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3058 lines
150 KiB
Plaintext
3058 lines
150 KiB
Plaintext
Documentation and download available at https://www.FreeRTOS.org/
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Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022
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+ Updating the version in the manifest.yml file to be accurate.
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Changes between FreeRTOS V10.4.6 and FreeRTOS V10.5.0 released September 16 2022
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+ ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that
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already independently gained the ability to execute injected code to
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read from or write to arbitrary addresses by passing a negative argument
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as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or
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vTaskSetThreadLocalStoragePointer respectively. A check has been added to
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ensure that passing a negative argument as the xIndex parameter does not
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cause arbitrary read or write.
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We thank Certibit Consulting, LLC for reporting this issue.
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+ ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task
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to invoke any function with privilege by passing it as a parameter to
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MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate,
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MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate
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and MPU_xTaskCreateStatic have been updated to only allow creation of
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unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and
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MPU_xTimerPendFunctionCall APIs have been removed.
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We thank Huazhong University of Science and Technology for reporting
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this issue.
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+ ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that
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already independently gained the ability to execute injected code to
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achieve further privilege escalation by branching directly inside a
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FreeRTOS MPU API wrapper function with a manually crafted stack frame.
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The local stack variable `xRunningPrivileged` has been removed so that
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a manually crafted stack frame cannot be used for privilege escalation
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by branching directly inside a FreeRTOS MPU API wrapper.
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We thank Certibit Consulting, LLC, Huazhong University of Science and
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Technology and the SecLab team at Northeastern University for reporting
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this issue.
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+ ARMv7-M MPU ports: It was possible to configure overlapping memory
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protection unit (MPU) regions such that an unprivileged task could access
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privileged data. The kernel now uses highest numbered MPU regions for
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kernel protections to prevent such MPU configurations.
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We thank the SecLab team at Northeastern University for reporting this
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issue.
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+ Add support for ARM Cortex-M55.
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+ Add support for ARM Cortex-M85. Contributed by @gbrtth.
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+ Add vectored mode interrupt support to the RISC-V port.
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+ Add support for RV32E extension (Embedded Profile) in RISC-V GCC port.
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Contributed by @Limoto.
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+ Heap improvements:
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- Add a check to heap_2 to track if a memory block is allocated to
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the application or not. The MSB of the size field is used for this
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purpose. The same check already exists in heap_4 and heap_5. This
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check prevents double free errors.
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- Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4
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and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using
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vPortFree() is automatically cleared to zero.
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- Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same
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signature as the standard library calloc function.
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- Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by
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@Octaviarius.
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+ Add the ability to override send and receive completed callbacks for each
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instance of a stream buffer or message buffer. Earlier there could be
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one send and one receive callback for all instances of stream and message
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buffers. Having separate callbacks per instance allows different message
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and stream buffers to be used differently - for example, some for inter core
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communication and others for same core communication.
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The feature can be controlled by setting the configuration option
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configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1,
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APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback()
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(and likewise APIs for message buffer) can be used to create a stream buffer
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or message buffer instance with application provided callback overrides. When
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the option is set to 0, then the default callbacks as defined by
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sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain
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backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
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functionality is currently not supported for MPU enabled ports.
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+ Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it
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is not tied to newlib and can be used with other c-runtime libraries also.
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The default behavior for newlib support is kept same for backward
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compatibility.
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+ Add support to build and link FreeRTOS using CMake build system. Contributed
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by @yhsb2k.
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+ Add support to generate Software Bill of Materials (SBOM) for every release.
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+ Add support for 16 MPU regions to the GCC Cortex-M33 ports.
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+ Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports.
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The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND
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when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core.
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+ Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support
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the case when the SysTick timer is not clocked from the same source as the CPU.
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+ Add hardware stack protection support to MicroBlazeV9 port. This ensures that
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the CPU immediately raises Stack Protection Violation exception as soon as any
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task violates its stack limits. Contributed by @uecasm.
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+ Introduce the configUSE_MINI_LIST_ITEM configuration option. When this
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option is set to 1, ListItem_t and MiniLitItem_t remain separate types.
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However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t
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are both typedefs of the same struct xLIST_ITEM. This addresses some issues
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observed when strict-aliasing and link time optimization are enabled.
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To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1.
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+ Simplify prvInitialiseNewTask to memset newly allocated TCB structures
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to zero, and remove code that set individual structure members to zero.
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+ Add prototype for prvPortYieldFromISR to the POSIX port so that it builds
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without any warning with -Wmissing-prototypes compiler option.
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+ Add top of stack and end of stack to the task info report obtained using
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vTaskGetInfo(). Contributed by @shreyasbharath.
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+ Add a cap to the cRxLock and cTxLock members of the queue data structure.
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These locks count the number items received and sent to the queue while
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the queue was locked. These are later used to unblock tasks waiting on
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the queue when the queue is unlocked. This PR caps the values of the
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cRxLock and cTxLock to the number of tasks in the system because we cannot
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unblock more tasks than there are in the system. Note that the same assert
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could still be triggered is the application creates more than 127 tasks.
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+ Changed uxAutoReload parameter in timer functions to xAutoReload. The
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type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
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The new function xTimerGetAutoReload() provides the auto-reload state as
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a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
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original UBaseType_t return value.
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+ Fix support for user implementations of tickless idle that call
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vTaskStepTick() with xExpectedIdleTime ticks to step. The new code
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ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick()
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instead of inside vTaskStepTick(). This fixes the typical case where a task
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wakes up one tick late and a rare case assertion failure when xTickCount\
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rolls over. Contributed by @jefftenney.
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+ Fix deadlock in event groups when pvPortMalloc and vPortFree functions
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are protected with a mutex. Contributed by @clemenskresser.
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+ Fix a warning in tasks.c when compiled with -Wduplicated-branches
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GCC option. Contributed by @pierrenoel-bouteville-act.
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+ Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION
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is set to zero. Contributed by @rdpoor.
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+ Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly
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copies length on big endian platforms too.
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+ Remove the need for INCLUDE_vTaskSuspend to be set to 1
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when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv.
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+ Update the RL78 IAR port to the latest version of IAR which uses the
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industry standard ELF format as opposed to earlier UBROF object format.
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Contributed by @felipe-iar.
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+ Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This
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allows the PIC24 family of 16 bit processors to read the tick count without
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a critical section when the tick count is also 16 bits.
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+ Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when
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Link Time Optimization is enabled. Contributed by @niniemann.
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+ Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform.
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Contributed by @cmdrf.
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+ Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is
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8-byte aligned. This fixes the unaligned access exception. Contributed
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by @Atomar25.
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+ Fix Interrupt Handler Register Function and Exception Process in NiosII
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Port. Contributed by @ghost.
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+ Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore
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interrupt acknowledge register. This ensures that the SRE port behavior
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matches the Memory Mapped IO port. Contributed by @sviaunxp.
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+ Update the uncrustify config file to match the version of the uncrustify
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used in the CI Action. Also, pin the version of uncrustify in CI. Contributed
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by @swaldhoer.
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Changes between FreeRTOS V10.4.5 and FreeRTOS V10.4.6 released November 12 2021
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+ ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the
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internal functions xPortRaisePrivilege and vPortResetPrivilege by changing
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them to macros.
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+ Introduce a new config configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which
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enables developers to prevent critical sections from unprivileged tasks.
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It defaults to 1 for backward compatibility. Application should set it to
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0 to disable critical sections from unprivileged tasks.
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Changes between FreeRTOS V10.4.4 and FreeRTOS V10.4.5 released September 10 2021
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See https://www.FreeRTOS.org/FreeRTOS-V10.4.5.html
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+ Introduce configRUN_TIME_COUNTER_TYPE which enables developers to define
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the type used to hold run time statistic counters. Defaults to uint32_t
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for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type
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(for example, uint64_t) in FreeRTOSConfig.h to override the default.
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+ Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing
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ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns
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the raw run time counter value, the new function returns the percentage of
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the entire run time consumed by the idle task. Note the amount of idle
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time is only a good measure of the slack time in a system if there are no
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other tasks executing at the idle priority, tickless idle is not used, and
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configIDLE_SHOULD_YIELD is set to 0.
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+ ARMv8-M secure-side port: Tasks that call secure functions from the
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non-secure side of an ARMv8-M MCU (ARM Cortex-M23 and Cortex-M33) have two
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contexts - one on the non-secure side and one on the secure-side. Previous
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versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures
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that reference secure-side contexts at run time. Now the structures are
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allocated statically at compile time. The change necessitates the
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introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant,
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which sets the number of statically allocated secure contexts.
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secureconfigMAX_SECURE_CONTEXTS defaults to 8 if left undefined.
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Applications that only use FreeRTOS code on the non-secure side, such as
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those running third-party code on the secure side, are not affected by
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this change.
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Changes between FreeRTOS V10.4.3 and FreeRTOS V10.4.4 released May 28 2021
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+ Minor performance improvements to xTaskIncrementTick() achieved by providing
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macro versions of uxListRemove() and vListInsertEnd().
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+ Minor refactor of timers.c that obsoletes the need for the
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tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to
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post to its own event queue. A consequence of this change is that auto-
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reload timers that miss their intended next execution time will execute
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again immediately rather than executing again the next time the command
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queue is processed. (thanks Jeff Tenney).
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+ Fix a race condition in the message buffer implementation. The
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underlying cause was that length and data bytes are written and read as
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two distinct operations, which both modify the size of the buffer. If a
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context switch occurs after adding or removing the length bytes, but
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before adding or removing the data bytes, then another task may observe
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the message buffer in an invalid state.
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+ The xTaskCreate() and xTaskCreateStatic() functions accept a task priority
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as an input parameter. The priority has always been silently capped to
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(configMAX_PRIORITIES - 1) should it be set to a value above that priority.
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Now values above that priority will also trigger a configASSERT() failure.
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+ Replace configASSERT( pcQueueName ) in vQueueAddToRegistry with a NULL
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pointer check.
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+ Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration
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constant that enables the stack allocated to tasks to come from a heap other
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than the heap used by other memory allocations. This enables stacks to be
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placed within special regions, such as fast tightly coupled memory.
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+ If there is an attempt to add the same queue or semaphore handle to the
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queue registry more than once then prior versions would create two separate
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entries. Now if this is done the first entry is overwritten rather than
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duplicated.
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+ Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from
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their respective repositories.
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+ Correct a build error in the POSIX port.
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+ Additional minor formatting updates, including replacing tabs with spaces
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in more files.
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+ Other minor updates include adding additional configASSERT() checks and
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correcting and improving code comments.
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+ Go look at the smp branch to see the progress towards the Symetric
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Multiprocessing Kernel. https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp
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Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020
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V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html
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See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
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+ Changes to improve robustness and consistency for buffer allocation in
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the heap, queue and stream buffer.
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+ The following functions can no longer be called from unprivileged code.
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- xTaskCreateRestricted
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- xTaskCreateRestrictedStatic
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- vTaskAllocateMPURegions
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Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020
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See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
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+ Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked
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between the first task starting to execute and that task making
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a FreeRTOS API call.
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+ Introduced xTaskDelayUntil(), which is functionally equivalent to
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vTaskDelayUntil(), with the addition of returning a value to
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indicating whether or not the function placed the calling task into
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the Blocked state or not.
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+ Update WolfSSL to 4.5.0 and add the FIPS ready demo.
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+ Add support for ESP IDF 4.2 to ThirdParty Xtensa port.
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+ Re-introduce uxTopUsedPriority to support OpenOCD debugging.
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+ Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules.
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+ Various general maintenance and improvements to MISRA compliance.
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Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020
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See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
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+ Fixed an incorrectly named parameter that prevented the
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ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the
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test code that prevented this error causing test failures.
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Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020
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See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
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Major enhancements:
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+ Task notifications: Prior to FreeRTOS V10.4.0 each created task had a
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single direct to task notification. From FreeRTOS V10.4.0 each task has
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an array of notifications. The direct to task notification API has been
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extended with API functions postfixed with "Indexed" to enable the API to
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operate on a task notification at any array index. See
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https://www.freertos.org/RTOS-task-notifications.html for more information.
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+ Kernel ports that support memory protection units (MPUs): The ARMv7-M and
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ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M
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MPU ports now support devices that have 16 MPU regions, have the ability
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to override default memory attributes for privileged code and data
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regions, and have the ability to place the FreeRTOS kernel code outside of
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the Flash memory. The ARMv8-M MPU ports now support tickless idle mode.
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See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html
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for more information.
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Additional noteworthy updates:
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+ Code formatting is now automated to facilitate the increase in
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collaborative development in Git. The auto-formated code is not identical
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to the original formatting conventions. Most notably spaces are now used
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in place of tabs.
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+ The prototypes for callback functions (those that start with "Application",
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such as vApplicationStackOverflowHook()) are now in the FreeRTOS header
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files, removing the need for application writers to add prototypes into
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the C files in which they define the functions.
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+ New Renesas RXv3 port layer.
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+ Updates to the Synopsys ARC code, including support for EM and HS cores,
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and updated BSP.
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+ Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in
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the same way the Windows port layer enables FreeRTOS to run on Windows
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hosts.
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+ Many other minor optimisations and enhancements. For full details
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see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/main
|
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|
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|
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Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020
|
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See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html
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+ ./FreeRTOS-Labs directory was removed from this file. The libraries it
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contained are now available as a separate download.
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Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020
|
||
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See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html
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New and updated kernel ports:
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+ Added RISC-V port for the IAR compiler.
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+ Update the Windows simulator port to use a synchronous object to prevent
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a user reported error whereby a task continues to run for a short time
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after being moved to the Blocked state. Note we were not able to
|
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replicate the reported issue and it likely depends on your CPU model.
|
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+ Correct alignment of stack top in RISC-V port when
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configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes
|
||
the interrupt stack to be statically allocated.
|
||
+ The RISC-V machine timer compare register can now be for any HART, whereas
|
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previously it was always assumed FreeRTOS was running on HART 0.
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+ Update the sequence used to update the 64-bit machine timer
|
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compare register on 32-bit cores to match that suggested in RISC-V
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documentation.
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+ Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler
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ports.
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+ Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to
|
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match that of the ARMv8-M ports whereby privilege escalations can only
|
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originate from within the kernel's own memory segment. Added
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configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant.
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+ Update existing MPU ports to correctly disable the MPU before it is
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updated.
|
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+ Added contributed port and demo application for a T-Head (formally C-SKY)
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microcontroller.
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|
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New API functions:
|
||
|
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+ Added the vPortGetHeapStats() API function which returns information on
|
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the heap_4 and heap_5 state.
|
||
+ Added xTaskCatchUpTicks(), which corrects the tick count value after the
|
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application code has held interrupts disabled for an extended period.
|
||
+ Added xTaskNotifyValueClear() API function.
|
||
+ Added uxTimerGetReloadMode() API function.
|
||
|
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Other miscellaneous changes:
|
||
+ Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it
|
||
has the same type as variables with which it is compared to, and therefore
|
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also renamed the variable xPendingTicks.
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+ Update Keil projects that use the MPU so memory regions come from linker
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||
script (scatter file) variables instead of being hard coded.
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||
+ Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR
|
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compilers.
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+ Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo.
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||
+ Added LPC54018 MPU demo.
|
||
+ Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter().
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Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019:
|
||
|
||
+ Added ARM Cortex-M23 port layer to complement the pre-existing ARM
|
||
Cortex-M33 port layer.
|
||
+ The RISC-V port now automatically switches between 32-bit and 64-bit
|
||
cores.
|
||
+ Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering
|
||
when GCC link time optimisation is used.
|
||
+ Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and
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prevent the secure side builds from removing symbols required by the
|
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non secure side build.
|
||
+ Introduced the portARCH_NAME to provide additional data to select semi-
|
||
automated build environments.
|
||
+ Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before
|
||
updating the MPU registers.
|
||
|
||
+ Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo.
|
||
+ Added LPC55S69 ARM Cortex-M33 demo.
|
||
+ Added an STM32 dual core AMP stress test demo.
|
||
|
||
|
||
Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019:
|
||
|
||
+ Added GCC RISC-V MCU port with three separate demo applications.
|
||
+ Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports
|
||
with Keil simulator demo.
|
||
+ Update the method used to detect if a timer is active. Previously the
|
||
timer was deemed to be inactive if it was not referenced from a list.
|
||
However, when a timer is updated it is temporarily removed from, then
|
||
re-added to a list, so now the timer's active status is stored separately.
|
||
+ Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and
|
||
xTaskGetApplicationTaskTagFromISR() API functions.
|
||
+ Updated third party Xtensa port so it is MIT licensed.
|
||
+ Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas
|
||
compiler RX600v2 port to enable switching between platform.h and
|
||
iodefine.h includes within that port's port.c file.
|
||
+ Removed the 'FromISR' functions from the MPU ports as ISRs run privileged
|
||
anyway.
|
||
+ Added uxTaskGetStackHighWaterMark2() function to enable the return type to
|
||
be changed without breaking backward compatibility.
|
||
uxTaskGetStackHighWaterMark() returns a UBaseType_t as always,
|
||
uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the
|
||
user to determine the return type.
|
||
+ Fixed issues in memory protected ports related to different combinations
|
||
of static memory only and dynamic memory only builds. As a result the
|
||
definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more
|
||
complex and was moved to FreeRTOS.h with a table explaining its definition.
|
||
+ Added a 'get task tag from ISR' function.
|
||
+ Change the method used to determine if a timer is active or not from just
|
||
seeing if it is referenced from the active timer list to storing its
|
||
active state explicitly. The change prevents the timer reporting that it
|
||
is inactive while it is being moved from one list to another.
|
||
+ The pcName parameter passed into the task create functions can be NULL,
|
||
previously a name had to be provided.
|
||
+ When using tickless idle, prvResetNextTaskUnblockTime() is now only called
|
||
in xTaskRemoveFromEventList() if the scheduler is not suspended.
|
||
+ Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for
|
||
FreeRTOS ports that run on architectures that have stack limit registers.
|
||
|
||
|
||
Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018
|
||
|
||
+ Reverted a few structure name changes that broke several kernel aware
|
||
debugger plug-ins.
|
||
+ Updated to the latest trace recorder code.
|
||
+ Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code.
|
||
+ Reverted moving some variables from file to function scope as doing so
|
||
broke debug scenarios that require the static qualifier to be removed.
|
||
|
||
Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018
|
||
|
||
FreeRTOS Kernel Changes:
|
||
|
||
+ Update lint checked MISRA compliance to use the latest MISRA standard, was
|
||
previously using the original MISRA standard.
|
||
+ Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be
|
||
unique types instead of void pointers, improving type safety. (this was
|
||
attempted some years back but had to be backed out due to bugs in some
|
||
debuggers). Note this required the pvContainer member of a ListItem_t
|
||
struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if
|
||
this causes an issue.
|
||
+ Added configUSE_POSIX_ERRNO to enable per task POSIX style errno
|
||
functionality in a more user friendly way - previously the generic thread
|
||
local storage feature was used for this purpose.
|
||
+ Added Xtensa port and demo application for the XCC compiler.
|
||
+ Changed the implementation of vPortEndScheduler() for the Win32 port to
|
||
simply call exit( 0 ).
|
||
+ Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect
|
||
the read modify write access to an internal Microblaze register.
|
||
+ Fix minor niggles when the MPU is used with regards to prototype
|
||
differences, static struct size differences, etc.
|
||
+ The usStackHighWaterMark member of the TaskStatus_t structure now has type
|
||
configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been
|
||
made when the configSTACK_DEPTH_TYPE type (which gets around the previous
|
||
16-bit limit on stack size specifications) was introduced.
|
||
+ Added the xMessageBufferNextLengthBytes() API function and likewise stream
|
||
buffer equivalent.
|
||
+ Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes
|
||
used to hold the length of a message in the message buffer to be reduced.
|
||
configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example,
|
||
messages can never be more than 255 bytes it could be set to uint8_t,
|
||
saving 3 bytes each time a message is written into the message buffer
|
||
(assuming sizeof( size_t ) is 4).
|
||
+ Updated the StaticTimer_t structure to ensure it matches the size of the
|
||
Timer_t structure when the size of TaskFunction_t does not equal the size
|
||
of void *.
|
||
+ Update various Xilinx demos to use 2018.1 version of the SDK tools.
|
||
+ Various updates to demo tasks to maintain test coverage.
|
||
+ FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by
|
||
FreeRTOS+TCP, which was brought into the main download in FreeRTOS
|
||
V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and
|
||
FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP.
|
||
|
||
FreeRTOS+TCP Changes:
|
||
|
||
+ Multiple security improvements and fixes in packet parsing routines, DNS
|
||
caching, and TCP sequence number and ID generation.
|
||
+ Disable NBNS and LLMNR by default.
|
||
+ Add TCP hang protection by default.
|
||
|
||
We thank Ori Karliner of Zimperium zLabs Team for reporting these issues.
|
||
|
||
|
||
Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017
|
||
|
||
+ Fix position of "#if defined( __cplusplus )" in stream_buffer.h.
|
||
+ Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in
|
||
mpu_prototypes.h.
|
||
+ Correct formatting in vTaskList() helper function when it prints the state
|
||
of the currently executing task.
|
||
+ Introduce #error if stream_buffer.c is built without
|
||
configUSE_TASK_NOTIFICATIONS set to 1.
|
||
+ Update FreeRTOS+TCP to V2.0.0
|
||
- Improve the formatting of text that displays the available netword
|
||
interfaces when FreeRTOS+TCP is used on Windows with WinPCap.
|
||
- Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user
|
||
definable callback to execute when data arrives on a socket.
|
||
|
||
Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0:
|
||
|
||
The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license
|
||
|
||
New Features and components:
|
||
|
||
+ Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html
|
||
+ Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html
|
||
+ Move FreeRTOS+TCP into the main repository, along with the basic Win32
|
||
TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator.
|
||
|
||
New ports or demos:
|
||
|
||
+ Added demo for TI SimpleLink CC3220 MCU.
|
||
+ Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx
|
||
MCUs.
|
||
+ Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation
|
||
in the MPU port.
|
||
|
||
Fixes or enhancements:
|
||
|
||
+ Cortex-M ports push additional register prior to calling
|
||
vTaskSwitchContext to ensure 8-byte alignment is maintained. Only
|
||
important if a user defined tick hook function performs an operation that
|
||
requires 8-byte alignment.
|
||
+ Optimisations to the implementation of the standard tickless idle mode on
|
||
Cortex-M devices.
|
||
+ Improvements to the Win32 port including using higher priority threads.
|
||
+ Ensure interrupt stack alignment on PIC32 ports.
|
||
+ Updated GCC TriCore port to build with later compiler versions.
|
||
+ Update mpu_wrappers.c to support static allocation.
|
||
+ The uxNumberOfItems member of List_t is now volatile - solving an issue
|
||
when the IAR compiler was used with maximum optimization.
|
||
+ Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start
|
||
address is saved into each task's TCB (assuming stack grows down).
|
||
+ Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined
|
||
functionality, and user defined initialisation, to be added to FreeRTOS's
|
||
tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is
|
||
set to 1 a user provided header file called freertos_task_c_additions.h
|
||
will be included at the bottom of tasks.c. Functions defined in that
|
||
header file can call freertos_tasks_c_additions_init(), which in turn
|
||
calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined.
|
||
FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h.
|
||
+ Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be
|
||
defined by a user in FreeRTOSConfig.h. The macro is called before
|
||
assessing whether to enter tickless idle mode or not. If the macro sets
|
||
x to zero then tickless idle mode will not be entered. This allows users
|
||
to abort tickless idle mode entry before the tickless idle function is
|
||
even called - previously it was only possible to abort from within the
|
||
tickless idle function itself.
|
||
+ Added configPRINTF(), which can be defined by users to allow all libraries
|
||
to use the same print formatter.
|
||
+ Introduced configMAX() and configMIN() macros which default to standard
|
||
max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the
|
||
application writer defines the same macros in FreeRTOSConfig.h.
|
||
+ Corrected the definition of StaticTask_t in the case where
|
||
INCLUDE_xTaskAbortDelay is set to 1.
|
||
+ Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of
|
||
which can be defined to strings in FreeRTOSConfig.h to change the default
|
||
names of the timer service and idle tasks respectively.
|
||
+ Only fill the stack of a newly created task with a known value if stack
|
||
checking, or high water mark checking/viewing, is in use - removing the
|
||
dependency on memset() in other cases.
|
||
+ Introduced xTaskCreateRestrictedStatic() so static allocation can be used
|
||
with the MPU.
|
||
+ Ensure suspended tasks cannot be unsuspended by a received task
|
||
notification.
|
||
+ Fix race condition in vTaskSetTimeOutState().
|
||
+ Updated trace recorder files to the latest version.
|
||
|
||
Changes since FreeRTOS V9.0.0:
|
||
|
||
+ Priority dis-inheritance behaviour has been enhanced in the case where a
|
||
task that attempted to take a mutex that was held by a lower priority task
|
||
timed out before it was able to obtain the mutex (causing the task that
|
||
holds the mutex to have its priority raised, then lowered again, in
|
||
accordance with the priority inheritance protocol).
|
||
+ Split the overloaded xQueueGenericReceive() function into three separate
|
||
dedicated functions.
|
||
+ Allow the default human readable text names given to the Idle and Timer
|
||
tasks to be overridden by defining the configIDLE_TASK_NAME and
|
||
configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h.
|
||
+ Introduced configINITIAL_TICK_COUNT to allow the tick count to take a
|
||
value of than than 0 when the system boots. This can be useful for
|
||
testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also
|
||
be used to test frequent tick overflows.
|
||
+ Ensure the Cortex-M SysTick count is cleared to zero before starting the
|
||
first task.
|
||
+ Add configASSERT() into ARM Cortex-M ports to check the number of priority
|
||
bit settings.
|
||
+ Clear the 'control' register before starting ARM Cortex-M4F ports in case
|
||
the FPU is used before the scheduler is started. This just saves a few
|
||
bytes on the main stack as it prevents space being left for a later save
|
||
of FPU registers.
|
||
+ Added xSemaphoreGetMutexHolderFromISR().
|
||
+ Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports.
|
||
+ Introduced configSTACK_DEPTH_TYPE to allow users to change the type used
|
||
to specify the stack size when using xTaskCreate(). For historic reasons,
|
||
when FreeRTOS was only used on small MCUs, the type was set to uint16_t,
|
||
but that can be too restrictive when FreeRTOS is used on larger
|
||
processors. configSTACK_DEPTH_TYPE defaults to uint16_t.
|
||
xTaskCreateStatic(), being a newer function, used a uint32_t.
|
||
+ Increase the priority of the Windows threads used by the Win32 port. As
|
||
all the threads run on the same core, and the threads run with very high
|
||
priority, there is a risk that the host will become unresponsive, so also
|
||
prevent the Windows port executing on single core hosts.
|
||
|
||
Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016:
|
||
|
||
See https://www.FreeRTOS.org/FreeRTOS-V9.html
|
||
|
||
RTOS kernel updates:
|
||
|
||
+ The prototype of the new xTaskCreateStatic() API function was modified to
|
||
remove a parameter and improve compatibility with other new
|
||
"CreateStatic()" API functions. The stack size parameter in
|
||
xTaskCreateStatic() is now uint32_t, which changes the prototype of the
|
||
callback functions. See the following URL:
|
||
https://www.FreeRTOS.org/xTaskCreateStatic.html
|
||
+ GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT
|
||
constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is
|
||
automatically given a floating point (FPU) context.
|
||
+ GCC ARM Cortex-A port: It is now possible to automatically save and
|
||
restore all floating point (FPU) registers on entry to each potentially
|
||
nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of
|
||
vApplicationIRQHandler().
|
||
+ All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task
|
||
entry address placed onto the stack of a task when the task is created for
|
||
strict compliance with the ARM Cortex-M3/4/7 architecture documentation
|
||
(no noticeable effect unless using the QMEU emulator).
|
||
+ Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only
|
||
supported on ARM Cortex-M3.
|
||
+ ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0
|
||
API (other than static object creation) and added the
|
||
FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to
|
||
demonstrate how to use the updated MPU port.
|
||
+ All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the
|
||
default low power tickless implementation.
|
||
+ All ARM Cortex-M0 ports: Prevent an item being left on the stack of the
|
||
first task that executes.
|
||
+ Win32 ports: Reduce the amount of stack used and change the way Windows
|
||
threads are deleted to increase the maximum execution time.
|
||
+ Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the
|
||
documentation page for this port before use.
|
||
+ MPS430X IAR port: Update to be compatible with the latest EW430 tools
|
||
release.
|
||
+ IAR32 GCC port: Correct vPortExitCritical() when
|
||
configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY.
|
||
+ For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(),
|
||
xTaskGetTaskHandle() now has the alias xTaskGetHandle() and
|
||
pcQueueGetQueueName() now has an alias pcQueueGetName().
|
||
+ Fix various errors in comments and compiler warnings.
|
||
|
||
Demo application updates:
|
||
|
||
+ Update Atmel Studio projects to use Atmel Studio 7.
|
||
+ Update Xilinx SDK projects to use the 2016.1 version of the SDK.
|
||
+ Remove dependency on legacy IO libraries from the PIC32 demos.
|
||
+ Move the Xilinx UltraScale Cortex-R5 demo into the main distribution.
|
||
+ Update the MSP432 libraries to the latest version.
|
||
+ Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC
|
||
compilers.
|
||
+ Move the Atmel SAMA5D2 demo into the main distribution.
|
||
|
||
Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2)
|
||
released March 30 2016:
|
||
|
||
NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details
|
||
|
||
+ The functions that create RTOS objects using static memory allocation have
|
||
been simplified and will not revert to using dynamic allocation if a
|
||
buffer is passed into a function as NULL.
|
||
+ Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to
|
||
allow a FreeRTOS application to be built without a heap even being being
|
||
defined. The Win32 example located in the
|
||
/FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as
|
||
a reference for projects that do not include a FreeRTOS heap.
|
||
+ Minor run-time optimisations.
|
||
+ Two new low power tickless implementations that target Silicon Labs EFM32
|
||
microcontrollers.
|
||
+ Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions.
|
||
|
||
Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1)
|
||
released February 19 2016:
|
||
|
||
RTOS Kernel Updates:
|
||
|
||
+ Major new feature - tasks, semaphores, queues, timers and event groups can
|
||
now be created using statically allocated memory, so without any calls to
|
||
pvPortMalloc().
|
||
+ Major new features - Added the xTaskAbortDelay() API function which allows
|
||
one task to force another task to immediately leave the Blocked state,
|
||
even if the event the blocked task is waiting for has not occurred, or the
|
||
blocked task's timeout has not expired.
|
||
+ Updates necessary to allow FreeRTOS to run on 64-bit architectures.
|
||
+ Added vApplicationDaemonTaskStartupHook() which executes when the RTOS
|
||
daemon task (which used to be called the timer service task) starts
|
||
running. This is useful if the application includes initialisation code
|
||
that would benefit from executing after the scheduler has been started.
|
||
+ Added the xTaskGetTaskHandle() API function, which obtains a task handle
|
||
from the task's name. xTaskGetTaskHandle() uses multiple string compare
|
||
operations, so it is recommended that it is called only once per task.
|
||
The handle returned by xTaskGetTaskHandle() can then be stored locally for
|
||
later re-use.
|
||
+ Added the pcQueueGetQueueName() API function, which obtains the name of
|
||
a queue from the queue's handle.
|
||
+ Tickless idling (for low power applications) can now also be used when
|
||
configUSE_PREEMPTION is 0.
|
||
+ If one task deletes another task, then the stack and TCB of the deleted
|
||
task is now freed immediately. If a task deletes itself, then the stack
|
||
and TCB of the deleted task are freed by the Idle task as before.
|
||
+ If a task notification is used to unblock a task from an ISR, but the
|
||
xHigherPriorityTaskWoken parameter is not used, then pend a context switch
|
||
that will then occur during the next tick interrupt.
|
||
+ Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP
|
||
settings, which previously was only used by heap_4.c.
|
||
configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare
|
||
the array that will be used as the FreeRTOS heap, and in-so-doing, place
|
||
the heap at a specific memory location.
|
||
+ TaskStatus_t structures are used to obtain details of a task.
|
||
TaskStatus_t now includes the bae address of the task's stack.
|
||
+ Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t
|
||
structure that contains information about a single task. Previously this
|
||
information could only be obtained for all the tasks at once, as an array
|
||
of TaskStatus_t structures.
|
||
+ Added the uxSemaphoreGetCount() API function.
|
||
+ Replicate previous Cortex-M4F and Cortex-M7 optimisations in some
|
||
Cortex-M3 port layers.
|
||
|
||
Demo Application Updates:
|
||
|
||
Further demo applications will be added prior to the final FreeRTOS V9
|
||
release.
|
||
|
||
+ Updated SAM4L Atmel Studio project to use Atmel Studio 7.
|
||
+ Added ARM Cortex-A53 64-bit port.
|
||
+ Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx
|
||
Ultrascale MPSoC.
|
||
+ Added Cortex-M7 SAME70 GCC demo.
|
||
+ Added EFM32 Giant and Wonder Gecko demos.
|
||
|
||
|
||
Changes between V8.2.2 and V8.2.3 released October 16, 2015
|
||
|
||
RTOS kernel updates:
|
||
|
||
+ Fix bug identified in a modification made in V8.2.2 to the software timer
|
||
code that allows tickless low power applications to sleep indefinitely
|
||
when software timers are used.
|
||
+ Simplify and improve efficiency of stack overflow checking.
|
||
+ Add xTaskNotifyStateClear() API function.
|
||
+ New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM
|
||
generic interrupt controller (GIC).
|
||
+ New PIC32MEC14xx port.
|
||
+ Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ
|
||
port.
|
||
+ Zynq7000 port layer now declares the functions that setup and clear the
|
||
tick interrupt as weak symbols so they can be overridden by the
|
||
application, and uses a global XScuGic object so the same object can be
|
||
used by the application code.
|
||
+ Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is
|
||
currently the only port that uses it.
|
||
+ Updates to RL78 and 78K0 IAR port layers to improve support for
|
||
combinations of memory models.
|
||
+ Minor updates to heap_5.c to remove compiler warnings generated by some
|
||
compilers.
|
||
+ License simplifications. See /FreeRTOS/License/license.txt in the
|
||
official distribution.
|
||
|
||
FreeRTOS+ updates:
|
||
|
||
+ Update directory names to use WolfSSL instead of CyaSSL, inline with
|
||
WolfSSL's re-branding.
|
||
+ Update to latest WolfSSL code.
|
||
+ Update to latest FreeRTOS+Trace recorder code.
|
||
+ Add in the FreeRTOS+Trace recorder library required for streaming trace.
|
||
|
||
Demo application changes:
|
||
|
||
+ Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with
|
||
floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231.
|
||
+ General tidy up of spelling and compiler warnings.
|
||
|
||
|
||
Changes between V8.2.1 and V8.2.2 released August 12, 2015
|
||
|
||
RTOS kernel updates:
|
||
|
||
+ Added Intel IA32/x86 32-bit port.
|
||
+ General maintenance.
|
||
+ PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory
|
||
protected systems, have been added to the newer event group and software
|
||
timer functions.
|
||
+ Add the errno definitions used by FreeRTOS+ components into projdefs.h.
|
||
+ Remove the restriction that prevented tick-less idle implementations
|
||
waiting indefinitely when software timers were used in the same
|
||
application.
|
||
+ Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of
|
||
xTaskNotifyAndQuery().
|
||
+ Add additional NOPs to the MSP430X port layers to ensure strict compliance
|
||
with the hardware documentation.
|
||
+ Microblaze port: Added option for port optimised task selection.
|
||
+ Microblaze port: Previously tasks inherited the exception enable state
|
||
at the time the task was created. Now all tasks are created with
|
||
exceptions enabled if the Microblaze design supports exceptions.
|
||
+ Windows port: Add additional safe guards to ensure the correct start up
|
||
sequence and thread switching timing.
|
||
+ Windows port: Improve the implementation of the port optimised task
|
||
selection assembly code.
|
||
+ Update heap_4 and heap_5 to allow use on 64-bit processors.
|
||
+ Simplify the code that creates a queue.
|
||
+ General improved tick-less idle behaviour.
|
||
+ Ensure none of the variables in the common kernel files are initialised to
|
||
anything other than zero.
|
||
+ Correct calculation of xHeapStructSize in heap_4 and heap_5.
|
||
|
||
Demo application updates:
|
||
|
||
+ Added demo project for the new IA32/x86 port that targets the Galileo
|
||
hardware.
|
||
+ Added MSP430FR5969 demos (previously provided as a separate download).
|
||
+ Added FreeRTOS BSP repository for automatic creation of FreeRTOS
|
||
applications in the Xilinx SDK.
|
||
+ Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7)
|
||
+ Update Xilinx SDK projects to use version 2015.2 of the SDK.
|
||
+ Remove Microblaze demos that were using obsolete tools.
|
||
+ Add MSP43FR5969 IAR and CCS demos.
|
||
|
||
FreeRTOS+ Updates:
|
||
|
||
+ Updated FreeRTOS+Trace recorder library, which requires an update to the
|
||
FreeRTOS+Trace application.
|
||
+ Added Reliance Edge source code and demo application. Reliance edge is
|
||
a fail safe transactional file system ideal for applications that require
|
||
file storage, and especially when high reliability is essential.
|
||
+ Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI
|
||
users to place the output buffer at a fixed memory address.
|
||
+ Improve the NetworkInterface.c file provided for the Windows port of
|
||
FreeRTOS+UDP.
|
||
|
||
Changes between V8.2.0 and V8.2.1 released 24th March 2015.
|
||
|
||
RTOS kernel updates:
|
||
|
||
+ Added user definable and flexible thread local storage facility.
|
||
+ Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID()
|
||
function to allow the timer's ID to be used as timer local storage.
|
||
+ Fixed a potential issue related to the use of queue sets from an ISR.
|
||
+ Some updates to the Xilinx Microblaze GCC port.
|
||
+ Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio.
|
||
+ Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a
|
||
minor errata work around. All other ARM Cortex-M7 core revisions should
|
||
use the ARM Cortex-M4F port.
|
||
+ Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0.
|
||
+ Change some data types from uint32_t to size_t in preparation for 64-bit
|
||
Windows port.
|
||
+ Update the PIC32 port to remove deprecation warnings output by the latest
|
||
XC32 compilers.
|
||
+ Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to
|
||
overwrite items in two queues that are part of the same set.
|
||
|
||
Demo application updates:
|
||
|
||
+ Added demo application for TI's ARM Cortex-M4F based MSP432
|
||
microcontroller using IAR, Keil and CCS compilers.
|
||
+ Added demo application for STM32F ARM Cortex-M7 based microcontroller
|
||
using IAR and Keil.
|
||
+ Added demo application for Atmel SAMV71 ARM Cortex-M7 based
|
||
microcontroller using IAR and Keil.
|
||
+ Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and
|
||
runs on the KC705 evaluation board (Kintex FPGA).
|
||
|
||
Changes between V8.1.2 and V8.2.0 released 16th January 2015
|
||
|
||
Changes between release candidate 1 and the official release are restricted
|
||
to maintenance only.
|
||
|
||
Significant RTOS kernel updates:
|
||
|
||
+ MAJOR NEW FEATURE! Task notifications. Please see the following URL for
|
||
details: https://www.FreeRTOS.org/RTOS-task-notifications.html
|
||
+ NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into
|
||
a new header file called FreeRTOS/Source/include/deprecated_definitions.h.
|
||
This header file must be present to build. Note some of the obsolete
|
||
definitions are still used by very old demo application projects.
|
||
|
||
Other RTOS kernel updates:
|
||
|
||
+ Made xSemaphoreGiveFromISR() a function rather than a macro that calls
|
||
xQueueGenericSendFromISR(). This allows for major performance
|
||
enhancements at the expense of some additional code size if both functions
|
||
are used in the same application. NOTE: In most uses cases such use of
|
||
a semaphore can now be replaced with a task notification which is smaller
|
||
and faster still.
|
||
+ The TCB is now always allocated such that the task's stack grows away from
|
||
the TCB (improves debugging of stack overflows as the overflow will not
|
||
overwrite the task's name).
|
||
+ GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance
|
||
enhancements at the cost of a little additional code space).
|
||
+ Queues are now allocated with a single call to pvPortMalloc() which
|
||
allocates both the queue structure and the queue storage area.
|
||
+ Introduced a new critical section macro for reading the tick count that
|
||
defines away to nothing in cases where the width of the tick allows the
|
||
tick count to be read atomically (performance benefits - especially when
|
||
optimisation is on).
|
||
+ Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the
|
||
application writer to provide their own heap array - and in so doing
|
||
control the location of the heap.
|
||
+ Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will
|
||
include known values in both list and list item structures. The values
|
||
are intended to assist debugging. If the values get overwritten then it
|
||
is likely application code has written over RAM used by the kernel.
|
||
+ configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of
|
||
the interrupt control register to detect taskENTER_CRITICAL() being called
|
||
from an interrupt. This has been changed to test all 8 bits.
|
||
+ Introduced uxTaskPriorityGetFromISR().
|
||
+ Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0
|
||
rather than equality to 1, and 2 and 3 are also valid values.
|
||
+ Cortex-A5 GIC-less port no longer passes the address of the interrupting
|
||
peripheral into the interrupt handler.
|
||
+ Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack
|
||
belonging to a task when the task was deleted, even when the stack was
|
||
allocated statically.
|
||
+ Utility (helper) functions that format task statistic information into
|
||
human readable tables now pad task names with spaces to ensure columns
|
||
line up correctly even where task name lengths vary greatly.
|
||
+ Update FreeRTOS+Trace recorder library to version 2.7.0.
|
||
|
||
Demo application updates:
|
||
|
||
+ Added two new standard demo task sets: IntSemTest and TaskNotify.
|
||
+ Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU.
|
||
+ Added demo application for Altera Cyclone V Cortex-A9 MPU.
|
||
+ Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in
|
||
demo tasks for new RTOS features.
|
||
+ Updated Atmel SAM4E and SAM4S demos to include a lot of additional test
|
||
and demo tasks.
|
||
+ Fixed a corner case issue in Atmel SAM4L low power tickless
|
||
implementation, and added button interrupt handling.
|
||
+ Make the interrupt queue tests more tolerant to heave CPU loads.
|
||
+ Updated MSVC FreeRTOS simulator demo to include the latest standard test
|
||
and demo tasks.
|
||
+ Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC
|
||
simulator demo.
|
||
+ Updated all demos that use FreeRTOS+Trace to work with the latest trace
|
||
recorder code.
|
||
|
||
|
||
Changes between V8.1.1 and V8.1.2 released September 2nd 2014
|
||
|
||
Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the
|
||
individual port layers where necessary so it does not affect ports that do
|
||
not support the definition.
|
||
|
||
Changes between V8.1.0 and V8.1.1 released August 29th 2014
|
||
|
||
By popular requests - a minor patch to V8.1.0 to re-instate the ability to
|
||
give a mutex type semaphore (with priority inheritance) from an interrupt
|
||
handler.
|
||
|
||
Changes between V8.0.1 and V8.1.0 released August 26th 2014
|
||
|
||
FreeRTOS scheduler, kernel, demo and test updates:
|
||
|
||
+ Improved the priority inheritance algorithms to assist integration with
|
||
off the shelf middleware that may hold multiple mutexes simultaneously.
|
||
+ Introduce heap_5.c, which is similar to heap_4.c but allows the heap to
|
||
span multiple non-contiguous memory regions.
|
||
+ Updated all Cortex-A9 ports to help trap a couple of common usage errors -
|
||
the first being when a task incorrectly attempts to exit its implementing
|
||
function and the second being when a non interrupt safe API function is
|
||
called from an interrupt.
|
||
+ Update all Cortex-A9 ports to remove obsolete mode switches prior to
|
||
restoring a task context.
|
||
+ configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0.
|
||
+ Update all Cortex-M3/4F ports to trap a non interrupt safe API function
|
||
being called from an interrupt handler.
|
||
+ Simplify the alignment checks in heap_4.c.
|
||
+ Update the MSVC Windows simulator demo to use heap_5.c in place of
|
||
heap_4.c to ensure end users have an example to refer to.
|
||
+ Updated standard demo test code to test the new priority inheritance
|
||
algorithms.
|
||
+ Updated the standard demo tasks to make use of stdint and the FreeRTOS
|
||
specific typedefs that were introduced in FreeRTOS V8.0.0.
|
||
+ Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive
|
||
alternative to pdTICKS_PER_MS - both of which can be used to convert a
|
||
time specified in milliseconds to a time specified in RTOS ticks.
|
||
+ Fix a bug in the Tasking compiler's Cortex-M port that resulted in an
|
||
incorrect value being written to the basepri register. This only effects
|
||
users of the Tasking compiler.
|
||
+ Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP
|
||
example that demonstrates lwIP being used with both its raw and sockets
|
||
interfaces.
|
||
+ Updated the CCS Cortex-R4 port to enable it to be built with the latest
|
||
CCS compiler.
|
||
|
||
New ports and demo applications:
|
||
|
||
+ Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC
|
||
compiler and one for the Renesas compiler. Both demos use e2 studio.
|
||
+ Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced.
|
||
The new port is demonstrated on an Atmel SAMA5D3 XPlained board.
|
||
|
||
FreeRTOS+ component updates:
|
||
|
||
+ Update CyaSSL to the latest version.
|
||
+ Updated the FreeRTOS+ components supplied directly by Real Time Engineers
|
||
Ltd. to make use of stdint and the FreeRTOS specific typedefs that were
|
||
introduced in FreeRTOS V8.0.0.
|
||
+ Rework and simplify the FreeRTOS+FAT SL RAM disk driver.
|
||
|
||
Miscellaneous updates and maintenance:
|
||
|
||
+ Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK
|
||
hardware in place of the previously targeted Renesas internal (not
|
||
publicly available) hardware.
|
||
+ Various other maintenance tasks.
|
||
|
||
|
||
Changes between V8.0.0 and V8.0.1 released 2nd May 2014
|
||
|
||
+ Minor fixes to the event group functionality that was released in V8.0.0.
|
||
The 'clear bits from ISR' functionality is now implemented using a
|
||
deferred interrupt callback instead of a function, and the 'wait bits' and
|
||
'task sync' functions now correctly clear internal control bits before
|
||
returning a value in every possible path through the respective functions.
|
||
+ Ensure the updating of internal control data is protected by a critical
|
||
section after a task is deleted or suspended.
|
||
+ Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file
|
||
when the offset was not a multiple of the sector size.
|
||
+ Ensure Cortex-A9 system registers are only ever accessed as 32-bit values,
|
||
even when only the lest significant byte of the register is implemented.
|
||
|
||
Other updates:
|
||
|
||
+ Updated the XMC4200 IAR project so it links with version 7.x of the IAR
|
||
tools.
|
||
+ Add RL78L1C demo.
|
||
+ Add pcTimerGetName() API function.
|
||
+ Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT
|
||
is defined.
|
||
|
||
Changes between V7.6.0 and V8.0.0 released 19th Feb 2014
|
||
|
||
https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html
|
||
|
||
FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x,
|
||
although a change to the type used to reference character strings may result
|
||
in application code generating a few (easily clearable) compiler warnings
|
||
after the upgrade, and an updated typedef naming convention means use of the
|
||
old typedef names is now discouraged.
|
||
See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full
|
||
information.
|
||
|
||
New features and functionality:
|
||
|
||
+ Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html
|
||
+ Centralised deferred interrupt processing - see
|
||
https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html
|
||
|
||
Other updates:
|
||
|
||
+ Previously, when a task left the Blocked state, a context switch was
|
||
performed if the priority of the unblocked task was greater than or equal
|
||
to the priority of the Running task. Now a context switch is only
|
||
performed if the priority of the unblocked task is greater than the
|
||
priority of the Running task.
|
||
+ New low power tickless demonstration project that targets the ST STM32L
|
||
microcontroller - see
|
||
https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html
|
||
+ Add xPortGetMinimumEverFreeHeapSize() to heap_4.c.
|
||
+ Small change to the tickless low power implementation on the SAM4L to
|
||
ensure the alarm value (compare match value) cannot be set to zero when a
|
||
tickless period is exited due to an interrupt originating from a source
|
||
other than the RTOS tick.
|
||
+ Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse
|
||
resource filters and match the functionality of the MSVC equivalent.
|
||
+ xTaskIsTaskSuspended() is no longer a public function. Use
|
||
eTaskGetState() in its place.
|
||
+ Improved trace macros, including tracing of heap usage.
|
||
+ Remove one level of indirection when accepting interrupts on the PIC32MZ.
|
||
+ Add Cortex-A9 GCC port layer.
|
||
+ Add Xilinx Zynq demo application.
|
||
|
||
|
||
Changes between V7.5.3 and V7.6.0 released 18th November 2013
|
||
|
||
V7.6.0 changes some behaviour when the co-operative scheduler is used (when
|
||
configUSE_PREEMPTION is set to 0). It is important to note that the
|
||
behaviour of the pre-emptive scheduler is unchanged - the following
|
||
description only applies when configUSE_PREEMPTION is set to 0:
|
||
|
||
WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of
|
||
cases) a context switch will now only occur when a task places itself into
|
||
the Blocked state, or explicitly calls taskYIELD(). This differs from
|
||
previous versions, where a context switch would also occur when implicitly
|
||
moving a higher priority task out of the Blocked state. For example,
|
||
previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by
|
||
writing to a queue, then the scheduler would switch to the higher priority
|
||
task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by
|
||
writing to a queue, task B will not start running until task A enters the
|
||
Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not
|
||
set to 0, so the normal pre-emptive scheduler is being used, then task B
|
||
will start running immediately that it is moved out of the Blocked state].
|
||
|
||
Other changes:
|
||
|
||
+ Added a port layer and a demo project for the new PIC32MZ architecture.
|
||
+ Update the PIC32MX port layer to re-introduce some ehb instructions that
|
||
were previously removed, add the ability to catch interrupt stack
|
||
overflows (previously only task stack overflows were trapped), and also
|
||
add the ability to catch an application task incorrectly attempting to
|
||
return from its implementing function.
|
||
+ Make dramatic improvements to the performance of the Win32 simulator port
|
||
layer.
|
||
+ Ensure tasks that are blocked indefinitely report their state as Blocked
|
||
instead of Suspended.
|
||
+ Slight improvement to the Cortex-M4F port layers where previously one
|
||
register was inadvertently being saved twice.
|
||
+ Introduce the xSemaphoreCreateBinary() API function to ensure consistency
|
||
in the semantics of how each semaphore type is created. It is no longer
|
||
recommended to use vSemaphoreCreateBinary() (the version prefixed with a
|
||
'v'), although it will remain in the code for backward compatibility.
|
||
+ Update the Cortex-M0 port layers to allow the scheduler to be started
|
||
without using the SVC handler.
|
||
+ Added a build configuration to the PIC32MX MPLAB X demo project that
|
||
targets the PIC32 USB II starter kit. Previously all the build
|
||
configurations required the Explorer 16 hardware.
|
||
+ Some of the standard demo tasks have been updated to ensure they execute
|
||
correctly with the updated co-operative scheduling behaviour.
|
||
+ Added comprehensive demo for the Atmel SAM4E, including use of
|
||
FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI.
|
||
|
||
FreeRTOS+ Changes:
|
||
|
||
+ Minor maintenance on FreeRTOS+UDP.
|
||
|
||
Changes between V7.5.2 and V7.5.3 released October 14 2013
|
||
|
||
Kernel changes:
|
||
|
||
+ Prior to V7.5.x yields requested from the tick hook would occur in the
|
||
same tick interrupt - revert to that original behaviour.
|
||
+ New API function uxQueueSpacesAvailable().
|
||
+ Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4
|
||
and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that
|
||
attempt to return from their implementing functions (tasks should call
|
||
vTaskDelete( NULL ); if they want to exit).
|
||
+ The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and
|
||
portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable.
|
||
+ Improved behaviour and robustness of the default Cortex-M tickless idle
|
||
behaviour.
|
||
+ Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to
|
||
all Cortex-M4F ports.
|
||
+ Add Cortex-M0 port for Keil.
|
||
+ Updated Cortus port.
|
||
+ Ensure _impure_ptr is initialised before the scheduler is started.
|
||
Previously it was not set until the first context switch.
|
||
|
||
FreeRTOS+ changes:
|
||
|
||
+ Update FreeRTOS+UDP to V1.0.1 - including direct integration of the
|
||
FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction
|
||
to the test that prevents the network event hook being called on the first
|
||
network down event. The FreeRTOS+UDP change history is maintained
|
||
separately.
|
||
+ Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files
|
||
provided in the NXP CMSIS library, then update the interrupts used by the
|
||
LPC18xx demos accordingly.
|
||
+ Replace double quotes (") with single quotes (') in FreeRTOS+CLI help
|
||
strings to ensure the strings can be used with the JSON descriptions used
|
||
in the FreeRTOS+Nabto demos.
|
||
|
||
Demo and miscellaneous changes:
|
||
|
||
+ Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes
|
||
FreeRTOS+CLI
|
||
+ Added a demo for the Infineon Cortex-M0 that can be built with the IAR
|
||
Keil and GCC tools.
|
||
+ Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools,
|
||
with additional build configurations to directly support the XMC4200 and
|
||
XMC4400 devices, in addition to the previously supported XMC4500.
|
||
+ Updated the demo application.
|
||
+ Added additional trace macros traceMALLOC and traceFREE to track heap
|
||
usage.
|
||
|
||
Changes between V7.5.0 and V7.5.2 released July 24 2013
|
||
|
||
V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function
|
||
compatible with the STM32 standard peripheral driver library, and adds
|
||
an extra critical section to the default low power tickless mode
|
||
implementation. Only users of the STM32 peripheral library or the default
|
||
tickless implementation need update from version 7.5.0.
|
||
|
||
Changes between V7.4.2 and V7.5.0 released July 19 2013
|
||
|
||
V7.5.0 is a major upgrade that includes multiple scheduling and efficiency
|
||
improvements, and some new API functions.
|
||
|
||
Compatibility information for FreeRTOS users:
|
||
FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one
|
||
exception; the vTaskList() and vTaskGetRunTimeStats() functions are now
|
||
considered legacy, having been replaced by the single uxTaskGetSystemState()
|
||
function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in
|
||
FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be
|
||
available.
|
||
|
||
Compatibility information for FreeRTOS port writers:
|
||
vTaskIncrementTick() is now called xTaskIncrementTick() (because it now
|
||
returns a value).
|
||
|
||
Headline changes:
|
||
|
||
+ Multiple scheduling and efficiency improvements.
|
||
+ Core kernel files now pass PC-Lint V8 static checking without outputting
|
||
any warnings (information on the test conditions will follow).
|
||
|
||
New API functions:
|
||
|
||
+ uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html
|
||
+ xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html
|
||
+ xQueueOverwriteFromISR()
|
||
+ xQueuePeekFromISR()
|
||
|
||
The following ports and demos, which were previously available separately,
|
||
are now incorporated into the main FreeRTOS zip file download:
|
||
|
||
+ ARM Cortex-A9 IAR
|
||
+ ARM Cortex-A9 ARM compiler
|
||
+ Renesas RZ
|
||
+ Microsemi SmartFusion2
|
||
|
||
New FreeRTOSConfig.h settings
|
||
https://freertos.org/a00110.html
|
||
|
||
+ configUSE_TIME_SLICING
|
||
+ configUSE_NEWLIB_REENTRANT
|
||
+ configUSE_STATS_FORMATTING_FUNCTIONS
|
||
+ configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
|
||
|
||
Other changes:
|
||
|
||
+ (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
|
||
options provides a mechanism that allows application writers to execute
|
||
certain functions in privileged mode even when a task is running in user
|
||
mode.
|
||
+ Ports that support interrupt nesting now include a configASSERT() that
|
||
will trigger if an interrupt safe FreeRTOS function is called from an
|
||
interrupt that has a priority designated as above the maximum system/API
|
||
call interrupt priority.
|
||
+ The included FreeRTOS+Trace recorder code has been updated to the latest
|
||
version, and the demo applications that use the trace recorder code have
|
||
been updated accordingly.
|
||
+ The FreeRTOS Windows Simulator (MSVC version only) has been updated to
|
||
include a new basic 'blinky' build option in addition to the original
|
||
comprehensive build option.
|
||
+ Improve RAM usage efficiency of heap_4.c and heap_2.c.
|
||
+ Prevent heap_4.c from attempting to free memory blocks that were not
|
||
allocated by heap_4.c, or have already been freed.
|
||
+ As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs
|
||
files have been removed from FreeRTOS/Demo/Common.
|
||
+ Fix build error when R4 port is build in co-operative mode.
|
||
+ Multiple port and demo application maintenance activities.
|
||
|
||
Changes between V7.4.1 and V7.4.2 released May 1 2013
|
||
|
||
NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2
|
||
|
||
+ Added FreeRTOS+FAT SL source code and demo project. The demo project
|
||
runs in the FreeRTOS Windows simulator for easy and hardware independent
|
||
experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl
|
||
|
||
Changes between V7.4.0 and V7.4.1 released April 18 2013
|
||
|
||
+ To ensure strict conformance with the spec and ensure compatibility with
|
||
future chips data and instruction barrier instructions have been added to
|
||
the yield macros of Cortex-M and Cortex-R port layers. For efficiency
|
||
the Cortex-M port layer "yield" and "yield" from ISR are now implemented
|
||
separately as the barrier instructions are not required in the ISR case.
|
||
+ Added FreeRTOS+UDP into main download.
|
||
+ Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS
|
||
directory with Source and Demo subdirectories.
|
||
+ Implemented the Berkeley sockets select() function in FreeRTOS+UDP.
|
||
+ Changed (unsigned) casting in calls to standard library functions with
|
||
(size_t) casting.
|
||
+ Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the
|
||
tickless (tick suppression) low power FreeRTOS features.
|
||
+ Add a new RL78 IAR demo that targets numerous new RL78 chips and
|
||
evaluation boards.
|
||
+ Adjusted stack alignment on RX200 ports to ensure an assert was not
|
||
falsely triggered when configASSERT() is defined.
|
||
+ Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest
|
||
version of EWARM.
|
||
+ Corrected header comments in the het.c and het.h files (RM48/TMS570 demo).
|
||
|
||
|
||
Changes between V7.3.0 and V7.4.0 released February 20 2013
|
||
|
||
+ New feature: Queue sets. See:
|
||
https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html
|
||
+ Overhauled the default tickless idle mode implementation provided with the
|
||
ARM Cortex-M3 port layers.
|
||
+ Enhanced tickless support in the core kernel code with the introduction of
|
||
the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the
|
||
eTaskConfirmSleepModeStatus() function.
|
||
+ Added the QueueSet.c common demo/test file. Several demo applications
|
||
have been updated to use the new demo/test tasks.
|
||
+ Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and
|
||
demo applications.
|
||
+ Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo.
|
||
+ Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a
|
||
pre-processor macro for backward compatibility with the previous name.
|
||
+ Updated functions implemented in the core queue.c source file to allow
|
||
queue.h to be included from the .c file directly (this prevents compiler
|
||
warnings that were generated by some compilers).
|
||
+ Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function
|
||
with the CLZ compiler intrinsic that is provided by the latest versions of
|
||
the CCS ARM compiler.
|
||
+ Updated all heap_x.c implementations to replace the structure that was
|
||
used to ensure the start of the heap was aligned with a more portable
|
||
direct C code implementation.
|
||
+ Added support for PIC24 devices that include EDS.
|
||
+ Minor optimisations to the PIC32 port layer.
|
||
+ Minor changes to tasks.c that allow the state viewer plug-ins to display
|
||
additional information.
|
||
+ Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an
|
||
issue that could occur if the priority of the timer daemon task was set
|
||
below the priority of tasks that used timer services.
|
||
+ Update the FreeRTOS+Trace recorder code to the latest version.
|
||
|
||
Changes between V7.2.0 and V7.3.0 released October 31 2012
|
||
|
||
+ Added ability to override the default scheduler task selection mechanism
|
||
with implementations that make use of architecture specific instructions.
|
||
+ Added ability to suppress tick interrupts during idle time, and in so
|
||
doing, provide the ability to make use of architecture specific low power
|
||
functionality.
|
||
+ Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper
|
||
function.
|
||
+ Added the configSYSTICK_CLOCK_HZ configuration constant.
|
||
+ Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to
|
||
directly support basic power saving functionality.
|
||
+ Added hooks to allow basic power saving to be augmented in the application
|
||
by making use of chip specific functionality.
|
||
+ Minor change to allow mutex type semaphores to be used from interrupts
|
||
(which would not be a normal usage model for a mutex).
|
||
+ Change the behaviour of the interrupt safe interrupt mask save and restore
|
||
macros in the Cortex-M ports. The save macro now returns the previous
|
||
mask value. The restore macro now uses the previous mask value. These
|
||
changes are not necessary for the kernel's own implementation, and are
|
||
made purely because the macros were being used by application writers.
|
||
+ Added eTaskStateGet() API function.
|
||
+ Added port specific optimisations to the PIC32 port layer, and updated the
|
||
PIC32 demo applications to make use of this new feature.
|
||
+ Added port specific optimisations to the Win32 simulator port.
|
||
+ Added new ports and demo applications for the TI Hercules RM48 and TMS570
|
||
safety microcontrollers.
|
||
+ Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation
|
||
boards.
|
||
+ Updated the PIC32 MPLAB X project to manually set the compiler include
|
||
paths instead of using the IDE entry box following reports that the
|
||
include paths were somehow being deleted.
|
||
+ Improved character handling in FreeRTOS+CLI.
|
||
|
||
Changes between V7.1.1 and V7.2.0 released 14 August 2012
|
||
|
||
FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2.
|
||
|
||
+ Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+
|
||
source code, and example projects that use the FreeRTOS Win32 simulator.
|
||
+ Added a new example heap allocation implementation (heap_4.c) that
|
||
includes memory block coalescence.
|
||
+ Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller.
|
||
The demo is preconfigured to build using the free Atmel Studio 6 IDE and
|
||
GCC compiler.
|
||
+ Added xSemaphoreTakeFromISR() implementation.
|
||
+ The last parameter in ISR safe FreeRTOS queue and semaphore functions
|
||
(xHigherPriorityTaskWoken) is now optional and can be set to NULL if it
|
||
is not required.
|
||
+ Update the IAR and MSP430X ports to clear all lower power mode bits before
|
||
exiting the tick interrupt [bug fix].
|
||
+ Allow xQueueReset() to be used, even when the queues event lists are not
|
||
empty.
|
||
+ Added a vQueueDelete() handler for the FreeRTOS MPU port (this was
|
||
previously missing).
|
||
+ Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to
|
||
ensure it compiles with the latest ARM GCC compilers from Linaro.
|
||
+ Updated the prvReadGP() function in the NIOS II port to ensure the compiler
|
||
can choose any register for the functions parameter (required at high
|
||
compiler optimisation levels).
|
||
+ Add #error macros into the Keil and IAR Cortex-M ports to ensure they
|
||
cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY
|
||
to 0.
|
||
+ Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and
|
||
Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY
|
||
parameter must not be set to 0.
|
||
+ Introduce new INCLUDE_xQueueGetMutexHolder configuration constant
|
||
(defaulted to 0).
|
||
+ Added two new list handling macros - for internal use only in upcoming new
|
||
products.
|
||
+ Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace
|
||
macros. FreeRTOS+Trace supersedes the legacy trace.
|
||
+ Added a configASSERT() into the vPortFree() function in heap_1.c as it is
|
||
invalid for the function to be called.
|
||
+ Made the xRxLock and xTxLock members of the queue structure volatile.
|
||
This is probably not necessary, and is included as a precautionary
|
||
measure.
|
||
+ Modify the assert() that checks to see if the priority passed into an
|
||
xTaskCreate() function is within valid bounds to permit the assert to be
|
||
used in the FreeRTOS MPU port.
|
||
+ The software timer service (daemon) task is now created in a way that
|
||
to ensure compatibility with FreeRTOS MPU.
|
||
|
||
Changes between V7.1.0 and V7.1.1 released May 1 2012
|
||
|
||
New ports:
|
||
|
||
The following ports are brand new:
|
||
+ Cortex-M3 Tasking
|
||
|
||
The following ports have been available as separate downloads for a number
|
||
of months, but are now included in the main FreeRTOS download.
|
||
+ Cortex-M0 IAR
|
||
+ Cortex-M0 GCC
|
||
+ Cortex-M4F GCC (with full floating point support)
|
||
|
||
|
||
New demos:
|
||
|
||
The following demos are brand new:
|
||
+ Renesas RX63N RDK (Renesas compiler)
|
||
|
||
The following demos have been available as separate downloads for a number
|
||
of months, but are now included in the main FreeRTOS download.
|
||
+ NXP LPC1114 GCC/LPCXpresso
|
||
+ ST STM32F0518 IAR
|
||
+ Infineon XMC4500 GCC/Atollic
|
||
+ Infineon XMC4500 IAR
|
||
+ Infineon XMC4500 Keil
|
||
+ Infineon XMC4500 Tasking
|
||
|
||
|
||
Kernel miscellaneous / maintenance:
|
||
|
||
+ Introduced the portSETUP_TCB() macro to remove the requirement for the
|
||
Windows simulator to use the traceTASK_CREATE() macro, leaving the trace
|
||
macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace).
|
||
+ Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future
|
||
FreeRTOS+Trace versions to provide even more information to users.
|
||
+ Updated the FreeRTOS MPU port to be correct for changes that were
|
||
introduced in FreeRTOS V7.1.0.
|
||
+ Introduced the xQueueReset() API function.
|
||
+ Introduced the xSemaphoreGetMutexHolder() API function.
|
||
+ Tidy up various port implementations to add the static key word where
|
||
appropriate, and remove obsolete code.
|
||
+ Slight change to the initial stack frame given to the RX600 ports to allow
|
||
them to be used in the Eclipse based E2Studio IDE without confusing GDB.
|
||
+ Correct the alignment given to the initial stack of Cortex-M4F tasks.
|
||
+ Added a NOP following each DINT instruction on MSP430 devices for strict
|
||
conformance with the instructions on using DINT.
|
||
+ Changed the implementation of thread deletes in the Win32 port to prevent
|
||
the port making use of the traceTASK_DELETE() trace macros - leaving this
|
||
macro free for use by FreeRTOS+Trace.
|
||
+ Made some benign changes to the RX600 Renesas compiler port layer to
|
||
ensure the code can be built to a library without essential code being
|
||
removed by the linker.
|
||
+ Reverted the change in the name of the uxTaskNumber variable made in
|
||
V7.1.0 as it broke the IAR plug-in.
|
||
|
||
|
||
Demo miscellaneous / maintenance:
|
||
|
||
+ The command interpreter has now been formally released as FreeRTOS+CLI,
|
||
and been moved out of the main FreeRTOS download, to instead be available
|
||
from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus.
|
||
+ flash_timer.c/h has been added to the list of standard demo tasks. This
|
||
performs the same functionality as the flash.c tasks, but using software
|
||
timers in place of tasks.
|
||
+ Upgraded the PIC32 demo as follows: Changes to how the library functions
|
||
are called necessitated by the new compiler version, addition of MPLAB X
|
||
project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations,
|
||
addition of simply blinky demo, updated FreeRTOSConfig.h to include more
|
||
parameters, addition of hook function stubs.
|
||
+ The MSP430X IAR and CCS demos have been updated to ensure the power
|
||
settings are correct for the configured CPU frequency.
|
||
+ Rowley CrossWorks projects have been updated to correct the "multiple
|
||
definition of ..." warnings introduced when the toolchain was updated.
|
||
+ Updated various FreeRTOSConfig.h header files associated with projects
|
||
that build with Eclipse to include a #error statement informing the user
|
||
that the CreateProjectDirectoryStructure.bat batch file needs to be
|
||
executed before the projects can be opened.
|
||
+ Renamed directories that included "CCS4" in their name to remove the '4'
|
||
and instead just be "CCS". This is because the demo was updated and
|
||
tested to also work with later Code Composer Studio versions.
|
||
+ Updated the TCP/IP periodic timer frequency in numerous uIP demos to be
|
||
50ms instead of 500ms.
|
||
|
||
Changes between V7.0.2 and V7.1.0 released December 13 2011
|
||
|
||
New ports:
|
||
|
||
+ Cortex-M4F IAR port.
|
||
+ Cortex-M4F Keil/RVDS port.
|
||
+ TriCore GCC port.
|
||
|
||
New demos:
|
||
|
||
+ NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development
|
||
board.
|
||
+ ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on
|
||
the IAR STM32F407ZG-SK starter kit.
|
||
+ Infineon TriCore TC1782, using the GCC compiler, demonstrated on the
|
||
TriBoard TC1782 evaluation board.
|
||
+ Renesas RX630, using the Renesas compiler and HEW, demonstrated on an
|
||
RX630 RSK (Renesas Starter Kit).
|
||
|
||
Miscellaneous / maintenance:
|
||
|
||
+ Removed all calls to printf() from the K60/IAR Kinetis demo so the project
|
||
can execute stand alone - without being connected to the debugger.
|
||
+ Completed the command interpreter framework. Command handlers now receive
|
||
the entire command string, giving them direct access to parameters.
|
||
Utility functions are provided to check the number of parameters, and
|
||
return parameter sub-strings.
|
||
+ The previously documented fix for the bug in xTaskResumeFromISR() that
|
||
effected (only) ports supporting interrupt nesting has now been
|
||
incorporated into the main release.
|
||
+ The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow
|
||
specific ports to skip the second stack alignment check when a task is
|
||
created. This is because the second check is not appropriate for some
|
||
ports - including the new TriCore port where the checked pointer does not
|
||
actually point to a stack.
|
||
+ The portCLEAN_UP_TCB() macro has been added to allow port specific clean
|
||
up when a task is deleted - again this is required by the TriCore port.
|
||
+ Various other minor changes to ensure warning free builds on a growing
|
||
number of microcontroller and toolchain platforms. This includes a
|
||
(benign) correction to the prototype of the
|
||
vApplicationStackOverflowHook() definition found in lots of recent demos.
|
||
|
||
Trace system:
|
||
|
||
+ The legacy trace mechanism has been completely removed - it has been
|
||
obsolete for the years since the trace macros were introduced. The
|
||
configuration constant configUSE_TRACE_FACILITY is now used to optionally
|
||
include additional queue and task information. The additional information
|
||
is intended to make the trace mechanism more generic, and allow the trace
|
||
output to provide more information. When configUSE_TRACE_FACILITY is set
|
||
to 1:
|
||
- the queue structure includes an additional member to hold the queue
|
||
type, which can be base, mutex, counting semaphore, binary semaphore
|
||
or recursive mutex.
|
||
- the queue structure includes an additional member to hold a queue
|
||
number. A trace tool can set and query the queue number for its own
|
||
purposes. The kernel does not use the queue number itself.
|
||
- the TCB structure includes an additional member to hold a task number
|
||
number. A trace tool can set and query the task number for its own
|
||
purposes. The kernel does not use the task number itself.
|
||
+ Queues and all types of semaphores are now automatically allocated their
|
||
type as they are created.
|
||
+ Added two new trace macros - traceTASK_PRIORITY_INHERIT() and
|
||
traskTASK_PRIORITY_DISINHERIT().
|
||
+ Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that
|
||
indicates the type of queue, mutex, or semaphore that failed to be
|
||
created.
|
||
+ The position from which traceCREATE_MUTEX() is called has been moved from
|
||
after the call to xQueueGenericSend() [within the same function] to before
|
||
the call. This ensures the trace events occur in the correct order.
|
||
+ The value passed into tracePRIORITY_SET() has been corrected for the case
|
||
where vTaskPrioritySet() is called with a null parameter.
|
||
|
||
Changes between V7.0.1 and V7.0.2 released September 20 2011
|
||
|
||
New ports:
|
||
|
||
+ The official FreeRTOS Renesas RX200 port and demo application have been
|
||
incorporated into the main FreeRTOS zip file download.
|
||
+ The official FreeRTOS Renesas RL78 port and demo application have been
|
||
incorporated into the main FreeRTOS zip file download.
|
||
+ The official FreeRTOS Freescale Kinetis K60 tower demo application has
|
||
been incorporated into the main FreeRTOS zip file download. This includes
|
||
an embedded web server example.
|
||
+ A new Microblaze V8 port layer has been created to replace the older, now
|
||
deprecated, port layer. The V8 port supports V8.x of the Microblaze IP,
|
||
including exceptions, caches, and the floating point unit. A new
|
||
Microblaze demo has also been added to demonstrate the new Microblaze V8
|
||
port layer. The demo application was created using V13.1 of the Xilinx
|
||
EDK, and includes a basic embedded web server that uses lwIP V1.4.0.
|
||
+ The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been
|
||
incorporated into the main FreeRTOS zip file download. Projects are
|
||
provided for both the IAR and Keil toolchains.
|
||
|
||
|
||
API additions:
|
||
|
||
+ xTaskGetIdleTaskHandle() has been added.
|
||
+ xTaskGetTimerDaemonTaskHandle() has been added.
|
||
+ pcTaskGetTaskName() has been added.
|
||
+ vSemaphoreDelete() macro has been added to make it obvious how to delete
|
||
a semaphore. In previous versions vQueueDelete() had to be used.
|
||
+ vTaskCleanUpResources() has been removed. It has been obsolete for a
|
||
while.
|
||
+ portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings
|
||
being generated when the size of a pointer does not match the size of
|
||
the stack type. This will (has already) be used in new ports, but will
|
||
not be retrofitted to existing ports until the existing port itself is
|
||
updated.
|
||
|
||
Other updates and news:
|
||
|
||
+ The core files have all been modified to tighten the coding standard even
|
||
further. These are style, not functional changes.
|
||
+ All ARM7 port layers have been slightly modified to prevent erroneous
|
||
assert() failures when tasks are created and configASSERT() is defined.
|
||
+ All ARM IAR projects have been updated to build with the latest V6.2.x
|
||
versions of the IAR Embedded Workbench for ARM tools (EWARM). This was
|
||
necessary due to a change in the way EWARM uses the CMSIS libraries.
|
||
+ The PIC32 port layer has been updated in preparation for V2 of the C32
|
||
compiler.
|
||
+ The old Virtex-4 Microblaze demo has been marked as deprecated. Please
|
||
use the brand new Spartan-6 port and demo in its place.
|
||
+ The bones of a new generic command interpreter is located in
|
||
FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in
|
||
progress, and not documented. It is however already in use. It will be
|
||
documented in full when the projects that are already using it are
|
||
completed.
|
||
+ A couple of new standard demos have been included. First, a version of
|
||
flop.c called sp_flop.c. This is similar to flop.c, but uses single
|
||
precision floats in place of double precision doubles. This allows the
|
||
for testing ports to processors that have only single precision floating
|
||
point units, and revert to using emulated calculations whenever a double
|
||
is used. Second, comtest_strings.c has been included to allow the test
|
||
of UART drivers when an entire string is transmitted at once. The
|
||
previous comtest.c only used single character transmission and reception.
|
||
+ lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and
|
||
used by a couple of new demos.
|
||
|
||
Changes between V7.0.0 and V7.0.1 released May 13 2011
|
||
|
||
+ Added a Fujitsu FM3 demo application for both the IAR and Keil tool
|
||
chains.
|
||
+ Added a SmartFusion demo application for all of the IAR, Keil and
|
||
SoftConsole (GCC/Eclipse) tool chains.
|
||
+ Updated the RX600 port and demo applications to take into account the
|
||
different semantics required when using the latest (V1.0.2.0) version of
|
||
the Renesas compiler.
|
||
+ Modified the RX600 Ethernet driver slightly to make it more robust under
|
||
heavy load, and updated the uIP handling task to make use of the FreeRTOS
|
||
software timers.
|
||
+ Slightly changed the PIC32 port layer to move an ehb instruction in line
|
||
with the recommendations of the MIPS core manual, and ensure 8 byte stack
|
||
alignment is truly always obtained.
|
||
+ Changed the behaviour when tasks are suspended before the scheduler has
|
||
been started. Before, there needed to be at least one task that was not
|
||
in the suspended state. This is no longer the case.
|
||
|
||
Changes between V6.1.1 and V7.0.0 released April 8 2011
|
||
|
||
FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x
|
||
|
||
Main changes:
|
||
|
||
+ Introduced a new software timer implementation.
|
||
+ Introduced a new common demo application file to exercise the new timer
|
||
implementation.
|
||
+ Updated the Win32/MSVC simulator project to include the new software timer
|
||
demo tasks and software timer tick hook test. Much simpler software timer
|
||
demonstrations are included in the demo projects for both of the new ports
|
||
(MSP430X with CCS4 and STM32 with TrueStudio).
|
||
+ Various enhancements to the kernel implementation in tasks.c. These are
|
||
transparent to users and do not effect the pre-existing API.
|
||
+ Added calls to configASSERT() within the kernel code. configASSERT() is
|
||
functionally equivalent to the standard C assert() macro, but does not
|
||
rely on the compiler providing assert.h.
|
||
|
||
Other changes:
|
||
|
||
+ Updated the MSP430X IAR port and demo project to include support for the
|
||
medium memory model.
|
||
+ Added a demo project for the MSP430X that targets the MSP430X Discovery
|
||
board and uses the Code Composer Studio 4 tools. This demo includes use
|
||
of the new software timer implementation.
|
||
+ Added an STM32F100RB demo project that targets the STM32 Discovery Board
|
||
and uses the TrueStudio Eclipse based IDE from Atollic.
|
||
+ Removed some compiler warnings from the PSoC demo application.
|
||
+ Updated the PIC32 port layer to ensure the
|
||
configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter
|
||
what its value is (within the valid range set by the microcontroller
|
||
kernel).
|
||
+ Updated the PIC24, dsPIC and PIC32 projects so they work with the latest
|
||
MPLAB compiler versions from Microchip.
|
||
+ Various cosmetic changes to prepare for a standards compliance statement
|
||
that will be published after the software release.
|
||
|
||
|
||
Changes between V6.1.0 and V6.1.1 released January 14 2011
|
||
|
||
+ Added two new Windows simulator ports. One uses the free Microsoft Visual
|
||
Studio 2010 express edition, and the other the free MingW/Eclipse
|
||
environment. Demo projects are provided for both.
|
||
+ Added three demo projects for the PSoC 5 (CYAC5588). These are for the
|
||
GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE.
|
||
+ Added a demo for the low power STM32L152 microcontroller using the IAR
|
||
Embedded Workbench.
|
||
+ Added a new port for the MSP430X core using the IAR Embedded Workbench.
|
||
+ Updated all the RX62N demo projects that target the Renesas Demonstration
|
||
Kit (RDK) to take into account the revered LED wiring on later hardware
|
||
revisions, and the new J-Link debug interface DLL.
|
||
+ Updated all the RX62N demo projects so the IO page served by the example
|
||
embedded web server works with all web browsers.
|
||
+ Updated the Red Suite projects to work with the up coming Red Suite
|
||
release, and to use a more recent version of the CMSIS libraries.
|
||
+ Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro.
|
||
+ Removed the (pointless) parameter from the traceTASK_CREATE_FAILED()
|
||
trace macro.
|
||
+ Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment
|
||
the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for
|
||
more flexibility in how the time base for the run time statistics feature
|
||
can be implemented.
|
||
+ Added a "cpsie i" instruction before the "svc 0" instruction used to start
|
||
the scheduler in each of the Cortex M3 ports. This is to ensure that
|
||
interrupts are globally enabled prior to the "svc 0" instruction being
|
||
executed in cases where interrupts are left disabled by the C start up
|
||
code.
|
||
+ Slight optimisation in the run time stats calculation.
|
||
|
||
Changes between V6.0.5 and V6.1.0 released October 6 2010
|
||
|
||
+ Added xTaskGetTickCountFromISR() function.
|
||
+ Modified vTaskSuspend() to allow tasks that have just been created to be
|
||
immediately suspended even when the kernel has not been started. This
|
||
allows them to effectively start in the Suspended state - a feature that
|
||
has been asked for on numerous occasions to assist with initialisation
|
||
procedures.
|
||
+ Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites.
|
||
+ Added a STM32F103 demo application that uses the Rowley tools.
|
||
+ Under specific conditions xFreeBytesRemaining within heap_2.c could end up
|
||
with an incorrect value. This has been fixed.
|
||
+ xTaskCreateGeneric() has a parameter that can be used to pass the handle
|
||
of the task just created out to the calling task. The assignment to this
|
||
parameter has been moved to ensure it is assigned prior to the newly
|
||
created having any possibility of executing. This takes into account the
|
||
case where the assignment is made to a global variable that is accessed by
|
||
the newly created task.
|
||
+ Fixed some build time compiler warnings in various FreeTCPIP (based on
|
||
uIP) files.
|
||
+ Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c.
|
||
|
||
Changes between V6.0.4 and V6.0.5 released May 17 2010
|
||
|
||
+ Added port and demo application for the Cortus APS3 processor.
|
||
|
||
Changes between V6.0.3 and V6.0.4 released March 14 2010
|
||
|
||
+ All the contributed files that were located in the Demo/Unsupported_Demos
|
||
directory have been removed. These files are instead now available in the
|
||
new Community Contributions section of the FreeRTOS website. See
|
||
https://www.FreeRTOS.org/RTOS-contributed-ports.html
|
||
+ The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory
|
||
has been upgraded to use V2.x of the Rowley Crossworks STM32 support
|
||
package.
|
||
+ An initial Energy Micro EFM32 demo has been included. This will be
|
||
updated over the coming months to make better use of the low power modes
|
||
the EFM32 provides.
|
||
|
||
Changes between V6.0.2 and V6.0.3 released February 26 2010
|
||
|
||
+ SuperH SH7216 (SH2A-FPU) port and demo application added.
|
||
+ Slight modification made to the default implementation of
|
||
pvPortMallocAligned() and vPortFreeAligned() macros so by default they
|
||
just call pvPortMalloc() and vPortFree(). The macros are only needed to
|
||
be defined when a memory protection unit (MPU) is being used - and then
|
||
only depending on other configuration settings.
|
||
|
||
Changes between V6.0.1 and V6.0.2 released January 9th 2010
|
||
|
||
+ Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter.
|
||
Previously the parameter was blank and therefore only an implicit 0 but
|
||
newer GCC releases do not permit this.
|
||
+ Updated IAR SAM7S and SAM7X ports to work with IAR V5.40.
|
||
+ Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes.
|
||
+ Updated prvListTaskWithinSingleList() is it works on processors where the
|
||
stack grows up from low memory.
|
||
+ Corrected some comments.
|
||
+ Updated the startup file for the RVDS LPC21xx demo.
|
||
|
||
Changes between V6.0.0 and V6.0.1 released November 15th 2009
|
||
|
||
+ Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the
|
||
stack pointer is where the compiler expects it to be when a task first
|
||
starts executing.
|
||
|
||
The following minor changes only effect the Cortex-M3 MPU port:
|
||
|
||
+ portRESET_PRIVILEGE() assembly macro updated to include a clobber list.
|
||
+ Added prototypes for all the privileged function wrappers to ensure no
|
||
compile time warnings are generated no matter what the warning level
|
||
setting.
|
||
+ Corrected the name of portSVC_prvRaisePrivilege to
|
||
portSVC_RAISE_PRIVILEGE.
|
||
+ Added conditional compilation into xTaskGenericCreate() to prevent some
|
||
compilers issuing warnings when portPRIVILEGE_BIT is defined as zero.
|
||
|
||
|
||
Changes between V5.4.2 and V6.0.0 released October 16th 2009
|
||
|
||
FreeRTOS V6 is backward compatible with FreeRTOS V5.x.
|
||
|
||
Main changes:
|
||
|
||
+ FreeRTOS V6 is the first version to include memory protection unit (MPU)
|
||
support. Two ports now exist for the Cortex M3, the standard FreeRTOS
|
||
which does not include MPU support, and FreeRTOS-MPU which does.
|
||
+ xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added
|
||
in support of FreeRTOS-MPU.
|
||
+ Wording for the GPL exception has been (hopefully) clarified. Also the
|
||
license.txt file included in the download has been fixed (the previous
|
||
version contained some corruption).
|
||
|
||
Other changes:
|
||
|
||
+ New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c.
|
||
+ ARM7 GCC demo interrupt service routines wrappers have been modified to
|
||
call the C portion using an __asm statement. This prevents the function
|
||
call being inlined at higher optimisation levels.
|
||
+ ARM7 ports now automatically set the THUMB bit if necessary when
|
||
setting up the initial stack of a task - removing the need for
|
||
THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode
|
||
tasks to be mixed more easily.
|
||
+ All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default.
|
||
+ Various demo application project files have been updated to be up to date
|
||
with the latest IDE versions.
|
||
+ The linker scripts used with command line GCC demos have been updated to
|
||
include an eh_frame section to allow their use with the latest Yagarto
|
||
release. Likewise the demo makefiles have been updated to include
|
||
command line options to reduce or eliminate the eh_frame section all
|
||
together.
|
||
+ The definition of portBYTE_ALIGNMENT_MASK has been moved out of the
|
||
various memory allocation files and into the common portable.h header
|
||
file.
|
||
+ Removed unnecessary use of portLONG, portSHORT and portCHAR.
|
||
+ Added LM3Sxxxx demo for Rowley CrossWorks.
|
||
+ Posix simulator has been upgraded - see the corresponding WEB page on the
|
||
FreeRTOS.org site.
|
||
|
||
|
||
Changes between V5.4.1 and V5.4.2 released August 9th 2009
|
||
|
||
+ Added a new port and demo app for the Altera Nios2 soft core.
|
||
+ Added LPC1768 demo for IAR.
|
||
+ Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR).
|
||
+ Changed clock frequency of LPC1768 demos to 99MHz.
|
||
|
||
Changes between V5.4.0 and V5.4.1 released July 25th 2009
|
||
|
||
+ New hook function added. vApplicationMallocFailedHook() is (optionally)
|
||
called if pvPortMalloc() returns NULL.
|
||
+ Additional casting added to xTaskCheckForTimeOut(). This prevents
|
||
problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a
|
||
32 bit architecture (which would probably be a mistake, anyway).
|
||
+ Corrected the parameter passed to NVIC_SetPriority() to set the MAC
|
||
interrupt priority in both LPC1768 demos.
|
||
+ Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32
|
||
demo application to ensure the heap space was not completely consumed
|
||
before the scheduler was started.
|
||
|
||
Changes between V5.3.1 and V5.4.0 released July 13th 2009
|
||
|
||
+ Added Virtex5 / PPC440 port and demos.
|
||
+ Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The
|
||
original demo was configured to use engineering samples of the CPU. The
|
||
new demo has an improved Ethernet driver.
|
||
+ Added LPC1768 Rowley demo with zero copy Ethernet driver.
|
||
+ Reworked byte alignment code to ensure 8 byte alignment works correctly.
|
||
+ Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects.
|
||
+ Changed the initial stack setup for the PPC405 to ensure the small data
|
||
area pointers are setup correctly.
|
||
|
||
Changes between V5.3.0 and V5.3.1 released June 21st 2009
|
||
|
||
+ Added ColdFire V1 MCF51CN128 port and WEB server demo.
|
||
+ Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo.
|
||
+ Changed the Cortex M3 port.c asm statements to __asm so it can be
|
||
compiled using Rowley CrossWorks V2 in its default configuration.
|
||
+ Updated the Posix/Linux simulator contributed port.
|
||
|
||
Changes between V5.2.0 and V5.3.0 released June 1st 2009
|
||
|
||
Main changes:
|
||
|
||
+ Added new (optional) feature that gathers statistics on the amount of CPU
|
||
time used by each task.
|
||
+ Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based
|
||
microcontroller.
|
||
+ Added a new demo application for the NXP LPC1766 Cortex-M3 based
|
||
microcontroller.
|
||
+ Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a
|
||
Linux environment.
|
||
|
||
Minor changes:
|
||
+ Updated the Stellaris uIP WEB server demos to include the new run time
|
||
statistics gathering feature - and include a served WEB page that
|
||
presents the information in a tabular format.
|
||
+ Added in the lwIP port layer for the Coldfire MCF52259.
|
||
+ Updated the CrossWorks LPC2368 WEB server to include an image in the
|
||
served content.
|
||
+ Changed some of the timing in the initialisation of the LPC2368 MAC to
|
||
permit its use on all part revisions.
|
||
+ Minor modifications to the core uIP code to remove some compiler warnings.
|
||
+ Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom
|
||
demo to make use of the new function.
|
||
+ Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using
|
||
Rowley Crossworks.
|
||
+ Heap_1.c and Heap_2.c used to define structures for the purpose of data
|
||
alignment. These have been converted to unions to save a few bytes of
|
||
RAM that would otherwise be wasted.
|
||
+ Remove the call to strncpy() used to copy the task name into the TCB when
|
||
the maximum task name is configured to be 1 byte long.
|
||
|
||
Changes between V5.1.2 and V5.2.0 released March 14th 2009
|
||
|
||
+ Optimised the queue send and receive functions (also used by semaphores).
|
||
+ Replaced the standard critical sections used to protect BIOS calls in the
|
||
PC port to instead use scheduler locks. This is because the BIOS calls
|
||
always return with interrupts enabled.
|
||
+ Corrected unclosed comments in boot.s.
|
||
|
||
Changes between V5.1.1 and V5.1.2 released February 9th 2009
|
||
|
||
+ Added NEC V850ES port and demo.
|
||
+ Added NEC 78K0R port and demo.
|
||
+ Added MCF52259 port and demo.
|
||
+ Added the AT91SAM9XE port and demo.
|
||
+ Updated the MCF52233 FEC driver to work around a silicon bug that
|
||
prevents the part auto negotiating some network parameters.
|
||
+ Minor modifications to the MCF52233 makefile to permit it to be used
|
||
on Linux hosts.
|
||
+ Updated the STM32 primer files to allow them to be built with the latest
|
||
version of the RIDE tools.
|
||
+ Updated the threads.js Java script used for kernel aware debugging in
|
||
the Rowley CrossWorks IDE.
|
||
|
||
|
||
Changes between V5.1.0 and V5.1.1 released November 20, 2008
|
||
|
||
+ Added Coldfire MCF52233 WEB server demo using GCC and Eclipse.
|
||
+ Added IAR MSP430 port and demo.
|
||
+ Corrected several compiler time issues that had crept in as tool versions
|
||
change.
|
||
+ Included FreeRTOS-uIP - a faster uIP. This is not yet complete.
|
||
|
||
Changes between V5.0.4 and V5.1.0 released October 24, 2008
|
||
|
||
+ Added a new port and demo application for the ColdFire V2 core using the
|
||
CodeWarrior development tools.
|
||
+ Replaced the ARM7 demo that used the old (and now no longer supported)
|
||
Keil compiler with a new port that uses the new Keil/RVDS combo.
|
||
+ Stack overflow checking now works for stacks that grow up from low
|
||
memory (PIC24 and dsPIC).
|
||
+ BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct
|
||
value of -1.
|
||
+ MSP430 port layers have been updated to permit tasks to place the
|
||
microcontroller into power down modes 1 to 3. The demo applications have
|
||
likewise been updated to demonstrate the new feature.
|
||
+ Replaced the two separate MSP430/Rowley port layers with a single and more
|
||
flexible version.
|
||
+ Added more contributed ports, including ports for NEC and SAM9
|
||
microcontrollers.
|
||
+ Changed the linker script used in the LPC2368 Eclipse demo.
|
||
|
||
Changes between V5.0.3 and V5.0.4 released September 22, 2008
|
||
|
||
+ Completely re-written port for ColdFire GCC.
|
||
+ Bug fix: All Cortex M3 ports have a minor change to the code that sets
|
||
the pending interrupt.
|
||
+ Some header files require that FreeRTOS.h be included prior to their
|
||
inclusion. #error message have been added to all such header file
|
||
informing users to the cause of the compilation error should the headers
|
||
not be included in the correct order.
|
||
|
||
Changes between V5.0.2 and V5.0.3 released July 31, 2008
|
||
|
||
Changes relating to the Cortex M3:
|
||
|
||
+ Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3
|
||
ports and demos. See the port documentation pages on the FreeRTOS.org
|
||
WEB site for full usage information.
|
||
+ Improved efficiency of Cortex M3 port even further.
|
||
+ Ensure the Cortex M3 port works no matter where the vector table is
|
||
located.
|
||
+ Added the IntQTimer demo/test tasks to a demo project for each CM3 port
|
||
(Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY
|
||
functionality.
|
||
+ Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil
|
||
projects to allow the WEB server to be conditionally excluded from the
|
||
build and therefore allow use of the KickStart (code size limited)
|
||
compiler version.
|
||
|
||
Other changes:
|
||
|
||
+ Moved the PIC24 and dsPIC versions of vPortYield() from the C file to
|
||
an assembly file to allow use with all MPLAB compiler versions. This also
|
||
allows the omit-frame-pointer optimisation to be turned off.
|
||
|
||
Changes between V5.0.0 and V5.0.2 released May 30, 2008
|
||
|
||
+ Updated the PIC32 port to allow queue API calls to be used from
|
||
interrupts above the kernel interrupt priority, and to allow full
|
||
interrupt nesting. Task stack usages has also been reduced.
|
||
+ Added a new PowerPC port that demonstrates how the trace macros can be
|
||
used to allow the use of a floating point co-processor. The
|
||
traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to
|
||
save and restore the floating point context respectively for those tasks
|
||
that actually use floating point operations.
|
||
+ BUG FIX: The first PPC405 port contained a bug in that it did not leave
|
||
adequate space above the stack for the backchain to be saved when a task
|
||
started to execute for the first time.
|
||
+ Updated queue.c to add in the means to allow interrupt nesting and for
|
||
queue API functions to be called from interrupts that have a priority
|
||
above the kernel priority. This is only supported on PIC32 ports thus
|
||
far.
|
||
+ Fixed the compiler warnings that were generated when the latest version
|
||
of WinAVR was used.
|
||
+ Remove all inline usage of 'inline' from the core kernel code.
|
||
+ Added the queue registry feature. The queue registry is provided as a
|
||
means for kernel aware debuggers to locate queue definitions. It has no
|
||
purpose unless you are using a kernel aware debugger. The queue registry
|
||
will only be used when configQUEUE_REGISTRY_SIZE is greater than zero.
|
||
+ Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to
|
||
prevent them from having to be included in multiple demos.
|
||
+ Added a Keil STM32 demo application.
|
||
+ Changed the blocktim.c test files as it is no longer legitimate for all
|
||
ports to call queue API functions from within a critical section.
|
||
+ Added the IntQueue.c test file to test the calling of queue API functions
|
||
from different interrupt priority levels, and test interrupt nesting.
|
||
|
||
Changes between V5.0.0 and V5.0.1
|
||
|
||
+ V5.0.1 was a customer specific release.
|
||
|
||
Changes between V4.8.0 and V5.0.0 released April 15, 2008
|
||
|
||
*** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 ***
|
||
|
||
The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(),
|
||
xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must
|
||
update all calls to these functions to use the new calling convention! Your
|
||
compiler might not issue any type mismatch warnings!
|
||
|
||
|
||
Other changes:
|
||
|
||
+ Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3
|
||
microcontrollers.
|
||
+ New task hook feature added.
|
||
+ PowerPC demo updated to use version 10.1 of the Xilinx EDK.
|
||
+ Efficiency gains within the PIC32 port layer.
|
||
|
||
Changes between V4.7.2 and V4.8.0 released March 26 2008
|
||
|
||
+ Added a Virtex4 PowerPC 405 port and demo application.
|
||
+ Added optional stack overflow checking and new
|
||
uxTaskGetStackHighWaterMark() function.
|
||
+ Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and
|
||
uxQueueMessagesWaitingFromISR() API functions.
|
||
+ Efficiency improvements to the Cortex-M3 port layer. NOTE: This
|
||
requires that an SVC handler be installed in the application.
|
||
+ Efficiency improvements to the queue send and receive functions.
|
||
+ Added new trace macros. These are application definable to provide
|
||
a flexible trace facility.
|
||
+ Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex
|
||
M3 port layer (bringing it up to the same standard as the IAR and GCC
|
||
versions).
|
||
+ Ports that used the arm-stellaris-eabi-gcc tools have been converted to
|
||
use the arm-non-eabi-gcc tools.
|
||
|
||
Changes between V4.7.1 and V4.7.2 released February 21, 2008
|
||
|
||
+ Added Fujitsu MB91460 port and demo.
|
||
+ Added Fujitsu MB96340 port and demo.
|
||
+ Tidied up the capitalisation of include files to facilitate builds on
|
||
Linux hosts.
|
||
+ Removed some redundant casting that was generating warnings - but was
|
||
included to remove warnings on other compilers.
|
||
|
||
Changes between V4.7.0 and V4.7.1 released February 3, 2008
|
||
|
||
+ Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench
|
||
for ARM.
|
||
+ Introduced recursive semaphore feature.
|
||
+ Updated LPC2368 demos to take into account silicon bugs in old chip
|
||
revisions.
|
||
+ Updated STR9 uIP port to manually set the net mask and gateway addresses.
|
||
+ Updating demos to allow more to run with the co-operative scheduler.
|
||
+ Fixed co-operative scheduler behaviour upon the occurrence of a tick
|
||
interrupt while the scheduler was suspended.
|
||
+ Updated documentation contained within semphr.h.
|
||
+ ARM7 GCC ports no longer use the IRQ attribute.
|
||
|
||
Changes between V4.6.1 and V4.7.0 released December 6, 2007
|
||
|
||
+ Introduced the counting semaphore macros and demo source files. The
|
||
Open Watcom PC project has been updated to include the new demo. See
|
||
the online documentation for more information.
|
||
+ Introduced the 'alternative' queue handling API and demo source files.
|
||
The Open Watcom PC project has been updated to include the new demo
|
||
source files. See the online documentation for more information.
|
||
+ Added AT91SAM7X Eclipse demo project.
|
||
+ Added the STM32 primer demo project for the GCC compiler and Ride IDE.
|
||
+ Removed the .lock files that were mistakenly included in the V4.6.1
|
||
eclipse workspaces.
|
||
|
||
Changes between V4.6.0 and V4.6.1 released November 5 2007
|
||
|
||
+ Added support for the MIPS M4K based PIC32.
|
||
+ Added 'extern "C"' to all the header files to facilitate use with C++.
|
||
|
||
Changes between V4.5.0 and V4.6.0 released October 28 2007
|
||
|
||
+ Changed the method used to force a context switch within an ISR for the
|
||
ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and
|
||
portEXIT_SWITCHING_ISR() macros are no longer supported. This is to
|
||
ensure correct behaviour no matter which GCC version is used, with or
|
||
without the -fomit-frame-pointer option, and at all optimisation levels.
|
||
+ Corrected the prototype for xQueueGenericSend() within queue.h.
|
||
|
||
Changes between V4.4.0 and V4.5.0 released September 17 2007
|
||
|
||
+ Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek()
|
||
functionality. These should now be used in preference to the old
|
||
xQueueSend() function - which is maintained for backward compatibility.
|
||
+ Added Mutex functionality. The behaviour of mutexes is subtly different
|
||
to the already existing binary semaphores as mutexes automatically
|
||
include a priority inheritance mechanism.
|
||
+ Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour
|
||
of the new functionality.
|
||
+ Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and
|
||
QPeek.c files.
|
||
+ Updated the GCC port for the Cortex M3 to include the
|
||
configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only
|
||
included in the IAR port.
|
||
+ Optimised the GCC and IAR port layer code - specifically the context
|
||
switch code.
|
||
+ Consolidated the LM3Sxxxx EK demos for all development tools into a
|
||
single project that automatically detects which version of the EK the
|
||
application is executing on.
|
||
+ Added Eclipse support for LM3Sxxxx evaluation kits.
|
||
+ Added Eclipse support for the Keil LPC2368 evaluation kit.
|
||
+ Added the Demo/Drivers directory to hold code that is common to multiple
|
||
demo application projects.
|
||
+ Included some minor bug fixes in the uIP 1.0 code.
|
||
+ Added an lwIP demo for the STR9 - thanks ST for assistance.
|
||
+ Updated the AVR32 port to ensure correct behaviour with full compiler
|
||
optimisation.
|
||
+ Included binaries for OpenOCD FTDI and parallel port interfaces.
|
||
|
||
Changes between V4.4.0 and V4.3.1 released July 31, 2007
|
||
|
||
+ Added AVR32 UC3B demo application.
|
||
+ Updated AVR32 UC3A port and demo applications.
|
||
+ Added IAR lwIP demo for AVR32 UC3A.
|
||
+ Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation
|
||
(thanks Niu Yong for making the suggestion).
|
||
+ Added xTaskGetSchedulerState() API function.
|
||
+ BUG FIX: Corrected behaviour when tasks that are blocked indefinitely
|
||
have their block time adjusted (within xQueueSend() and xQueueReceive()),
|
||
and are the subject of a call the vTaskResume() when they are not
|
||
actually in the Suspended state (thanks Dan Searles for reporting the
|
||
issues).
|
||
|
||
|
||
Changes between V4.3.0 and V4.3.1 released June 11, 2007
|
||
|
||
+ Added STMicroelectronics STM32 Cortex-M3 demo application.
|
||
+ Updated ustdlib.c for the GCC LM3S6965 demo.
|
||
|
||
Changes between V4.2.1 and V4.3.0 released June 5, 2007
|
||
|
||
+ Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24
|
||
and dsPIC ports. See the LM3S6965 and PIC24 demo application
|
||
documentation pages for more information.
|
||
+ Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC
|
||
tools, and changed the demo applications.
|
||
+ Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris
|
||
microcontrollers.
|
||
+ Corrected bug in uIP the demos that prevented frames of approximately 1480
|
||
bytes and over from being transmitted.
|
||
+ Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org
|
||
download.
|
||
+ Update to WizC PIC18 port to permit its use with version 14 of the
|
||
compiler. Thanks Marcel!
|
||
|
||
Changes between V4.2.1 and V4.2.0 released April 2, 2007
|
||
|
||
+ Added AVR32 AT32UC3A ports for GCC and IAR.
|
||
+ Added -fomit-frame-pointer option to lwIP SAM7X demo makefile.
|
||
+ Moved location of call to LCD_Init() in STR9 demo to ensure it is only
|
||
called after the scheduler has been started.
|
||
|
||
Changes between V4.1.3 and V4.2.0 released February 8, 2007
|
||
|
||
+ Changes to both task.c and queue.c as a result of testing performed on
|
||
the SafeRTOS code base.
|
||
+ Added Cortex-M3 LM3S811 demos for GCC and IAR tools.
|
||
|
||
Changes between V4.1.2 and V4.1.3 released November 19, 2006
|
||
|
||
+ Added STR750 ARM7 port using the Raisonance RIDE/GCC tools.
|
||
+ Added -fomit-frame-pointer option to Rowley ARM7 demos as work around
|
||
to GCC bug at some optimisation levels.
|
||
+ Altered the way the heap is defined in the LM3S811 Keil demo to prevent
|
||
the RAM usage from counting toward the code size limit calculation.
|
||
+ CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within
|
||
xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz.
|
||
+ Tasks that block on events with a timeout of portMAX_DELAY are now
|
||
blocked indefinitely if configINCLUDE_vTaskSuspend is defined.
|
||
Previously portMAX_DELAY was just the longest block time possible. This
|
||
is still the case if configINCLUDE_vTaskSuspend is not defined.
|
||
+ Minor changes to some demo application files.
|
||
|
||
Changes between V4.1.1 and V4.1.2 released October 21, 2006
|
||
|
||
+ Added 16bit PIC ports and demos.
|
||
+ Added STR750 port and demo.
|
||
|
||
|
||
Changes between V4.1.0 and V4.1.1 released September 24, 2006
|
||
|
||
+ Added the Luminary Micro Stellaris LM3S811 demo application.
|
||
|
||
Changes between V4.0.5 and V4.1.0 released August 28, 2006
|
||
|
||
+ Prior to V4.1.0, under certain documented circumstances, it was possible
|
||
for xQueueSend() and xQueueReceive() to return without having completed
|
||
and without their block time expiring. The block time effectively
|
||
stated a maximum block time, and the return value of the function needed
|
||
to be checked to determine the reason for returning. This is no longer
|
||
the case as the functions will only return once the block time has
|
||
expired or they are able to complete their operation. It is therefore no
|
||
longer necessary to wrap calls within loops.
|
||
+ Changed the critical section handling in the IAR AVR port to correct the
|
||
behaviour when used with later compiler versions.
|
||
+ Added the LPC2138 CrossWorks demo into the zip file. Previously this was
|
||
only available as a separate download.
|
||
+ Modified the AVR demo applications to demonstrate the use of co-routines.
|
||
|
||
Changes between V4.0.4 and V4.0.5 released August 13, 2006
|
||
|
||
+ Introduced API function xTaskResumeFromISR(). Same functionality as
|
||
xTaskResume(), but can be called from within an interrupt service routine.
|
||
+ Optimised vListInsert() in the case when the wake time is the maximum
|
||
tick count value.
|
||
+ Bug fix: The 'value' of the event list item is updated when the priority
|
||
of a task is changed. Previously only the priority of the TCB itself was
|
||
changed.
|
||
+ vTaskPrioritySet() and vTaskResume() no longer use the event list item.
|
||
This has not been necessary since V4.0.1 when the xMissedYield handling
|
||
was added.
|
||
+ Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz.
|
||
+ When ending the scheduler - do not try to attempt a context switch when
|
||
deleting the current task.
|
||
+ SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining
|
||
the length from the rx descriptor.
|
||
|
||
|
||
Changes between V4.0.3 and V4.0.4 released June 22, 2006
|
||
|
||
+ Added a port and demo application for the STR9 ARM9 based processors from
|
||
ST.
|
||
+ Slight optimisation to the vTaskPrioritySet() function.
|
||
+ Included the latest uIP version (1.0) in the demo/common/ethernet
|
||
directory.
|
||
|
||
Changes between V4.0.2 and V4.0.3 released June 7, 2006
|
||
|
||
+ Added a port and demo application for the Cortex-M3 target using the IAR
|
||
development tools.
|
||
+ The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the
|
||
CrossStudio tools.
|
||
+ The heap size defined for the lwIP Rowley demo has been reduced so that
|
||
the project will link correctly when using the command line GCC tools
|
||
also. The makefile has also been modified to allow debugging.
|
||
+ The lwIP Rowley demo not includes a 'kernel aware' debug window.
|
||
+ The uIP Rowley project has been updated to build with V1.6 of CrossWorks.
|
||
+ The second set of tasks in the blockQ demo were created the wrong way
|
||
around (inconsistent to the description in the file). This has been
|
||
corrected.
|
||
|
||
Changes between V4.0.1 and V4.0.2 released May 28, 2006
|
||
|
||
+ Port and demo application added for the Tern Ethernet Engine controller.
|
||
+ Port and demo application added for MC9S12 using GCC, thanks to
|
||
Jefferson "imajeff" Smith.
|
||
+ The function vTaskList() now suspends the scheduler rather than disabling
|
||
interrupts during the creation of the task list.
|
||
+ Allow a task to delete itself by passing in its own handle. Previously
|
||
this could only be done by passing in NULL.
|
||
+ Corrected the value passed to the WDG_PeriodValueConfig() library
|
||
function in the STR71x demo.
|
||
+ The tick hook function is now called only within a tick isr. Previously
|
||
it was also called when the tick function was called during the scheduler
|
||
unlocking process.
|
||
+ The EMAC driver in the SAM7X lwIP demo has been made more robust as per
|
||
the thread: https://sourceforge.net/forum/message.php?msg_id=3714405
|
||
+ In the PC ports: Add function prvSetTickFrequencyDefault() to set the
|
||
DOS tick back to its proper value when the scheduler exits. Thanks
|
||
Raynald!
|
||
+ In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT
|
||
macro where the BP register was not popped from the stack correctly. The
|
||
BP value would never get used so this did not cause a problem, but it has
|
||
been corrected all the same.
|
||
|
||
|
||
Changes between V4.0.0 and V4.0.1 released April 7 2006
|
||
|
||
+ Improved the ARM CORTEX M3 ports so they now only have to service
|
||
pendSV interrupts.
|
||
+ Added a Luminary Micro port and demo for use with Rowley CrossWorks.
|
||
+ Added the xMissedYield handling to tasks.c.
|
||
|
||
Changes between V3.2.4 and V4.0.0
|
||
|
||
Major changes:
|
||
|
||
+ Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers.
|
||
+ Added new co-routine functionality.
|
||
|
||
Other kernel changes:
|
||
|
||
+ An optional tick hook call is now included in the tick function.
|
||
+ Introduced the xMiniListItem structure and removed the list pxHead
|
||
member in order to reduce RAM usage.
|
||
+ Added the following definitions to the FreeRTOSConfig.h file included
|
||
with every port:
|
||
configUSE_TICK_HOOK
|
||
configUSE_CO_ROUTINES
|
||
configMAX_CO_ROUTINE_PRIORITIES
|
||
+ The volatile qualification has been changed on the list members to allow
|
||
the task.c code to be tidied up a bit.
|
||
+ The scheduler can now be started even if no tasks have been created!
|
||
This is to allow co-routines to run when there are no tasks.
|
||
+ A task being woken by an event will now preempt the currently running task
|
||
even if its priority is only equal to the currently running task.
|
||
|
||
Port and demo application changes:
|
||
|
||
+ Updated the WinAVR demo to compile with the latest version of WinAVR
|
||
with no warnings generated.
|
||
+ Changed the WinAVR makefile to make chars signed - needed for the
|
||
co-routine code if BaseType_t is set to char.
|
||
+ Added new demo application file crflash.c. This demonstrates co-routine
|
||
functionality including passing data between co-routines.
|
||
+ Added new demo application file crhook.c. This demonstrates co-routine
|
||
and tick hook functionality including passing data between and ISR and
|
||
a co-routine.
|
||
+ Some NOP's were missing following stmdb{}^ instructions in various ARM7
|
||
ports. These have been added.
|
||
+ Updated the Open Watcom PC demo project to include the crflash and crhook
|
||
demo co-routines as an example of their use.
|
||
+ Updated the H8S demo to compile with the latest version of GCC.
|
||
+ Updated the SAM7X EMAC drivers to take into account the hardware errata
|
||
regarding lost packets.
|
||
+ Changed the default MAC address used by some WEB server demos as the
|
||
original addresses used was not liked by some routers.
|
||
+ Modified the SAM7X/IAR startup code slightly to prevent it hanging on
|
||
some systems when the code is executed using a j-link debugger. The
|
||
j-link macro file configures the PLL before the code executes so
|
||
attempting to configure it again in the startup code was causing a
|
||
problem for some user. Now a check is performed first to see if the
|
||
PLL is already set up.
|
||
+ GCC port now contain all assembler code in a single asm block rather than
|
||
individual blocks as before.
|
||
+ GCC LPC2000 code now explicitly uses R0 rather than letting the assembler
|
||
choose the register to use as a temporary register during the context
|
||
switch.
|
||
+ Added portNOP() macro.
|
||
+ The compare match load value on LPC2000 ports now has 1 added to correct
|
||
the value used.
|
||
+ The minimal stack depth has been increased slightly on the WIZC PIC18
|
||
port.
|
||
|
||
Changes between V3.2.3 and V3.2.4
|
||
|
||
+ Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above.
|
||
Many thanks to Glen Biagioni for the provided update.
|
||
+ Added a new Microblaze port and demo application.
|
||
+ Modified the SAM7X EMAC demo to default to use the MII interface rather
|
||
than the RMII interface.
|
||
+ Modified the startup sequence of the SAM7X demo slightly to allow the
|
||
EMAC longer to auto negotiate.
|
||
|
||
Changes between V3.2.2 and V3.2.3
|
||
|
||
+ Added MII interface support to the SAM7X EMAC peripheral driver.
|
||
Previously versions worked with the RMII interface only.
|
||
+ Added command line GCC support to the SAM7X lwIP demo. Previously the
|
||
project could only be built using the CrossWorks IDE. Modifications to
|
||
this end include the addition of a standard makefile and linker script to
|
||
the download, and some adjustments to the stacks allocated to each task.
|
||
+ Changed the page returned by the lwIP WEB server demo to display the
|
||
task status table rather than the TCP/IP statistics.
|
||
+ Corrected the capitalisation of some header file includes and makefile
|
||
dependencies to facilitate use on Linux host computers.
|
||
+ The various LPC2000 ports had a mistake in the timer setup where the
|
||
prescale value was written to T0_PC instead of T0_PR. This would have
|
||
no effect unless a prescale value was actually required. This has been
|
||
corrected.
|
||
|
||
Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005
|
||
|
||
+ Added an IAR port for the Philips LPC2129
|
||
+ The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded
|
||
Workbench V4.30a format.
|
||
+ Updated the J-Link macro file included with the SAM7X uIP demo project
|
||
to allow the demo board to be reset over the J-Link.
|
||
|
||
Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005
|
||
|
||
+ Added lwIP demo for AT91SAM7X using Rowley tools.
|
||
+ Added uIP demo for AT91SAM7X using IAR tools.
|
||
+ Added function xTaskGetCurrentTaskHandle().
|
||
+ Renamed events.h to mevents.h to prevent it conflicting with the events.h
|
||
generated automatically by the HCS12 processor expert utility. events.h
|
||
is only used by the PC demo application.
|
||
+ Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value
|
||
expected by the compiler, and the compilers do not write to this
|
||
register.
|
||
+ The HCS12 banked model demo now creates the 'suicide' tasks immediately
|
||
prior to starting the scheduler. These tasks should be the last tasks to
|
||
get started in order for the test to function correctly.
|
||
|
||
Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005
|
||
|
||
V3.2.0 introduces two new MSP430 ports and corrects a minor kernel
|
||
issues. Thanks to Ares.qi for his input.
|
||
|
||
+ Added two MSP430 ports that use the Rowley CrossWorks development tools.
|
||
One port just mirrors the existing GCC port. The other port was provided
|
||
by Milos Prokic. Thanks!
|
||
+ V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume()
|
||
are called while the scheduler is locked (by a call to
|
||
vTaskSuspendAll()). When this is done the subject task now starts to
|
||
execute immediately when the scheduler is unlocked if it has the highest
|
||
priority that is ready to run. Previously there was a possibility that
|
||
the task would not run until the next RTOS tick or call to portYIELD().
|
||
+ Another similar small correction ensures that in the case where more than
|
||
one task is blocked on a semaphore or queue, the task with the highest
|
||
priority is guaranteed to be unblocked first.
|
||
+ Added a couple of more test tasks to the PC demo which cover the points
|
||
above.
|
||
|
||
Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005
|
||
|
||
This release updates the HCS12 port. The common kernel code
|
||
remains unchanged.
|
||
|
||
+ Updated the HCS12 port to support banking and introduced a demo
|
||
application for the MC9S12DP256. The new demo application is
|
||
located in the Demo/HCS12_CodeWarrior_banked directory.
|
||
+ The name of the directory containing the MC9S12F32 demo application
|
||
has been changed to Demo/HCS12_CodeWarrior_small (as in 'small'
|
||
memory model).
|
||
+ MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the
|
||
demo application is now 24MHz. Previously it was 8MHz.
|
||
+ The demo application file Demo/Common/Minimal/death.c has a slight
|
||
alteration to prevent it using floating point variables.
|
||
|
||
|
||
Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005
|
||
|
||
+ Added new ports for ST Microsystems STR71x, and Freescale HCS12
|
||
microcontrollers. Currently the HCS12 port is limited to the small
|
||
memory model. Large memory models will be supported in the next
|
||
release.
|
||
+ PIC18 wizC port updated. Thanks to Marcel van Lieshout for his
|
||
continuing contribution.
|
||
+ The accuracy of the AVR port timer setup has been improved. Thanks to
|
||
Thomas Krutmann for this contribution.
|
||
+ Added a new conditional compilation macro configIDLE_SHOULD_YIELD.
|
||
See the WEB documentation for details.
|
||
+ Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks.
|
||
+ Slight modification to the SAM7 release build configuration to correct
|
||
an include path definition.
|
||
+ Updated the MPLAB PIC18 documentation to provide extra details on linker
|
||
file configuration.
|
||
|
||
Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005
|
||
|
||
V3.0.0 includes many enhancements, so this history list is broken into
|
||
subsections as follows:
|
||
|
||
API changes
|
||
New ports
|
||
Directory name changes
|
||
Kernel and miscellaneous changes changes
|
||
|
||
- API changes
|
||
|
||
+ Each port now defines BaseType_t as the data type that is most
|
||
efficient for that architecture. The type BaseType_t is used
|
||
extensively in API calls necessitating the following changes to the
|
||
FreeRTOS API function prototypes.
|
||
|
||
See the "New for V3.0.0" section of the FreeRTOS online
|
||
documentation for full details of API changes.
|
||
|
||
- New ports
|
||
|
||
+ The AT91FR40008 ARM7 port contributed by John Feller is now included
|
||
in the download (thanks John!).
|
||
+ The PIC18 port for the wizC/fedC compiler contributed by Marcel van
|
||
Lieshout is now included in the download (thanks Marcel!).
|
||
+ The IAR port for the AVR microcontroller has been upgraded to V3.0.0
|
||
and is now a supported port.
|
||
|
||
- Directory name changes
|
||
|
||
For consistency, and to allow integration of the new ports, the
|
||
following directory names have been changed.
|
||
|
||
+ The source/portable/GCC/ARM7 directory has been renamed
|
||
source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming
|
||
of other GCC ARM7 ports.
|
||
+ The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to
|
||
accommodate the wizC/fedC PIC port.
|
||
+ The demo applications for the two AVR ports no longer share the same
|
||
directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR
|
||
directory and the IAR port in the Demo/AVR_ATMega323_IAR directory.
|
||
|
||
|
||
- Kernel and miscellaneous changes changes
|
||
|
||
See the "New for V3.0.0" section of the FreeRTOS online
|
||
documentation for more information.
|
||
|
||
+ Previously 'portmacro.h' contained some user editable definitions
|
||
relating to the user application, and some fixed definitions relating
|
||
specifically to the port being used. The application specific
|
||
definitions have been removed from 'portmacro.h' and placed inside a
|
||
new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now
|
||
never be modified by the user. A 'FreeRTOSConfig.h' is now included
|
||
in each of FreeRTOS/Demo subdirectories - as it's settings relate to
|
||
the demo application rather than being specific to the port.
|
||
+ Introduced configUSE_IDLE_HOOK in idle task.
|
||
+ The idle task will yield when another idle priority task is ready to
|
||
run. Previously the idle task would run to the end of its time slice
|
||
regardless.
|
||
+ The idle task is now created when the scheduler is started. This
|
||
requires less stack than the previous scheme where it was created upon
|
||
creation of the first application task.
|
||
+ The function usPortCheckFreeStackSpace() has been renamed
|
||
usTaskCheckFreeStackSpace() and moved from the portable layer to
|
||
tasks.c.
|
||
+ Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE.
|
||
+ The portheap.c file included with the AVR port has been deleted. The
|
||
AVR demo now uses the standard heap1 sample memory allocator.
|
||
+ The GCC AVR port is now build using the standard make utility. The
|
||
batch files used previously have been deleted. This means a recent
|
||
version of WinAVR is required in order to create a binary suitable for
|
||
source level debugging.
|
||
+ vTaskStartScheduler() no longer takes the configUSE_PREEMPTION
|
||
constant as a parameter. Instead the constant is used directly within
|
||
tasks.c and no parameter is required.
|
||
+ The header file 'FreeRTOS.h' has been created and is used to include
|
||
'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary
|
||
order. FreeRTOS.h can now be included in place of these other
|
||
headers.
|
||
+ The header file 'errors.h' has been deleted. The definitions it
|
||
contained are now located within 'projdefs.h'.
|
||
+ pvPortMalloc() now takes a size_t parameter as per the ANSI malloc().
|
||
Previously an unsigned short was used.
|
||
+ When resuming the scheduler a yield is performed if either a tick has
|
||
been missed, or a task is moved from the pending ready list into a
|
||
ready list. Previously a yield was not performed on this second
|
||
condition.
|
||
+ In heap1.c an overflow check has been added to ensure the next free
|
||
byte variable does not wrap around.
|
||
+ Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO()
|
||
macros.
|
||
+ The MPLAB PIC port now saved the TABLAT register in interrupt service
|
||
routines.
|
||
|
||
Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005
|
||
|
||
This version adds support for the H8 processor.
|
||
|
||
Other changes:
|
||
|
||
+ tskMAX_TASK_NAME_LEN removed from the task.h header and added to each
|
||
individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM
|
||
limited ports to allocate fewer characters to the task name.
|
||
+ AVR port - Replaced the inb() and outb() functions with direct memory
|
||
access. This allows the port to be built with the 20050414 build of
|
||
WinAVR.
|
||
+ GCC LPC2106 port - removed the 'static' from the definition of
|
||
vNonPreemptiveTick() to allow the demo to link when using the cooperative
|
||
scheduler.
|
||
+ GCC LPC2106 port - Corrected the optimisation options in the batch files
|
||
ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case
|
||
-o is replaced by an uppercase -O.
|
||
+ Tasks.c - The strcpy call has been removed when copying across the task
|
||
name into the TCB.
|
||
+ Updated the trace visualisation to always be 4 byte aligned so it can be
|
||
used on ARM architectures.
|
||
+ There are now two tracecon executables (that convert the trace file binary
|
||
into an ASCII file). One for big endian targets and one for little endian
|
||
targets.
|
||
+ Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called
|
||
too often in the idle task.
|
||
+ SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt
|
||
mask with the RX_DATA_BK1.
|
||
|
||
|
||
Changes between V2.5.5 and V2.6.0 - Released January 16, 2005
|
||
|
||
+ Added the API function vTaskDelayUntil(). The demo app file
|
||
Demo/Common/Minimal/flash.c has been updated to demonstrate its use.
|
||
+ Added INCLUDE_vTaskDelay conditional compilation.
|
||
+ Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to
|
||
Demo/ARM7_AT91SAM7S64_IAR for consistency.
|
||
+ Modified the AT91SAM7S USB driver to allow descriptors that have
|
||
a length that is an exact multiple of the FIFO to be transmitted.
|
||
|
||
Changes between V2.5.4 and V2.5.5 - Released January 3, 2005
|
||
|
||
This version adds support for the Atmel SAM7 ARM7 microcontrollers
|
||
along with the IAR development tools.
|
||
|
||
Other changes:
|
||
|
||
+ Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC.
|
||
+ Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil.
|
||
+ Modified the Philips ARM7 serial interrupt service routines to only
|
||
process one interrupt per call. This seems to enable the ISR to
|
||
operate more quickly.
|
||
+ Removed the 'far' keyword from the Open Watcom portable layer source
|
||
files. This allows their use with V1.3 of Open Watcom.
|
||
+ Minor modifications to the SDCC build files to allow their use under
|
||
Linux. Thanks to Frieder Ferlemann for this contribution.
|
||
+ Small change to sTaskCreate() to allow a context switch even when
|
||
pxCreatedTask is NULL. Thanks to Kamil for this contribution.
|
||
+ inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick()
|
||
definitions.
|
||
|
||
Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004
|
||
|
||
This is an important maintenance release.
|
||
|
||
The function cTaskResumeAll() has been modified so it can be used safely
|
||
prior to the kernel being initialised. This was an issue as
|
||
cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun
|
||
for highlighting this issue.
|
||
|
||
Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004
|
||
|
||
The critical section handling functions have been changed for the GCC ARM7
|
||
port. Some optimisation levels use the stack differently to others. This
|
||
means the interrupt flags cannot always be stored on the stack and are
|
||
instead now stored in a variable, which is then saved as part of the
|
||
tasks context. This allows the GCC ARM7 port to be used at all
|
||
optimisation levels - including -Os.
|
||
|
||
Other minor changes:
|
||
|
||
+ MSP430 definition of usCriticalNesting now uses the volatile qualifier.
|
||
This is probably not required but added just in case.
|
||
|
||
Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004
|
||
|
||
+ Added the Keil ARM7 port.
|
||
+ Slight modification to comtest.c to make the delay periods more random.
|
||
This creates a better test condition.
|
||
|
||
Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004
|
||
|
||
+ Added the MSP430 port.
|
||
+ Extra comments added to the GCC ARM7 port.c and portISR.c files.
|
||
+ The memory pool allocated within heap_1.c has been placed within a
|
||
structure to ensure correct memory alignment on 32bit systems.
|
||
+ Within the GCC ARM7 serial drivers an extra check is made to ensure
|
||
the post to the queue was successful if then attempting immediately
|
||
retrieve the posted character.
|
||
+ Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS
|
||
as the old name was misleading.
|
||
|
||
|
||
Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004
|
||
|
||
The RTOS source code download now includes three separate memory allocation
|
||
schemes - so you can choose the most appropriate for your application.
|
||
These are found in the Source/Portable/MemMang directory. The demo
|
||
application projects have also been updated to demonstrate the new schemes.
|
||
See the "Memory Management" page of the API documentation for more details.
|
||
|
||
+ Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang
|
||
directory.
|
||
+ Replaced the portheap.c files for each demo application with one of the
|
||
new memory allocation files.
|
||
+ Updated the portmacro.h file for each demo application to include the
|
||
constants required for the new memory allocators: portTOTAL_HEAP_SIZE and
|
||
portBYTE_ALIGNMENT.
|
||
+ Added a new test to the ARM7 demo application that tests the operation
|
||
of the heap_2 memory allocator.
|
||
|
||
|
||
Changes between V2.4.1 and V2.4.2 - Released July 14, 2004
|
||
|
||
+ The ARM7 port now supports THUMB mode.
|
||
+ Modification to the ARM7 demo application serial port driver.
|
||
|
||
Changes between V2.4.0 and V2.4.1 - Released July 2, 2004
|
||
|
||
+ Rationalised the ARM7 port version of portEXIT_CRITICAL() -
|
||
improvements provided by Bill Knight.
|
||
+ Made demo serial driver more complete and robust.
|
||
|
||
|
||
Changes between V2.4.0 and V2.3.1 - Released June 30, 2004
|
||
|
||
+ Added the first ARM7 port - thanks to Bill Knight for the assistance
|
||
provided.
|
||
+ Added extra files to the Demo/Common/Minimal directory. These are
|
||
equivalent to their Demo/Common/Full counterparts but with the
|
||
calls to the functions defined in print.c removed.
|
||
+ Added TABLAT to the list of registers saved as part of a PIC18 context.
|
||
|
||
Changes between V2.3.0 and V2.3.1 - Released June 25, 2004
|
||
|
||
+ Changed the way the vector table is defined to be more portable.
|
||
+ Corrected the definitions of SPH and SPL in portmacro.s90.
|
||
The previous definitions prevented V2.3.0 operating if the iom323.h
|
||
header file was included in portmacro.s90.
|
||
|
||
Changes between V2.2.0 and V2.3.0 - Released June 19, 2004
|
||
|
||
+ Added an AVR port that uses the IAR compiler.
|
||
+ Explicit use of 'signed' qualifier on plain char types.
|
||
+ Modified the Open Watcom project files to use 'signed' as the
|
||
default char type.
|
||
+ Changed odd calculation of initial pxTopOfStack value when
|
||
portSTACK_GROWTH < 0.
|
||
+ Added inline qualifier to context switch functions within task.c.
|
||
Ports that do not support the (non ANSI) inline keyword have the
|
||
inline #define'd away in their respective portmacro.h files.
|
||
|
||
Changes between V2.1.1 and V2.2.0 - Released May 18, 2004
|
||
|
||
+ Added Cygnal 8051 port.
|
||
+ PCLATU and PCLATH are now saved as part of the PIC18 context. This
|
||
allows function pointers to be used within tasks. Thanks to Javier
|
||
Espeche for the enhancement.
|
||
+ Minor changes to demo application files to reduce stack usage.
|
||
+ Minor changes to prevent compiler warnings when compiling the new port.
|
||
|
||
Changes between V2.1.0 and V2.1.1 - Released March 12, 2004
|
||
|
||
+ Bug fix - pxCurrentTCB is now initialised before the call to
|
||
prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed
|
||
while null during the initialisation sequence. Thanks to Giuseppe
|
||
Franco for the correction.
|
||
|
||
Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004
|
||
|
||
V2.1.0 has significant reworks that greatly reduce the amount of time
|
||
the kernel has interrupts disabled. The first section of modifications
|
||
listed here must be taken into account by users. The second section
|
||
are related to the kernel implementation and as such are transparent.
|
||
|
||
Section1 :
|
||
|
||
+ The typedef TickType_t has been introduced. All delay times should
|
||
now use a variable of type TickType_t in place of the unsigned long's
|
||
used previously. API function prototypes have been updated
|
||
appropriately.
|
||
+ The configuration macro USE_16_BIT_TICKS has been introduced. If set
|
||
to 1 TickType_t is defined as an unsigned short. If set to 0
|
||
TickType_t is defined as an unsigned long. See the configuration
|
||
section of the API documentation for more details.
|
||
+ The configuration macro INCLUDE_vTaskSuspendAll is now obsolete.
|
||
+ vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a
|
||
value (see the API documentation).
|
||
+ ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type
|
||
it returns now depends on the USE_16_BIT_TICKS definition.
|
||
+ cQueueReceive() must now >never< be used from within an ISR. Use the new
|
||
cQueueReceiveFromISR() function instead.
|
||
|
||
Section 2:
|
||
|
||
+ A mechanism has been introduced that allows a queue to be accessed by
|
||
a task and ISR simultaneously.
|
||
+ A "pending ready" queue has been introduced that enables interrupts to
|
||
be processed when the scheduler is suspended.
|
||
+ The list implementation has been improved to provide faster item
|
||
removal.
|
||
+ The scheduler now makes use of the scheduler suspend mechanism in places
|
||
where previously interrupts were disabled.
|
||
|
||
Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004
|
||
|
||
+ Introduced new API functions:
|
||
vTaskPriorityGet ()
|
||
vTaskPrioritySet ()
|
||
vTaskSuspend ()
|
||
vTaskResume ()
|
||
vTaskSuspendAll ()
|
||
vTaskResumeAll ()
|
||
+ Added conditional compilation options that allow the components of the
|
||
kernel that are unused by an application to be excluded from the build.
|
||
See the Configuration section on the WEB site for more information (on
|
||
the API pages). The macros have been added to each portmacro.h file (
|
||
sometimes called prtmacro.h).
|
||
+ Rearranged tasks.c.
|
||
+ Added demo application file dynamic.c.
|
||
+ Updated the PC demo application to make use of dynamic.c.
|
||
+ Updated the documentation contained in the kernel header files.
|
||
+ Creating a task now causes a context switch if the task being created
|
||
has a higher priority than the calling task - assuming the kernel is
|
||
running.
|
||
+ vTaskDelete() now only causes a context switch if the calling task is
|
||
the task being deleted.
|
||
|
||
Changes between V1.2.5 and V1.2.6 - Released December 31, 2003
|
||
|
||
Barring the change to the interrupt vector (PIC port) these are minor
|
||
enhancements.
|
||
|
||
+ The interrupt vector used for the PIC master ISR has been changed from
|
||
0x18 to 0x08 - where it should have always been. The incorrect address
|
||
still works but probably executes a number of NOP's before getting to the
|
||
ISR.
|
||
+ Changed the baud rate used by the AVR demo application to 38400. This
|
||
has an error percentage of less than one percent with an 8MHz clock.
|
||
+ Raised the priority of the Rx task in demo\full\comtest.c. This only
|
||
affects the Flashlite and PC ports. This was done to prevent the Rx
|
||
buffer becoming full.
|
||
+ Reverted the Flashlite COM port driver back so it does not use the DMA.
|
||
The DMA appears to miss characters under stress. The Borland Flashlite
|
||
port was also calculating a register value incorrectly resulting in the
|
||
wrong DMA source address being used. The same code worked fine when
|
||
compiling with Open Watcom. Other minor enhancements were made to the
|
||
interrupt handling.
|
||
+ Modified the PIC serial Rx ISR to check for and clear overrun errors.
|
||
Overrun errors seem to prevent any further characters being received.
|
||
+ The PIC demo projects now have some optimisation switched on.
|
||
|
||
|
||
Changes between V1.2.4 and V1.2.5
|
||
|
||
Small fix made to the PIC specific port.c file described below.
|
||
|
||
+ Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global
|
||
interrupt flag setting. Using the two bits defined within
|
||
portINITAL_INTERRUPT_STATE was causing the w register to get clobbered
|
||
before the test was performed.
|
||
|
||
Changes between V1.2.3 and V1.2.4
|
||
|
||
V1.2.4 contains a release version of the PIC18 port.
|
||
An optional exception has been included with the GPL. See the licensing
|
||
section of www.FreeRTOS.org for details.
|
||
|
||
+ The function xPortInitMinimal() has been renamed to
|
||
xSerialPortInitMinimal() and the function xPortInit() has been renamed
|
||
to xSerialPortInit().
|
||
+ The function sSerialPutChar() has been renamed cSerialPutChar() and
|
||
the function return type chaned to portCHAR.
|
||
+ The integer and flop tasks now include calls to tskYIELD(), allowing
|
||
them to be used with the cooperative scheduler.
|
||
+ All the demo applications now use the integer and comtest tasks when the
|
||
cooperative scheduler is being used. Previously they were only used with
|
||
the preemptive scheduler.
|
||
+ Minor changes made to operation of minimal versions of comtest.c and
|
||
integer.c.
|
||
+ The ATMega port definition of portCPU_CLOSK_HZ definition changed to
|
||
8MHz base 10, previously it base 16.
|
||
|
||
|
||
|
||
Changes between V1.2.2a and V1.2.3
|
||
|
||
The only change of any significance is to the license, which has changed
|
||
from the Open Software License to the GNU GPL.
|
||
|
||
The zip file also contains a pre-release version of the PIC18 port. This
|
||
has not yet completed testing and as such does not constitute part of the
|
||
V1.2.3 release. It is still however covered by the GNU GPL.
|
||
|
||
There are minor source code changes to accommodate the PIC C compiler.
|
||
These mainly involve more explicit casting.
|
||
|
||
+ sTaskCreate() has been modified slightly to make use of the
|
||
portSTACK_GROWTH macro. This is required for the PIC port where the
|
||
stack grows in the opposite direction to the other existing ports.
|
||
+ prvCheckTasksWaitingTermination() has been modified slightly to bring
|
||
the decrementing of usCurrentNumberOfTasks within the critical section,
|
||
where it should have been since the creation of an eight bit port.
|
||
|
||
Changes between V1.2.2 and V1.2.2a
|
||
|
||
The makefile and buildcoff.bat files included with the AVR demo application
|
||
have been modified for use with the September 2003 build of WinAVR. No
|
||
source files have changed.
|
||
|
||
Changes between V1.2.1 and V1.2.2
|
||
|
||
There are only minor changes here to allow the PC and Flashlite 186 ports
|
||
to use the Borland V4.52 compiler, as supplied with the Flashlite 186
|
||
development kit.
|
||
|
||
+ Introduced a BCC directory under source\portable. This contains all the
|
||
files specific to the Borland compiler port.
|
||
+ Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS.
|
||
+ Modified comtest.c to increase the rate at which the string is
|
||
transmitted and received on the serial port. The Flashlite 186 demo
|
||
app baud rate has also been increased.
|
||
+ The values of the constants used in both integer.c files have been
|
||
increased to force the Borland compiler to use 32 bit values. The
|
||
Borland optimiser placed the previous values in 16 bit registers, and in
|
||
So doing invalidated the test.
|
||
|
||
Changes between V1.2.0 and V1.2.1
|
||
|
||
This version includes some minor changes to the list implementation aimed
|
||
at improving the context switch time - with is now approximately 10% faster.
|
||
Changes include the removal of some null pointer assignment checks. These
|
||
were redundant where the scheduler uses the list functions, but means any
|
||
user application choosing to use the same list functions must now check
|
||
that no NULL pointers are passed as a parameter.
|
||
|
||
The Flashlite 186 serial port driver has also been modified to use a DMA
|
||
channel for transmissions. The serial driver is fully functional but still
|
||
under development. Flashlite users may prefer to use V1.2.0 for now.
|
||
|
||
Details:
|
||
|
||
+ Changed the baud rate for the ATMega323 serial test from 19200 to 57600.
|
||
+ Use vSerialPutString() instead of single character puts in
|
||
Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial
|
||
driver. Also the check variable only stops incrementing after two
|
||
consecutive failures.
|
||
+ semtest.c creates four tasks, two of which operate at the idle priority.
|
||
The tasks that operate at the idle priority now use a lower expected
|
||
count than those running at a higher priority. This prevents the low
|
||
priority tasks from signalling an error because they have not been
|
||
scheduled enough time for each of them to count the shared variable to
|
||
the higher original value.
|
||
+ The flashlite 186 serial driver now uses a DMA channel for transmissions.
|
||
+ Removed the volatile modifier from the list function parameters. This was
|
||
only ever included to prevent compiler warnings. Now warnings are
|
||
removed by casting parameters where the calls are made.
|
||
+ prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been
|
||
removed from list.c and added as macros in list.h.
|
||
+ usNumberOfItems has been added to the list structure. This removes the
|
||
need for a pointer comparison when checking if a list is empty, and so
|
||
is slightly faster.
|
||
+ Removed the NULL check in vListRemove(). This makes the call faster but
|
||
necessitates any application code utilising the list implementation to
|
||
ensure NULL pointers are not passed.
|
||
+ Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds
|
||
per tick). This is what it always should have been.
|
||
|
||
Changes between V1.01 and V1.2.0
|
||
|
||
The majority of these changes were made to accommodate the 8bit AVR port.
|
||
The scheduler workings have not changed, but some of the data types used
|
||
have been made more friendly to an eight bit environment.
|
||
|
||
Details:
|
||
|
||
+ Changed the version numbering format.
|
||
+ Added AVR port.
|
||
+ Split the directory demo\common into demo\common\minimal and
|
||
demo\common\full. The files in the full directory are for systems with
|
||
a display (currently PC and Flashlite 186 demo's). The files in the
|
||
minimal directory are for systems with limited RAM and no display
|
||
(currently MegaAVR).
|
||
+ Minor changes to demo application function prototypes to make more use
|
||
of 8bit data types.
|
||
+ Within the scheduler itself the following functions have slightly
|
||
modified declarations to make use of 8bit data types where possible:
|
||
xQueueCreate(),
|
||
sQueueReceive(),
|
||
sQUeueReceive(),
|
||
usQueueMessageWaiting(),
|
||
sQueueSendFromISR(),
|
||
sSemaphoreTake(),
|
||
sSemaphoreGive(),
|
||
sSemaphoreGiveFromISR(),
|
||
sTaskCreate(),
|
||
sTaskMoveFromEventList().
|
||
|
||
Where the return type has changed the function name has also changed in
|
||
accordance with the naming convention. For example
|
||
usQueueMessageWaiting() has become ucQueueMessageWaiting().
|
||
+ The definition tskMAX_PRIORITIES has been moved from task.h to
|
||
portmacro.h and renamed portMAX_PRIORITIES. This allows different
|
||
ports to allocate a different maximum number of priorities.
|
||
+ By default the trace facility is off, previously USE_TRACE_FACILITY
|
||
was defined.
|
||
+ comtest.c now uses a psuedo random delay between sends. This allows for
|
||
better testing as the interrupts do not arrive at regular intervals.
|
||
+ Minor change to the Flashlite serial port driver. The driver is written
|
||
to demonstrate the scheduler and is not written to be efficient.
|
||
|
||
|
||
|
||
Changes between V1.00 and V1.01
|
||
|
||
These changes improve the ports. The scheduler itself has not changed.
|
||
|
||
Improved context switch mechanism used when performing a context
|
||
switch from an ISR (both the tick ISR and the serial comms ISR's within
|
||
the demo application). The new mechanism is faster and uses less stack.
|
||
|
||
The assembler file portasm.asm has been replaced by a header file
|
||
portasm.h. This includes a few assembler macro definitions.
|
||
|
||
All saving and restoring of registers onto/off of the stack is now handled
|
||
by the compiler. This means the initial stack setup for a task has to
|
||
mimic the stack used by the compiler, which is different for debug and
|
||
release builds.
|
||
|
||
Slightly changed the operation of the demo application, details below.
|
||
|
||
Details:
|
||
|
||
+ portSWITCH_CONTEXT() replaced by vPortFirstContext().
|
||
+ pxPortInitialiseStack() modified to replicate the stack used by the
|
||
compiler.
|
||
+ portasm.asm file removed.
|
||
+ portasm.h introduced. This contains macro definitions for
|
||
portSWITCH_CONTEXT() and portFIRST_CONTEXT().
|
||
+ Context switch from ISR now uses the compiler generated interrupt
|
||
mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving
|
||
the save/restore to compiler generated code.
|
||
+ Calls to taskYIELD() during ISR's have been replaced by calling the
|
||
simpler and faster portSWITCH_CONTEXT().
|
||
+ The Flashlite 186 port now uses 186 instruction set (used to use 80x86
|
||
instructions only).
|
||
+ The blocking queue tasks within the demo application did not operate
|
||
quite as described. This has been corrected.
|
||
+ The priority of the comtest Rx task within the demo application has been
|
||
lowered. Received characters are now processed (read from the queue) at
|
||
the idle priority, allowing low priority tasks to run evenly at times of
|
||
a high communications overhead.
|
||
+ Prevent the call to kbhit() in main.c for debug builds as the debugger
|
||
seems to have problems stepping over the call. This if for the PC port
|
||
only.
|
||
|
||
|
||
|