents the information in a tabular format. 2350 + Added in the lwIP port layer for the Coldfire MCF52259. 2351 + Updated the CrossWorks LPC2368 WEB server to include an image in the 2352 served content. 2353 + Changed some of the timing in the initialisation of the LPC2368 MAC to 2354 permit its use on all part revisions. 2355 + Minor modifications to the core uIP code to remove some compiler warnings. 2356 + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom 2357 demo to make use of the new function. 2358 + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using 2359 Rowley Crossworks. 2360 + Heap_1.c and Heap_2.c used to define structures for the purpose of data 2361 alignment. These have been converted to unions to save a few bytes of 2362 RAM that would otherwise be wasted. 2363 + Remove the call to strncpy() used to copy the task name into the TCB when 2364 the maximum task name is configured to be 1 byte long. 2365 2366Changes between V5.1.2 and V5.2.0 released March 14th 2009 2367 2368 + Optimised the queue send and receive functions (also used by semaphores). 2369 + Replaced the standard critical sections used to protect BIOS calls in the 2370 PC port to instead use scheduler locks. This is because the BIOS calls 2371 always return with interrupts enabled. 2372 + Corrected unclosed comments in boot.s. 2373 2374Changes between V5.1.1 and V5.1.2 released February 9th 2009 2375 2376 + Added NEC V850ES port and demo. 2377 + Added NEC 78K0R port and demo. 2378 + Added MCF52259 port and demo. 2379 + Added the AT91SAM9XE port and demo. 2380 + Updated the MCF52233 FEC driver to work around a silicon bug that 2381 prevents the part auto negotiating some network parameters. 2382 + Minor modifications to the MCF52233 makefile to permit it to be used 2383 on Linux hosts. 2384 + Updated the STM32 primer files to allow them to be built with the latest 2385 version of the RIDE tools. 2386 + Updated the threads.js Java script used for kernel aware debugging in 2387 the Rowley CrossWorks IDE. 2388 2389 2390Changes between V5.1.0 and V5.1.1 released November 20, 2008 2391 2392 + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse. 2393 + Added IAR MSP430 port and demo. 2394 + Corrected several compiler time issues that had crept in as tool versions 2395 change. 2396 + Included FreeRTOS-uIP - a faster uIP. This is not yet complete. 2397 2398Changes between V5.0.4 and V5.1.0 released October 24, 2008 2399 2400 + Added a new port and demo application for the ColdFire V2 core using the 2401 CodeWarrior development tools. 2402 + Replaced the ARM7 demo that used the old (and now no longer supported) 2403 Keil compiler with a new port that uses the new Keil/RVDS combo. 2404 + Stack overflow checking now works for stacks that grow up from low 2405 memory (PIC24 and dsPIC). 2406 + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct 2407 value of -1. 2408 + MSP430 port layers have been updated to permit tasks to place the 2409 microcontroller into power down modes 1 to 3. The demo applications have 2410 likewise been updated to demonstrate the new feature. 2411 + Replaced the two separate MSP430/Rowley port layers with a single and more 2412 flexible version. 2413 + Added more contributed ports, including ports for NEC and SAM9 2414 microcontrollers. 2415 + Changed the linker script used in the LPC2368 Eclipse demo. 2416 2417Changes between V5.0.3 and V5.0.4 released September 22, 2008 2418 2419 + Completely re-written port for ColdFire GCC. 2420 + Bug fix: All Cortex M3 ports have a minor change to the code that sets 2421 the pending interrupt. 2422 + Some header files require that FreeRTOS.h be included prior to their 2423 inclusion. #error message have been added to all such header file 2424 informing users to the cause of the compilation error should the headers 2425 not be included in the correct order. 2426 2427Changes between V5.0.2 and V5.0.3 released July 31, 2008 2428 2429 Changes relating to the Cortex M3: 2430 2431 + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3 2432 ports and demos. See the port documentation pages on the FreeRTOS.org 2433 WEB site for full usage information. 2434 + Improved efficiency of Cortex M3 port even further. 2435 + Ensure the Cortex M3 port works no matter where the vector table is 2436 located. 2437 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port 2438 (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY 2439 functionality. 2440 + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil 2441 projects to allow the WEB server to be conditionally excluded from the 2442 build and therefore allow use of the KickStart (code size limited) 2443 compiler version. 2444 2445 Other changes: 2446 2447 + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to 2448 an assembly file to allow use with all MPLAB compiler versions. This also 2449 allows the omit-frame-pointer optimisation to be turned off. 2450 2451Changes between V5.0.0 and V5.0.2 released May 30, 2008 2452 2453 + Updated the PIC32 port to allow queue API calls to be used from 2454 interrupts above the kernel interrupt priority, and to allow full 2455 interrupt nesting. Task stack usages has also been reduced. 2456 + Added a new PowerPC port that demonstrates how the trace macros can be 2457 used to allow the use of a floating point co-processor. The 2458 traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to 2459 save and restore the floating point context respectively for those tasks 2460 that actually use floating point operations. 2461 + BUG FIX: The first PPC405 port contained a bug in that it did not leave 2462 adequate space above the stack for the backchain to be saved when a task 2463 started to execute for the first time. 2464 + Updated queue.c to add in the means to allow interrupt nesting and for 2465 queue API functions to be called from interrupts that have a priority 2466 above the kernel priority. This is only supported on PIC32 ports thus 2467 far. 2468 + Fixed the compiler warnings that were generated when the latest version 2469 of WinAVR was used. 2470 + Remove all inline usage of 'inline' from the core kernel code. 2471 + Added the queue registry feature. The queue registry is provided as a 2472 means for kernel aware debuggers to locate queue definitions. It has no 2473 purpose unless you are using a kernel aware debugger. The queue registry 2474 will only be used when configQUEUE_REGISTRY_SIZE is greater than zero. 2475 + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to 2476 prevent them from having to be included in multiple demos. 2477 + Added a Keil STM32 demo application. 2478 + Changed the blocktim.c test files as it is no longer legitimate for all 2479 ports to call queue API functions from within a critical section. 2480 + Added the IntQueue.c test file to test the calling of queue API functions 2481 from different interrupt priority levels, and test interrupt nesting. 2482 2483Changes between V5.0.0 and V5.0.1 2484 2485 + V5.0.1 was a customer specific release. 2486 2487Changes between V4.8.0 and V5.0.0 released April 15, 2008 2488 2489 *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 *** 2490 2491 The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(), 2492 xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must 2493 update all calls to these functions to use the new calling convention! Your 2494 compiler might not issue any type mismatch warnings! 2495 2496 2497 Other changes: 2498 2499 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3 2500 microcontrollers. 2501 + New task hook feature added. 2502 + PowerPC demo updated to use version 10.1 of the Xilinx EDK. 2503 + Efficiency gains within the PIC32 port layer. 2504 2505Changes between V4.7.2 and V4.8.0 released March 26 2008 2506 2507 + Added a Virtex4 PowerPC 405 port and demo application. 2508 + Added optional stack overflow checking and new 2509 uxTaskGetStackHighWaterMark() function. 2510 + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and 2511 uxQueueMessagesWaitingFromISR() API functions. 2512 + Efficiency improvements to the Cortex-M3 port layer. NOTE: This 2513 requires that an SVC handler be installed in the application. 2514 + Efficiency improvements to the queue send and receive functions. 2515 + Added new trace macros. These are application definable to provide 2516 a flexible trace facility. 2517 + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex 2518 M3 port layer (bringing it up to the same standard as the IAR and GCC 2519 versions). 2520 + Ports that used the arm-stellaris-eabi-gcc tools have been converted to 2521 use the arm-non-eabi-gcc tools. 2522 2523Changes between V4.7.1 and V4.7.2 released February 21, 2008 2524 2525 + Added Fujitsu MB91460 port and demo. 2526 + Added Fujitsu MB96340 port and demo. 2527 + Tidied up the capitalisation of include files to facilitate builds on 2528 Linux hosts. 2529 + Removed some redundant casting that was generating warnings - but was 2530 included to remove warnings on other compilers. 2531 2532Changes between V4.7.0 and V4.7.1 released February 3, 2008 2533 2534 + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench 2535 for ARM. 2536 + Introduced recursive semaphore feature. 2537 + Updated LPC2368 demos to take into account silicon bugs in old chip 2538 revisions. 2539 + Updated STR9 uIP port to manually set the net mask and gateway addresses. 2540 + Updating demos to allow more to run with the co-operative scheduler. 2541 + Fixed co-operative scheduler behaviour upon the occurrence of a tick 2542 interrupt while the scheduler was suspended. 2543 + Updated documentation contained within semphr.h. 2544 + ARM7 GCC ports no longer use the IRQ attribute. 2545 2546Changes between V4.6.1 and V4.7.0 released December 6, 2007 2547 2548 + Introduced the counting semaphore macros and demo source files. The 2549 Open Watcom PC project has been updated to include the new demo. See 2550 the online documentation for more information. 2551 + Introduced the 'alternative' queue handling API and demo source files. 2552 The Open Watcom PC project has been updated to include the new demo 2553 source files. See the online documentation for more information. 2554 + Added AT91SAM7X Eclipse demo project. 2555 + Added the STM32 primer demo project for the GCC compiler and Ride IDE. 2556 + Removed the .lock files that were mistakenly included in the V4.6.1 2557 eclipse workspaces. 2558 2559Changes between V4.6.0 and V4.6.1 released November 5 2007 2560 2561 + Added support for the MIPS M4K based PIC32. 2562 + Added 'extern "C"' to all the header files to facilitate use with C++. 2563 2564Changes between V4.5.0 and V4.6.0 released October 28 2007 2565 2566 + Changed the method used to force a context switch within an ISR for the 2567 ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and 2568 portEXIT_SWITCHING_ISR() macros are no longer supported. This is to 2569 ensure correct behaviour no matter which GCC version is used, with or 2570 without the -fomit-frame-pointer option, and at all optimisation levels. 2571 + Corrected the prototype for xQueueGenericSend() within queue.h. 2572 2573Changes between V4.4.0 and V4.5.0 released September 17 2007 2574 2575 + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek() 2576 functionality. These should now be used in preference to the old 2577 xQueueSend() function - which is maintained for backward compatibility. 2578 + Added Mutex functionality. The behaviour of mutexes is subtly different 2579 to the already existing binary semaphores as mutexes automatically 2580 include a priority inheritance mechanism. 2581 + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour 2582 of the new functionality. 2583 + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and 2584 QPeek.c files. 2585 + Updated the GCC port for the Cortex M3 to include the 2586 configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only 2587 included in the IAR port. 2588 + Optimised the GCC and IAR port layer code - specifically the context 2589 switch code. 2590 + Consolidated the LM3Sxxxx EK demos for all development tools into a 2591 single project that automatically detects which version of the EK the 2592 application is executing on. 2593 + Added Eclipse support for LM3Sxxxx evaluation kits. 2594 + Added Eclipse support for the Keil LPC2368 evaluation kit. 2595 + Added the Demo/Drivers directory to hold code that is common to multiple 2596 demo application projects. 2597 + Included some minor bug fixes in the uIP 1.0 code. 2598 + Added an lwIP demo for the STR9 - thanks ST for assistance. 2599 + Updated the AVR32 port to ensure correct behaviour with full compiler 2600 optimisation. 2601 + Included binaries for OpenOCD FTDI and parallel port interfaces. 2602 2603Changes between V4.4.0 and V4.3.1 released July 31, 2007 2604 2605 + Added AVR32 UC3B demo application. 2606 + Updated AVR32 UC3A port and demo applications. 2607 + Added IAR lwIP demo for AVR32 UC3A. 2608 + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation 2609 (thanks Niu Yong for making the suggestion). 2610 + Added xTaskGetSchedulerState() API function. 2611 + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely 2612 have their block time adjusted (within xQueueSend() and xQueueReceive()), 2613 and are the subject of a call the vTaskResume() when they are not 2614 actually in the Suspended state (thanks Dan Searles for reporting the 2615 issues). 2616 2617 2618Changes between V4.3.0 and V4.3.1 released June 11, 2007 2619 2620 + Added STMicroelectronics STM32 Cortex-M3 demo application. 2621 + Updated ustdlib.c for the GCC LM3S6965 demo. 2622 2623Changes between V4.2.1 and V4.3.0 released June 5, 2007 2624 2625 + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24 2626 and dsPIC ports. See the LM3S6965 and PIC24 demo application 2627 documentation pages for more information. 2628 + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC 2629 tools, and changed the demo applications. 2630 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris 2631 microcontrollers. 2632 + Corrected bug in uIP the demos that prevented frames of approximately 1480 2633 bytes and over from being transmitted. 2634 + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org 2635 download. 2636 + Update to WizC PIC18 port to permit its use with version 14 of the 2637 compiler. Thanks Marcel! 2638 2639Changes between V4.2.1 and V4.2.0 released April 2, 2007 2640 2641 + Added AVR32 AT32UC3A ports for GCC and IAR. 2642 + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile. 2643 + Moved location of call to LCD_Init() in STR9 demo to ensure it is only 2644 called after the scheduler has been started. 2645 2646Changes between V4.1.3 and V4.2.0 released February 8, 2007 2647 2648 + Changes to both task.c and queue.c as a result of testing performed on 2649 the SafeRTOS code base. 2650 + Added Cortex-M3 LM3S811 demos for GCC and IAR tools. 2651 2652Changes between V4.1.2 and V4.1.3 released November 19, 2006 2653 2654 + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools. 2655 + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around 2656 to GCC bug at some optimisation levels. 2657 + Altered the way the heap is defined in the LM3S811 Keil demo to prevent 2658 the RAM usage from counting toward the code size limit calculation. 2659 + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within 2660 xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz. 2661 + Tasks that block on events with a timeout of portMAX_DELAY are now 2662 blocked indefinitely if configINCLUDE_vTaskSuspend is defined. 2663 Previously portMAX_DELAY was just the longest block time possible. This 2664 is still the case if configINCLUDE_vTaskSuspend is not defined. 2665 + Minor changes to some demo application files. 2666 2667Changes between V4.1.1 and V4.1.2 released October 21, 2006 2668 2669 + Added 16bit PIC ports and demos. 2670 + Added STR750 port and demo. 2671 2672 2673Changes between V4.1.0 and V4.1.1 released September 24, 2006 2674 2675 + Added the Luminary Micro Stellaris LM3S811 demo application. 2676 2677Changes between V4.0.5 and V4.1.0 released August 28, 2006 2678 2679 + Prior to V4.1.0, under certain documented circumstances, it was possible 2680 for xQueueSend() and xQueueReceive() to return without having completed 2681 and without their block time expiring. The block time effectively 2682 stated a maximum block time, and the return value of the function needed 2683 to be checked to determine the reason for returning. This is no longer 2684 the case as the functions will only return once the block time has 2685 expired or they are able to complete their operation. It is therefore no 2686 longer necessary to wrap calls within loops. 2687 + Changed the critical section handling in the IAR AVR port to correct the 2688 behaviour when used with later compiler versions. 2689 + Added the LPC2138 CrossWorks demo into the zip file. Previously this was 2690 only available as a separate download. 2691 + Modified the AVR demo applications to demonstrate the use of co-routines. 2692 2693Changes between V4.0.4 and V4.0.5 released August 13, 2006 2694 2695 + Introduced API function xTaskResumeFromISR(). Same functionality as 2696 xTaskResume(), but can be called from within an interrupt service routine. 2697 + Optimised vListInsert() in the case when the wake time is the maximum 2698 tick count value. 2699 + Bug fix: The 'value' of the event list item is updated when the priority 2700 of a task is changed. Previously only the priority of the TCB itself was 2701 changed. 2702 + vTaskPrioritySet() and vTaskResume() no longer use the event list item. 2703 This has not been necessary since V4.0.1 when the xMissedYield handling 2704 was added. 2705 + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz. 2706 + When ending the scheduler - do not try to attempt a context switch when 2707 deleting the current task. 2708 + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining 2709 the length from the rx descriptor. 2710 2711 2712Changes between V4.0.3 and V4.0.4 released June 22, 2006 2713 2714 + Added a port and demo application for the STR9 ARM9 based processors from 2715 ST. 2716 + Slight optimisation to the vTaskPrioritySet() function. 2717 + Included the latest uIP version (1.0) in the demo/common/ethernet 2718 directory. 2719 2720Changes between V4.0.2 and V4.0.3 released June 7, 2006 2721 2722 + Added a port and demo application for the Cortex-M3 target using the IAR 2723 development tools. 2724 + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the 2725 CrossStudio tools. 2726 + The heap size defined for the lwIP Rowley demo has been reduced so that 2727 the project will link correctly when using the command line GCC tools 2728 also. The makefile has also been modified to allow debugging. 2729 + The lwIP Rowley demo not includes a 'kernel aware' debug window. 2730 + The uIP Rowley project has been updated to build with V1.6 of CrossWorks. 2731 + The second set of tasks in the blockQ demo were created the wrong way 2732 around (inconsistent to the description in the file). This has been 2733 corrected. 2734 2735Changes between V4.0.1 and V4.0.2 released May 28, 2006 2736 2737 + Port and demo application added for the Tern Ethernet Engine controller. 2738 + Port and demo application added for MC9S12 using GCC, thanks to 2739 Jefferson "imajeff" Smith. 2740 + The function vTaskList() now suspends the scheduler rather than disabling 2741 interrupts during the creation of the task list. 2742 + Allow a task to delete itself by passing in its own handle. Previously 2743 this could only be done by passing in NULL. 2744 + Corrected the value passed to the WDG_PeriodValueConfig() library 2745 function in the STR71x demo. 2746 + The tick hook function is now called only within a tick isr. Previously 2747 it was also called when the tick function was called during the scheduler 2748 unlocking process. 2749 + The EMAC driver in the SAM7X lwIP demo has been made more robust as per 2750 the thread: https://sourceforge.net/forum/message.php?msg_id=3714405 2751 + In the PC ports: Add function prvSetTickFrequencyDefault() to set the 2752 DOS tick back to its proper value when the scheduler exits. Thanks 2753 Raynald! 2754 + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT 2755 macro where the BP register was not popped from the stack correctly. The 2756 BP value would never get used so this did not cause a problem, but it has 2757 been corrected all the same. 2758 2759 2760Changes between V4.0.0 and V4.0.1 released April 7 2006 2761 2762 + Improved the ARM CORTEX M3 ports so they now only have to service 2763 pendSV interrupts. 2764 + Added a Luminary Micro port and demo for use with Rowley CrossWorks. 2765 + Added the xMissedYield handling to tasks.c. 2766 2767Changes between V3.2.4 and V4.0.0 2768 2769 Major changes: 2770 2771 + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers. 2772 + Added new co-routine functionality. 2773 2774 Other kernel changes: 2775 2776 + An optional tick hook call is now included in the tick function. 2777 + Introduced the xMiniListItem structure and removed the list pxHead 2778 member in order to reduce RAM usage. 2779 + Added the following definitions to the FreeRTOSConfig.h file included 2780 with every port: 2781 configUSE_TICK_HOOK 2782 configUSE_CO_ROUTINES 2783 configMAX_CO_ROUTINE_PRIORITIES 2784 + The volatile qualification has been changed on the list members to allow 2785 the task.c code to be tidied up a bit. 2786 + The scheduler can now be started even if no tasks have been created! 2787 This is to allow co-routines to run when there are no tasks. 2788 + A task being woken by an event will now preempt the currently running task 2789 even if its priority is only equal to the currently running task. 2790 2791 Port and demo application changes: 2792 2793 + Updated the WinAVR demo to compile with the latest version of WinAVR 2794 with no warnings generated. 2795 + Changed the WinAVR makefile to make chars signed - needed for the 2796 co-routine code if BaseType_t is set to char. 2797 + Added new demo application file crflash.c. This demonstrates co-routine 2798 functionality including passing data between co-routines. 2799 + Added new demo application file crhook.c. This demonstrates co-routine 2800 and tick hook functionality including passing data between and ISR and 2801 a co-routine. 2802 + Some NOP's were missing following stmdb{}^ instructions in various ARM7 2803 ports. These have been added. 2804 + Updated the Open Watcom PC demo project to include the crflash and crhook 2805 demo co-routines as an example of their use. 2806 + Updated the H8S demo to compile with the latest version of GCC. 2807 + Updated the SAM7X EMAC drivers to take into account the hardware errata 2808 regarding lost packets. 2809 + Changed the default MAC address used by some WEB server demos as the 2810 original addresses used was not liked by some routers. 2811 + Modified the SAM7X/IAR startup code slightly to prevent it hanging on 2812 some systems when the code is executed using a j-link debugger. The 2813 j-link macro file configures the PLL before the code executes so 2814 attempting to configure it again in the startup code was causing a 2815 problem for some user. Now a check is performed first to see if the 2816 PLL is already set up. 2817 + GCC port now contain all assembler code in a single asm block rather than 2818 individual blocks as before. 2819 + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler 2820 choose the register to use as a temporary register during the context 2821 switch. 2822 + Added portNOP() macro. 2823 + The compare match load value on LPC2000 ports now has 1 added to correct 2824 the value used. 2825 + The minimal stack depth has been increased slightly on the WIZC PIC18 2826 port. 2827 2828Changes between V3.2.3 and V3.2.4 2829 2830 + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above. 2831 Many thanks to Glen Biagioni for the provided update. 2832 + Added a new Microblaze port and demo application. 2833 + Modified the SAM7X EMAC demo to default to use the MII interface rather 2834 than the RMII interface. 2835 + Modified the startup sequence of the SAM7X demo slightly to allow the 2836 EMAC longer to auto negotiate. 2837 2838Changes between V3.2.2 and V3.2.3 2839 2840 + Added MII interface support to the SAM7X EMAC peripheral driver. 2841 Previously versions worked with the RMII interface only. 2842 + Added command line GCC support to the SAM7X lwIP demo. Previously the 2843 project could only be built using the CrossWorks IDE. Modifications to 2844 this end include the addition of a standard makefile and linker script to 2845 the download, and some adjustments to the stacks allocated to each task. 2846 + Changed the page returned by the lwIP WEB server demo to display the 2847 task status table rather than the TCP/IP statistics. 2848 + Corrected the capitalisation of some header file includes and makefile 2849 dependencies to facilitate use on Linux host computers. 2850 + The various LPC2000 ports had a mistake in the timer setup where the 2851 prescale value was written to T0_PC instead of T0_PR. This would have 2852 no effect unless a prescale value was actually required. This has been 2853 corrected. 2854 2855Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005 2856 2857 + Added an IAR port for the Philips LPC2129 2858 + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded 2859 Workbench V4.30a format. 2860 + Updated the J-Link macro file included with the SAM7X uIP demo project 2861 to allow the demo board to be reset over the J-Link. 2862 2863Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005 2864 2865 + Added lwIP demo for AT91SAM7X using Rowley tools. 2866 + Added uIP demo for AT91SAM7X using IAR tools. 2867 + Added function xTaskGetCurrentTaskHandle(). 2868 + Renamed events.h to mevents.h to prevent it conflicting with the events.h 2869 generated automatically by the HCS12 processor expert utility. events.h 2870 is only used by the PC demo application. 2871 + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value 2872 expected by the compiler, and the compilers do not write to this 2873 register. 2874 + The HCS12 banked model demo now creates the 'suicide' tasks immediately 2875 prior to starting the scheduler. These tasks should be the last tasks to 2876 get started in order for the test to function correctly. 2877 2878Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005 2879 2880 V3.2.0 introduces two new MSP430 ports and corrects a minor kernel 2881 issues. Thanks to Ares.qi for his input. 2882 2883 + Added two MSP430 ports that use the Rowley CrossWorks development tools. 2884 One port just mirrors the existing GCC port. The other port was provided 2885 by Milos Prokic. Thanks! 2886 + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume() 2887 are called while the scheduler is locked (by a call to 2888 vTaskSuspendAll()). When this is done the subject task now starts to 2889 execute immediately when the scheduler is unlocked if it has the highest 2890 priority that is ready to run. Previously there was a possibility that 2891 the task would not run until the next RTOS tick or call to portYIELD(). 2892 + Another similar small correction ensures that in the case where more than 2893 one task is blocked on a semaphore or queue, the task with the highest 2894 priority is guaranteed to be unblocked first. 2895 + Added a couple of more test tasks to the PC demo which cover the points 2896 above. 2897 2898Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005 2899 2900 This release updates the HCS12 port. The common kernel code 2901 remains unchanged. 2902 2903 + Updated the HCS12 port to support banking and introduced a demo 2904 application for the MC9S12DP256. The new demo application is 2905 located in the Demo/HCS12_CodeWarrior_banked directory. 2906 + The name of the directory containing the MC9S12F32 demo application 2907 has been changed to Demo/HCS12_CodeWarrior_small (as in 'small' 2908 memory model). 2909 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the 2910 demo application is now 24MHz. Previously it was 8MHz. 2911 + The demo application file Demo/Common/Minimal/death.c has a slight 2912 alteration to prevent it using floating point variables. 2913 2914 2915Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005 2916 2917 + Added new ports for ST Microsystems STR71x, and Freescale HCS12 2918 microcontrollers. Currently the HCS12 port is limited to the small 2919 memory model. Large memory models will be supported in the next 2920 release. 2921 + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his 2922 continuing contribution. 2923 + The accuracy of the AVR port timer setup has been improved. Thanks to 2924 Thomas Krutmann for this contribution. 2925 + Added a new conditional compilation macro configIDLE_SHOULD_YIELD. 2926 See the WEB documentation for details. 2927 + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks. 2928 + Slight modification to the SAM7 release build configuration to correct 2929 an include path definition. 2930 + Updated the MPLAB PIC18 documentation to provide extra details on linker 2931 file configuration. 2932 2933Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005 2934 2935 V3.0.0 includes many enhancements, so this history list is broken into 2936 subsections as follows: 2937 2938 API changes 2939 New ports 2940 Directory name changes 2941 Kernel and miscellaneous changes changes 2942 2943 - API changes 2944 2945 + Each port now defines BaseType_t as the data type that is most 2946 efficient for that architecture. The type BaseType_t is used 2947 extensively in API calls necessitating the following changes to the 2948 FreeRTOS API function prototypes. 2949 2950 See the "New for V3.0.0" section of the FreeRTOS online 2951 documentation for full details of API changes. 2952 2953 - New ports 2954 2955 + The AT91FR40008 ARM7 port contributed by John Feller is now included 2956 in the download (thanks John!). 2957 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van 2958 Lieshout is now included in the download (thanks Marcel!). 2959 + The IAR port for the AVR microcontroller has been upgraded to V3.0.0 2960 and is now a supported port. 2961 2962 - Directory name changes 2963 2964 For consistency, and to allow integration of the new ports, the 2965 following directory names have been changed. 2966 2967 + The source/portable/GCC/ARM7 directory has been renamed 2968 source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming 2969 of other GCC ARM7 ports. 2970 + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to 2971 accommodate the wizC/fedC PIC port. 2972 + The demo applications for the two AVR ports no longer share the same 2973 directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR 2974 directory and the IAR port in the Demo/AVR_ATMega323_IAR directory. 2975 2976 2977 - Kernel and miscellaneous changes changes 2978 2979 See the "New for V3.0.0" section of the FreeRTOS online 2980 documentation for more information. 2981 2982 + Previously 'portmacro.h' contained some user editable definitions 2983 relating to the user application, and some fixed definitions relating 2984 specifically to the port being used. The application specific 2985 definitions have been removed from 'portmacro.h' and placed inside a 2986 new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now 2987 never be modified by the user. A 'FreeRTOSConfig.h' is now included 2988 in each of FreeRTOS/Demo subdirectories - as it's settings relate to 2989 the demo application rather than being specific to the port. 2990 + Introduced configUSE_IDLE_HOOK in idle task. 2991 + The idle task will yield when another idle priority task is ready to 2992 run. Previously the idle task would run to the end of its time slice 2993 regardless. 2994 + The idle task is now created when the scheduler is started. This 2995 requires less stack than the previous scheme where it was created upon 2996 creation of the first application task. 2997 + The function usPortCheckFreeStackSpace() has been renamed 2998 usTaskCheckFreeStackSpace() and moved from the portable layer to 2999 tasks.c. 3000 + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE. 3001 + The portheap.c file included with the AVR port has been deleted. The 3002 AVR demo now uses the standard heap1 sample memory allocator. 3003 + The GCC AVR port is now build using the standard make utility. The 3004 batch files used previously have been deleted. This means a recent 3005 version of WinAVR is required in order to create a binary suitable for 3006 source level debugging. 3007 + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION 3008 constant as a parameter. Instead the constant is used directly within 3009 tasks.c and no parameter is required. 3010 + The header file 'FreeRTOS.h' has been created and is used to include 3011 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary 3012 order. FreeRTOS.h can now be included in place of these other 3013 headers. 3014 + The header file 'errors.h' has been deleted. The definitions it 3015 contained are now located within 'projdefs.h'. 3016 + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc(). 3017 Previously an unsigned short was used. 3018 + When resuming the scheduler a yield is performed if either a tick has 3019 been missed, or a task is moved from the pending ready list into a 3020 ready list. Previously a yield was not performed on this second 3021 condition. 3022 + In heap1.c an overflow check has been added to ensure the next free 3023 byte variable does not wrap around. 3024 + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO() 3025 macros. 3026 + The MPLAB PIC port now saved the TABLAT register in interrupt service 3027 routines. 3028 3029Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005 3030 3031 This version adds support for the H8 processor. 3032 3033 Other changes: 3034 3035 + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each 3036 individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM 3037 limited ports to allocate fewer characters to the task name. 3038 + AVR port - Replaced the inb() and outb() functions with direct memory 3039 access. This allows the port to be built with the 20050414 build of 3040 WinAVR. 3041 + GCC LPC2106 port - removed the 'static' from the definition of 3042 vNonPreemptiveTick() to allow the demo to link when using the cooperative 3043 scheduler. 3044 + GCC LPC2106 port - Corrected the optimisation options in the batch files 3045 ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case 3046 -o is replaced by an uppercase -O. 3047 + Tasks.c - The strcpy call has been removed when copying across the task 3048 name into the TCB. 3049 + Updated the trace visualisation to always be 4 byte aligned so it can be 3050 used on ARM architectures. 3051 + There are now two tracecon executables (that convert the trace file binary 3052 into an ASCII file). One for big endian targets and one for little endian 3053 targets. 3054 + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called 3055 too often in the idle task. 3056 + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt 3057 mask with the RX_DATA_BK1. 3058 3059 3060Changes between V2.5.5 and V2.6.0 - Released January 16, 2005 3061 3062 + Added the API function vTaskDelayUntil(). The demo app file 3063 Demo/Common/Minimal/flash.c has been updated to demonstrate its use. 3064 + Added INCLUDE_vTaskDelay conditional compilation. 3065 + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to 3066 Demo/ARM7_AT91SAM7S64_IAR for consistency. 3067 + Modified the AT91SAM7S USB driver to allow descriptors that have 3068 a length that is an exact multiple of the FIFO to be transmitted. 3069 3070Changes between V2.5.4 and V2.5.5 - Released January 3, 2005 3071 3072 This version adds support for the Atmel SAM7 ARM7 microcontrollers 3073 along with the IAR development tools. 3074 3075 Other changes: 3076 3077 + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC. 3078 + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil. 3079 + Modified the Philips ARM7 serial interrupt service routines to only 3080 process one interrupt per call. This seems to enable the ISR to 3081 operate more quickly. 3082 + Removed the 'far' keyword from the Open Watcom portable layer source 3083 files. This allows their use with V1.3 of Open Watcom. 3084 + Minor modifications to the SDCC build files to allow their use under 3085 Linux. Thanks to Frieder Ferlemann for this contribution. 3086 + Small change to sTaskCreate() to allow a context switch even when 3087 pxCreatedTask is NULL. Thanks to Kamil for this contribution. 3088 + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick() 3089 definitions. 3090 3091Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004 3092 3093 This is an important maintenance release. 3094 3095 The function cTaskResumeAll() has been modified so it can be used safely 3096 prior to the kernel being initialised. This was an issue as 3097 cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun 3098 for highlighting this issue. 3099 3100Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004 3101 3102 The critical section handling functions have been changed for the GCC ARM7 3103 port. Some optimisation levels use the stack differently to others. This 3104 means the interrupt flags cannot always be stored on the stack and are 3105 instead now stored in a variable, which is then saved as part of the 3106 tasks context. This allows the GCC ARM7 port to be used at all 3107 optimisation levels - including -Os. 3108 3109 Other minor changes: 3110 3111 + MSP430 definition of usCriticalNesting now uses the volatile qualifier. 3112 This is probably not required but added just in case. 3113 3114Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004 3115 3116 + Added the Keil ARM7 port. 3117 + Slight modification to comtest.c to make the delay periods more random. 3118 This creates a better test condition. 3119 3120Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004 3121 3122 + Added the MSP430 port. 3123 + Extra comments added to the GCC ARM7 port.c and portISR.c files. 3124 + The memory pool allocated within heap_1.c has been placed within a 3125 structure to ensure correct memory alignment on 32bit systems. 3126 + Within the GCC ARM7 serial drivers an extra check is made to ensure 3127 the post to the queue was successful if then attempting immediately 3128 retrieve the posted character. 3129 + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS 3130 as the old name was misleading. 3131 3132 3133Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004 3134 3135 The RTOS source code download now includes three separate memory allocation 3136 schemes - so you can choose the most appropriate for your application. 3137 These are found in the Source/Portable/MemMang directory. The demo 3138 application projects have also been updated to demonstrate the new schemes. 3139 See the "Memory Management" page of the API documentation for more details. 3140 3141 + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang 3142 directory. 3143 + Replaced the portheap.c files for each demo application with one of the 3144 new memory allocation files. 3145 + Updated the portmacro.h file for each demo application to include the 3146 constants required for the new memory allocators: portTOTAL_HEAP_SIZE and 3147 portBYTE_ALIGNMENT. 3148 + Added a new test to the ARM7 demo application that tests the operation 3149 of the heap_2 memory allocator. 3150 3151 3152Changes between V2.4.1 and V2.4.2 - Released July 14, 2004 3153 3154 + The ARM7 port now supports THUMB mode. 3155 + Modification to the ARM7 demo application serial port driver. 3156 3157Changes between V2.4.0 and V2.4.1 - Released July 2, 2004 3158 3159 + Rationalised the ARM7 port version of portEXIT_CRITICAL() - 3160 improvements provided by Bill Knight. 3161 + Made demo serial driver more complete and robust. 3162 3163 3164Changes between V2.4.0 and V2.3.1 - Released June 30, 2004 3165 3166 + Added the first ARM7 port - thanks to Bill Knight for the assistance 3167 provided. 3168 + Added extra files to the Demo/Common/Minimal directory. These are 3169 equivalent to their Demo/Common/Full counterparts but with the 3170 calls to the functions defined in print.c removed. 3171 + Added TABLAT to the list of registers saved as part of a PIC18 context. 3172 3173Changes between V2.3.0 and V2.3.1 - Released June 25, 2004 3174 3175 + Changed the way the vector table is defined to be more portable. 3176 + Corrected the definitions of SPH and SPL in portmacro.s90. 3177 The previous definitions prevented V2.3.0 operating if the iom323.h 3178 header file was included in portmacro.s90. 3179 3180Changes between V2.2.0 and V2.3.0 - Released June 19, 2004 3181 3182 + Added an AVR port that uses the IAR compiler. 3183 + Explicit use of 'signed' qualifier on plain char types. 3184 + Modified the Open Watcom project files to use 'signed' as the 3185 default char type. 3186 + Changed odd calculation of initial pxTopOfStack value when 3187 portSTACK_GROWTH < 0. 3188 + Added inline qualifier to context switch functions within task.c. 3189 Ports that do not support the (non ANSI) inline keyword have the 3190 inline #define'd away in their respective portmacro.h files. 3191 3192Changes between V2.1.1 and V2.2.0 - Released May 18, 2004 3193 3194 + Added Cygnal 8051 port. 3195 + PCLATU and PCLATH are now saved as part of the PIC18 context. This 3196 allows function pointers to be used within tasks. Thanks to Javier 3197 Espeche for the enhancement. 3198 + Minor changes to demo application files to reduce stack usage. 3199 + Minor changes to prevent compiler warnings when compiling the new port. 3200 3201Changes between V2.1.0 and V2.1.1 - Released March 12, 2004 3202 3203 + Bug fix - pxCurrentTCB is now initialised before the call to 3204 prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed 3205 while null during the initialisation sequence. Thanks to Giuseppe 3206 Franco for the correction. 3207 3208Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004 3209 3210 V2.1.0 has significant reworks that greatly reduce the amount of time 3211 the kernel has interrupts disabled. The first section of modifications 3212 listed here must be taken into account by users. The second section 3213 are related to the kernel implementation and as such are transparent. 3214 3215 Section1 : 3216 3217 + The typedef TickType_t has been introduced. All delay times should 3218 now use a variable of type TickType_t in place of the unsigned long's 3219 used previously. API function prototypes have been updated 3220 appropriately. 3221 + The configuration macro USE_16_BIT_TICKS has been introduced. If set 3222 to 1 TickType_t is defined as an unsigned short. If set to 0 3223 TickType_t is defined as an unsigned long. See the configuration 3224 section of the API documentation for more details. 3225 + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete. 3226 + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a 3227 value (see the API documentation). 3228 + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type 3229 it returns now depends on the USE_16_BIT_TICKS definition. 3230 + cQueueReceive() must now >never< be used from within an ISR. Use the new 3231 cQueueReceiveFromISR() function instead. 3232 3233 Section 2: 3234 3235 + A mechanism has been introduced that allows a queue to be accessed by 3236 a task and ISR simultaneously. 3237 + A "pending ready" queue has been introduced that enables interrupts to 3238 be processed when the scheduler is suspended. 3239 + The list implementation has been improved to provide faster item 3240 removal. 3241 + The scheduler now makes use of the scheduler suspend mechanism in places 3242 where previously interrupts were disabled. 3243 3244Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004 3245 3246 + Introduced new API functions: 3247 vTaskPriorityGet () 3248 vTaskPrioritySet () 3249 vTaskSuspend () 3250 vTaskResume () 3251 vTaskSuspendAll () 3252 vTaskResumeAll () 3253 + Added conditional compilation options that allow the components of the 3254 kernel that are unused by an application to be excluded from the build. 3255 See the Configuration section on the WEB site for more information (on 3256 the API pages). The macros have been added to each portmacro.h file ( 3257 sometimes called prtmacro.h). 3258 + Rearranged tasks.c. 3259 + Added demo application file dynamic.c. 3260 + Updated the PC demo application to make use of dynamic.c. 3261 + Updated the documentation contained in the kernel header files. 3262 + Creating a task now causes a context switch if the task being created 3263 has a higher priority than the calling task - assuming the kernel is 3264 running. 3265 + vTaskDelete() now only causes a context switch if the calling task is 3266 the task being deleted. 3267 3268Changes between V1.2.5 and V1.2.6 - Released December 31, 2003 3269 3270 Barring the change to the interrupt vector (PIC port) these are minor 3271 enhancements. 3272 3273 + The interrupt vector used for the PIC master ISR has been changed from 3274 0x18 to 0x08 - where it should have always been. The incorrect address 3275 still works but probably executes a number of NOP's before getting to the 3276 ISR. 3277 + Changed the baud rate used by the AVR demo application to 38400. This 3278 has an error percentage of less than one percent with an 8MHz clock. 3279 + Raised the priority of the Rx task in demo\full\comtest.c. This only 3280 affects the Flashlite and PC ports. This was done to prevent the Rx 3281 buffer becoming full. 3282 + Reverted the Flashlite COM port driver back so it does not use the DMA. 3283 The DMA appears to miss characters under stress. The Borland Flashlite 3284 port was also calculating a register value incorrectly resulting in the 3285 wrong DMA source address being used. The same code worked fine when 3286 compiling with Open Watcom. Other minor enhancements were made to the 3287 interrupt handling. 3288 + Modified the PIC serial Rx ISR to check for and clear overrun errors. 3289 Overrun errors seem to prevent any further characters being received. 3290 + The PIC demo projects now have some optimisation switched on. 3291 3292 3293Changes between V1.2.4 and V1.2.5 3294 3295 Small fix made to the PIC specific port.c file described below. 3296 3297 + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global 3298 interrupt flag setting. Using the two bits defined within 3299 portINITAL_INTERRUPT_STATE was causing the w register to get clobbered 3300 before the test was performed. 3301 3302Changes between V1.2.3 and V1.2.4 3303 3304 V1.2.4 contains a release version of the PIC18 port. 3305 An optional exception has been included with the GPL. See the licensing 3306 section of www.FreeRTOS.org for details. 3307 3308 + The function xPortInitMinimal() has been renamed to 3309 xSerialPortInitMinimal() and the function xPortInit() has been renamed 3310 to xSerialPortInit(). 3311 + The function sSerialPutChar() has been renamed cSerialPutChar() and 3312 the function return type changed to portCHAR. 3313 + The integer and flop tasks now include calls to tskYIELD(), allowing 3314 them to be used with the cooperative scheduler. 3315 + All the demo applications now use the integer and comtest tasks when the 3316 cooperative scheduler is being used. Previously they were only used with 3317 the preemptive scheduler. 3318 + Minor changes made to operation of minimal versions of comtest.c and 3319 integer.c. 3320 + The ATMega port definition of portCPU_CLOSK_HZ definition changed to 3321 8MHz base 10, previously it base 16. 3322 3323 3324 3325Changes between V1.2.2a and V1.2.3 3326 3327 The only change of any significance is to the license, which has changed 3328 from the Open Software License to the GNU GPL. 3329 3330 The zip file also contains a pre-release version of the PIC18 port. This 3331 has not yet completed testing and as such does not constitute part of the 3332 V1.2.3 release. It is still however covered by the GNU GPL. 3333 3334 There are minor source code changes to accommodate the PIC C compiler. 3335 These mainly involve more explicit casting. 3336 3337 + sTaskCreate() has been modified slightly to make use of the 3338 portSTACK_GROWTH macro. This is required for the PIC port where the 3339 stack grows in the opposite direction to the other existing ports. 3340 + prvCheckTasksWaitingTermination() has been modified slightly to bring 3341 the decrementing of usCurrentNumberOfTasks within the critical section, 3342 where it should have been since the creation of an eight bit port. 3343 3344Changes between V1.2.2 and V1.2.2a 3345 3346 The makefile and buildcoff.bat files included with the AVR demo application 3347 have been modified for use with the September 2003 build of WinAVR. No 3348 source files have changed. 3349 3350Changes between V1.2.1 and V1.2.2 3351 3352 There are only minor changes here to allow the PC and Flashlite 186 ports 3353 to use the Borland V4.52 compiler, as supplied with the Flashlite 186 3354 development kit. 3355 3356 + Introduced a BCC directory under source\portable. This contains all the 3357 files specific to the Borland compiler port. 3358 + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS. 3359 + Modified comtest.c to increase the rate at which the string is 3360 transmitted and received on the serial port. The Flashlite 186 demo 3361 app baud rate has also been increased. 3362 + The values of the constants used in both integer.c files have been 3363 increased to force the Borland compiler to use 32 bit values. The 3364 Borland optimiser placed the previous values in 16 bit registers, and in 3365 So doing invalidated the test. 3366 3367Changes between V1.2.0 and V1.2.1 3368 3369 This version includes some minor changes to the list implementation aimed 3370 at improving the context switch time - with is now approximately 10% faster. 3371 Changes include the removal of some null pointer assignment checks. These 3372 were redundant where the scheduler uses the list functions, but means any 3373 user application choosing to use the same list functions must now check 3374 that no NULL pointers are passed as a parameter. 3375 3376 The Flashlite 186 serial port driver has also been modified to use a DMA 3377 channel for transmissions. The serial driver is fully functional but still 3378 under development. Flashlite users may prefer to use V1.2.0 for now. 3379 3380 Details: 3381 3382 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600. 3383 + Use vSerialPutString() instead of single character puts in 3384 Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial 3385 driver. Also the check variable only stops incrementing after two 3386 consecutive failures. 3387 + semtest.c creates four tasks, two of which operate at the idle priority. 3388 The tasks that operate at the idle priority now use a lower expected 3389 count than those running at a higher priority. This prevents the low 3390 priority tasks from signalling an error because they have not been 3391 scheduled enough time for each of them to count the shared variable to 3392 the higher original value. 3393 + The flashlite 186 serial driver now uses a DMA channel for transmissions. 3394 + Removed the volatile modifier from the list function parameters. This was 3395 only ever included to prevent compiler warnings. Now warnings are 3396 removed by casting parameters where the calls are made. 3397 + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been 3398 removed from list.c and added as macros in list.h. 3399 + usNumberOfItems has been added to the list structure. This removes the 3400 need for a pointer comparison when checking if a list is empty, and so 3401 is slightly faster. 3402 + Removed the NULL check in vListRemove(). This makes the call faster but 3403 necessitates any application code utilising the list implementation to 3404 ensure NULL pointers are not passed. 3405 + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds 3406 per tick). This is what it always should have been. 3407 3408Changes between V1.01 and V1.2.0 3409 3410 The majority of these changes were made to accommodate the 8bit AVR port. 3411 The scheduler workings have not changed, but some of the data types used 3412 have been made more friendly to an eight bit environment. 3413 3414 Details: 3415 3416 + Changed the version numbering format. 3417 + Added AVR port. 3418 + Split the directory demo\common into demo\common\minimal and 3419 demo\common\full. The files in the full directory are for systems with 3420 a display (currently PC and Flashlite 186 demo's). The files in the 3421 minimal directory are for systems with limited RAM and no display 3422 (currently MegaAVR). 3423 + Minor changes to demo application function prototypes to make more use 3424 of 8bit data types. 3425 + Within the scheduler itself the following functions have slightly 3426 modified declarations to make use of 8bit data types where possible: 3427 xQueueCreate(), 3428 sQueueReceive(), 3429 sQUeueReceive(), 3430 usQueueMessageWaiting(), 3431 sQueueSendFromISR(), 3432 sSemaphoreTake(), 3433 sSemaphoreGive(), 3434 sSemaphoreGiveFromISR(), 3435 sTaskCreate(), 3436 sTaskMoveFromEventList(). 3437 3438 Where the return type has changed the function name has also changed in 3439 accordance with the naming convention. For example 3440 usQueueMessageWaiting() has become ucQueueMessageWaiting(). 3441 + The definition tskMAX_PRIORITIES has been moved from task.h to 3442 portmacro.h and renamed portMAX_PRIORITIES. This allows different 3443 ports to allocate a different maximum number of priorities. 3444 + By default the trace facility is off, previously USE_TRACE_FACILITY 3445 was defined. 3446 + comtest.c now uses a pseudo random delay between sends. This allows for 3447 better testing as the interrupts do not arrive at regular intervals. 3448 + Minor change to the Flashlite serial port driver. The driver is written 3449 to demonstrate the scheduler and is not written to be efficient. 3450 3451 3452 3453Changes between V1.00 and V1.01 3454 3455 These changes improve the ports. The scheduler itself has not changed. 3456 3457 Improved context switch mechanism used when performing a context 3458 switch from an ISR (both the tick ISR and the serial comms ISR's within 3459 the demo application). The new mechanism is faster and uses less stack. 3460 3461 The assembler file portasm.asm has been replaced by a header file 3462 portasm.h. This includes a few assembler macro definitions. 3463 3464 All saving and restoring of registers onto/off of the stack is now handled 3465 by the compiler. This means the initial stack setup for a task has to 3466 mimic the stack used by the compiler, which is different for debug and 3467 release builds. 3468 3469 Slightly changed the operation of the demo application, details below. 3470 3471 Details: 3472 3473 + portSWITCH_CONTEXT() replaced by vPortFirstContext(). 3474 + pxPortInitialiseStack() modified to replicate the stack used by the 3475 compiler. 3476 + portasm.asm file removed. 3477 + portasm.h introduced. This contains macro definitions for 3478 portSWITCH_CONTEXT() and portFIRST_CONTEXT(). 3479 + Context switch from ISR now uses the compiler generated interrupt 3480 mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving 3481 the save/restore to compiler generated code. 3482 + Calls to taskYIELD() during ISR's have been replaced by calling the 3483 simpler and faster portSWITCH_CONTEXT(). 3484 + The Flashlite 186 port now uses 186 instruction set (used to use 80x86 3485 instructions only). 3486 + The blocking queue tasks within the demo application did not operate 3487 quite as described. This has been corrected. 3488 + The priority of the comtest Rx task within the demo application has been 3489 lowered. Received characters are now processed (read from the queue) at 3490 the idle priority, allowing low priority tasks to run evenly at times of 3491 a high communications overhead. 3492 + Prevent the call to kbhit() in main.c for debug builds as the debugger 3493 seems to have problems stepping over the call. This if for the PC port 3494 only. 3495