1 Documentation and download available at https://www.FreeRTOS.org/
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3 Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020
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5 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
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9 + Task notifications: Prior to FreeRTOS V10.4.0 each created task had a
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10 single direct to task notification. From FreeRTOS V10.4.0 each task has
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11 an array of notifications. The direct to task notification API has been
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12 extended with API functions postfixed with "Indexed" to enable the API to
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13 operate on a task notification at any array index. See
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14 https://www.freertos.org/RTOS-task-notifications.html for more information.
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15 + Kernel ports that support memory protection units (MPUs): The ARMv7-M and
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16 ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M
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17 MPU ports now support devices that have 16 MPU regions, have the ability
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18 to override default memory attributes for privileged code and data
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19 regions, and have the ability to place the FreeRTOS kernel code outside of
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20 the Flash memory. The ARMv8-M MPU ports now support tickless idle mode.
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21 See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html
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22 for more information.
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24 Additional noteworthy updates:
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26 + Code formatting is now automated to facilitate the increase in
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27 collaborative development in Git. The auto-formated code is not identical
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28 to the original formatting conventions. Most notably spaces are now used
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30 + The prototypes for callback functions (those that start with "Application",
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31 such as vApplicationStackOverflowHook()) are now in the FreeRTOS header
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32 files, removing the need for application writers to add prototypes into
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33 the C files in which they define the functions.
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34 + New Renesas RXv3 port layer.
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35 + Updates to the Synopsys ARC code, including support for EM and HS cores,
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37 + Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in
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38 the same way the Windows port layer enables FreeRTOS to run on Windows
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40 + Many other minor optimisations and enhancements. For full details
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41 see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/master
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44 Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020
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46 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html
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48 + ./FreeRTOS-Labs directory was removed from this file. The libraries it
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49 contained are now available as a separate download.
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51 Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020
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53 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html
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55 New and updated kernel ports:
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57 + Added RISC-V port for the IAR compiler.
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58 + Update the Windows simulator port to use a synchronous object to prevent
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59 a user reported error whereby a task continues to run for a short time
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60 after being moved to the Blocked state. Note we were not able to
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61 replicate the reported issue and it likely depends on your CPU model.
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62 + Correct alignment of stack top in RISC-V port when
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63 configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes
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64 the interrupt stack to be statically allocated.
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65 + The RISC-V machine timer compare register can now be for any HART, whereas
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66 previously it was always assumed FreeRTOS was running on HART 0.
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67 + Update the sequence used to update the 64-bit machine timer
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68 compare register on 32-bit cores to match that suggested in RISC-V
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70 + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler
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72 + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to
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73 match that of the ARMv8-M ports whereby privilege escalations can only
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74 originate from within the kernel's own memory segment. Added
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75 configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant.
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76 + Update existing MPU ports to correctly disable the MPU before it is
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78 + Added contributed port and demo application for a T-Head (formally C-SKY)
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83 + Added the vPortGetHeapStats() API function which returns information on
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84 the heap_4 and heap_5 state.
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85 + Added xTaskCatchUpTicks(), which corrects the tick count value after the
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86 application code has held interrupts disabled for an extended period.
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87 + Added xTaskNotifyValueClear() API function.
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88 + Added uxTimerGetReloadMode() API function.
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90 Other miscellaneous changes:
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91 + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it
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92 has the same type as variables with which it is compared to, and therefore
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93 also renamed the variable xPendingTicks.
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94 + Update Keil projects that use the MPU so memory regions come from linker
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95 script (scatter file) variables instead of being hard coded.
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96 + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR
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98 + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo.
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99 + Added LPC54018 MPU demo.
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100 + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter().
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103 Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019:
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105 + Added ARM Cortex-M23 port layer to complement the pre-existing ARM
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106 Cortex-M33 port layer.
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107 + The RISC-V port now automatically switches between 32-bit and 64-bit
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109 + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering
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110 when GCC link time optimisation is used.
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111 + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and
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112 prevent the secure side builds from removing symbols required by the
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113 non secure side build.
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114 + Introduced the portARCH_NAME to provide additional data to select semi-
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115 automated build environments.
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116 + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before
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117 updating the MPU registers.
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119 + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo.
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120 + Added LPC55S69 ARM Cortex-M33 demo.
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121 + Added an STM32 dual core AMP stress test demo.
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124 Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019:
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126 + Added GCC RISC-V MCU port with three separate demo applications.
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127 + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports
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128 with Keil simulator demo.
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129 + Update the method used to detect if a timer is active. Previously the
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130 timer was deemed to be inactive if it was not referenced from a list.
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131 However, when a timer is updated it is temporarily removed from, then
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132 re-added to a list, so now the timer's active status is stored separately.
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133 + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and
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134 xTaskGetApplicationTaskTagFromISR() API functions.
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135 + Updated third party Xtensa port so it is MIT licensed.
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136 + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas
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137 compiler RX600v2 port to enable switching between platform.h and
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138 iodefine.h includes within that port's port.c file.
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139 + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged
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141 + Added uxTaskGetStackHighWaterMark2() function to enable the return type to
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142 be changed without breaking backward compatibility.
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143 uxTaskGetStackHighWaterMark() returns a UBaseType_t as always,
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144 uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the
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145 user to determine the return type.
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146 + Fixed issues in memory protected ports related to different combinations
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147 of static memory only and dynamic memory only builds. As a result the
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148 definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more
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149 complex and was moved to FreeRTOS.h with a table explaining its definition.
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150 + Added a 'get task tag from ISR' function.
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151 + Change the method used to determine if a timer is active or not from just
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152 seeing if it is referenced from the active timer list to storing its
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153 active state explicitly. The change prevents the timer reporting that it
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154 is inactive while it is being moved from one list to another.
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155 + The pcName parameter passed into the task create functions can be NULL,
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156 previously a name had to be provided.
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157 + When using tickless idle, prvResetNextTaskUnblockTime() is now only called
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158 in xTaskRemoveFromEventList() if the scheduler is not suspended.
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159 + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for
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160 FreeRTOS ports that run on architectures that have stack limit registers.
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163 Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018
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165 + Reverted a few structure name changes that broke several kernel aware
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167 + Updated to the latest trace recorder code.
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168 + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code.
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169 + Reverted moving some variables from file to function scope as doing so
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170 broke debug scenarios that require the static qualifier to be removed.
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172 Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018
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174 FreeRTOS Kernel Changes:
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176 + Update lint checked MISRA compliance to use the latest MISRA standard, was
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177 previously using the original MISRA standard.
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178 + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be
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179 unique types instead of void pointers, improving type safety. (this was
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180 attempted some years back but had to be backed out due to bugs in some
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181 debuggers). Note this required the pvContainer member of a ListItem_t
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182 struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if
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183 this causes an issue.
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184 + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno
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185 functionality in a more user friendly way - previously the generic thread
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186 local storage feature was used for this purpose.
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187 + Added Xtensa port and demo application for the XCC compiler.
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188 + Changed the implementation of vPortEndScheduler() for the Win32 port to
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189 simply call exit( 0 ).
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190 + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect
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191 the read modify write access to an internal Microblaze register.
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192 + Fix minor niggles when the MPU is used with regards to prototype
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193 differences, static struct size differences, etc.
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194 + The usStackHighWaterMark member of the TaskStatus_t structure now has type
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195 configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been
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196 made when the configSTACK_DEPTH_TYPE type (which gets around the previous
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197 16-bit limit on stack size specifications) was introduced.
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198 + Added the xMessageBufferNextLengthBytes() API function and likewise stream
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200 + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes
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201 used to hold the length of a message in the message buffer to be reduced.
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202 configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example,
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203 messages can never be more than 255 bytes it could be set to uint8_t,
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204 saving 3 bytes each time a message is written into the message buffer
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205 (assuming sizeof( size_t ) is 4).
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206 + Updated the StaticTimer_t structure to ensure it matches the size of the
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207 Timer_t structure when the size of TaskFunction_t does not equal the size
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209 + Update various Xilinx demos to use 2018.1 version of the SDK tools.
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210 + Various updates to demo tasks to maintain test coverage.
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211 + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by
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212 FreeRTOS+TCP, which was brought into the main download in FreeRTOS
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213 V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and
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214 FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP.
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216 FreeRTOS+TCP Changes:
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218 + Multiple security improvements and fixes in packet parsing routines, DNS
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219 caching, and TCP sequence number and ID generation.
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220 + Disable NBNS and LLMNR by default.
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221 + Add TCP hang protection by default.
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223 We thank Ori Karliner of Zimperium zLabs Team for reporting these issues.
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226 Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017
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228 + Fix position of "#if defined( __cplusplus )" in stream_buffer.h.
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229 + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in
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231 + Correct formatting in vTaskList() helper function when it prints the state
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232 of the currently executing task.
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233 + Introduce #error if stream_buffer.c is built without
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234 configUSE_TASK_NOTIFICATIONS set to 1.
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235 + Update FreeRTOS+TCP to V2.0.0
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236 - Improve the formatting of text that displays the available netword
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237 interfaces when FreeRTOS+TCP is used on Windows with WinPCap.
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238 - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user
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239 definable callback to execute when data arrives on a socket.
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241 Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0:
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243 The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license
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245 New Features and components:
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247 + Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html
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248 + Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html
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249 + Move FreeRTOS+TCP into the main repository, along with the basic Win32
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250 TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator.
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252 New ports or demos:
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254 + Added demo for TI SimpleLink CC3220 MCU.
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255 + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx
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257 + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation
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260 Fixes or enhancements:
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262 + Cortex-M ports push additional register prior to calling
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263 vTaskSwitchContext to ensure 8-byte alignment is maintained. Only
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264 important if a user defined tick hook function performs an operation that
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265 requires 8-byte alignment.
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266 + Optimisations to the implementation of the standard tickless idle mode on
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268 + Improvements to the Win32 port including using higher priority threads.
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269 + Ensure interrupt stack alignment on PIC32 ports.
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270 + Updated GCC TriCore port to build with later compiler versions.
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271 + Update mpu_wrappers.c to support static allocation.
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272 + The uxNumberOfItems member of List_t is now volatile - solving an issue
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273 when the IAR compiler was used with maximum optimization.
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274 + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start
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275 address is saved into each task's TCB (assuming stack grows down).
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276 + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined
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277 functionality, and user defined initialisation, to be added to FreeRTOS's
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278 tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is
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279 set to 1 a user provided header file called freertos_task_c_additions.h
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280 will be included at the bottom of tasks.c. Functions defined in that
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281 header file can call freertos_tasks_c_additions_init(), which in turn
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282 calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined.
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283 FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h.
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284 + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be
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285 defined by a user in FreeRTOSConfig.h. The macro is called before
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286 assessing whether to enter tickless idle mode or not. If the macro sets
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287 x to zero then tickless idle mode will not be entered. This allows users
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288 to abort tickless idle mode entry before the tickless idle function is
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289 even called - previously it was only possible to abort from within the
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290 tickless idle function itself.
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291 + Added configPRINTF(), which can be defined by users to allow all libraries
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292 to use the same print formatter.
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293 + Introduced configMAX() and configMIN() macros which default to standard
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294 max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the
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295 application writer defines the same macros in FreeRTOSConfig.h.
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296 + Corrected the definition of StaticTask_t in the case where
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297 INCLUDE_xTaskAbortDelay is set to 1.
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298 + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of
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299 which can be defined to strings in FreeRTOSConfig.h to change the default
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300 names of the timer service and idle tasks respectively.
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301 + Only fill the stack of a newly created task with a known value if stack
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302 checking, or high water mark checking/viewing, is in use - removing the
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303 dependency on memset() in other cases.
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304 + Introduced xTaskCreateRestrictedStatic() so static allocation can be used
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306 + Ensure suspended tasks cannot be unsuspended by a received task
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308 + Fix race condition in vTaskSetTimeOutState().
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309 + Updated trace recorder files to the latest version.
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311 Changes since FreeRTOS V9.0.0:
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313 + Priority dis-inheritance behaviour has been enhanced in the case where a
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314 task that attempted to take a mutex that was held by a lower priority task
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315 timed out before it was able to obtain the mutex (causing the task that
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316 holds the mutex to have its priority raised, then lowered again, in
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317 accordance with the priority inheritance protocol).
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318 + Split the overloaded xQueueGenericReceive() function into three separate
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319 dedicated functions.
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320 + Allow the default human readable text names given to the Idle and Timer
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321 tasks to be overridden by defining the configIDLE_TASK_NAME and
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322 configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h.
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323 + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a
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324 value of than than 0 when the system boots. This can be useful for
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325 testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also
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326 be used to test frequent tick overflows.
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327 + Ensure the Cortex-M SysTick count is cleared to zero before starting the
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329 + Add configASSERT() into ARM Cortex-M ports to check the number of priority
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331 + Clear the 'control' register before starting ARM Cortex-M4F ports in case
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332 the FPU is used before the scheduler is started. This just saves a few
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333 bytes on the main stack as it prevents space being left for a later save
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335 + Added xSemaphoreGetMutexHolderFromISR().
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336 + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports.
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337 + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used
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338 to specify the stack size when using xTaskCreate(). For historic reasons,
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339 when FreeRTOS was only used on small MCUs, the type was set to uint16_t,
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340 but that can be too restrictive when FreeRTOS is used on larger
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341 processors. configSTACK_DEPTH_TYPE defaults to uint16_t.
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342 xTaskCreateStatic(), being a newer function, used a uint32_t.
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343 + Increase the priority of the Windows threads used by the Win32 port. As
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344 all the threads run on the same core, and the threads run with very high
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345 priority, there is a risk that the host will become unresponsive, so also
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346 prevent the Windows port executing on single core hosts.
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348 Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016:
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350 See https://www.FreeRTOS.org/FreeRTOS-V9.html
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352 RTOS kernel updates:
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354 + The prototype of the new xTaskCreateStatic() API function was modified to
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355 remove a parameter and improve compatibility with other new
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356 "CreateStatic()" API functions. The stack size parameter in
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357 xTaskCreateStatic() is now uint32_t, which changes the prototype of the
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358 callback functions. See the following URL:
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359 https://www.FreeRTOS.org/xTaskCreateStatic.html
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360 + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT
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361 constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is
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362 automatically given a floating point (FPU) context.
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363 + GCC ARM Cortex-A port: It is now possible to automatically save and
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364 restore all floating point (FPU) registers on entry to each potentially
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365 nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of
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366 vApplicationIRQHandler().
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367 + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task
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368 entry address placed onto the stack of a task when the task is created for
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369 strict compliance with the ARM Cortex-M3/4/7 architecture documentation
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370 (no noticeable effect unless using the QMEU emulator).
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371 + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only
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372 supported on ARM Cortex-M3.
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373 + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0
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374 API (other than static object creation) and added the
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375 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to
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376 demonstrate how to use the updated MPU port.
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377 + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the
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378 default low power tickless implementation.
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379 + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the
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380 first task that executes.
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381 + Win32 ports: Reduce the amount of stack used and change the way Windows
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382 threads are deleted to increase the maximum execution time.
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383 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the
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384 documentation page for this port before use.
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385 + MPS430X IAR port: Update to be compatible with the latest EW430 tools
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387 + IAR32 GCC port: Correct vPortExitCritical() when
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388 configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY.
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389 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(),
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390 xTaskGetTaskHandle() now has the alias xTaskGetHandle() and
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391 pcQueueGetQueueName() now has an alias pcQueueGetName().
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392 + Fix various errors in comments and compiler warnings.
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394 Demo application updates:
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396 + Update Atmel Studio projects to use Atmel Studio 7.
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397 + Update Xilinx SDK projects to use the 2016.1 version of the SDK.
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398 + Remove dependency on legacy IO libraries from the PIC32 demos.
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399 + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution.
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400 + Update the MSP432 libraries to the latest version.
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401 + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC
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403 + Move the Atmel SAMA5D2 demo into the main distribution.
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405 Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2)
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406 released March 30 2016:
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408 NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details
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410 + The functions that create RTOS objects using static memory allocation have
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411 been simplified and will not revert to using dynamic allocation if a
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412 buffer is passed into a function as NULL.
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413 + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to
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414 allow a FreeRTOS application to be built without a heap even being being
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415 defined. The Win32 example located in the
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416 /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as
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417 a reference for projects that do not include a FreeRTOS heap.
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418 + Minor run-time optimisations.
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419 + Two new low power tickless implementations that target Silicon Labs EFM32
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421 + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions.
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423 Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1)
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424 released February 19 2016:
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426 RTOS Kernel Updates:
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428 + Major new feature - tasks, semaphores, queues, timers and event groups can
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429 now be created using statically allocated memory, so without any calls to
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431 + Major new features - Added the xTaskAbortDelay() API function which allows
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432 one task to force another task to immediately leave the Blocked state,
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433 even if the event the blocked task is waiting for has not occurred, or the
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434 blocked task's timeout has not expired.
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435 + Updates necessary to allow FreeRTOS to run on 64-bit architectures.
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436 + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS
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437 daemon task (which used to be called the timer service task) starts
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438 running. This is useful if the application includes initialisation code
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439 that would benefit from executing after the scheduler has been started.
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440 + Added the xTaskGetTaskHandle() API function, which obtains a task handle
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441 from the task's name. xTaskGetTaskHandle() uses multiple string compare
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442 operations, so it is recommended that it is called only once per task.
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443 The handle returned by xTaskGetTaskHandle() can then be stored locally for
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445 + Added the pcQueueGetQueueName() API function, which obtains the name of
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446 a queue from the queue's handle.
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447 + Tickless idling (for low power applications) can now also be used when
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448 configUSE_PREEMPTION is 0.
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449 + If one task deletes another task, then the stack and TCB of the deleted
\r
450 task is now freed immediately. If a task deletes itself, then the stack
\r
451 and TCB of the deleted task are freed by the Idle task as before.
\r
452 + If a task notification is used to unblock a task from an ISR, but the
\r
453 xHigherPriorityTaskWoken parameter is not used, then pend a context switch
\r
454 that will then occur during the next tick interrupt.
\r
455 + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP
\r
456 settings, which previously was only used by heap_4.c.
\r
457 configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare
\r
458 the array that will be used as the FreeRTOS heap, and in-so-doing, place
\r
459 the heap at a specific memory location.
\r
460 + TaskStatus_t structures are used to obtain details of a task.
\r
461 TaskStatus_t now includes the bae address of the task's stack.
\r
462 + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t
\r
463 structure that contains information about a single task. Previously this
\r
464 information could only be obtained for all the tasks at once, as an array
\r
465 of TaskStatus_t structures.
\r
466 + Added the uxSemaphoreGetCount() API function.
\r
467 + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some
\r
468 Cortex-M3 port layers.
\r
470 Demo Application Updates:
\r
472 Further demo applications will be added prior to the final FreeRTOS V9
\r
475 + Updated SAM4L Atmel Studio project to use Atmel Studio 7.
\r
476 + Added ARM Cortex-A53 64-bit port.
\r
477 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx
\r
479 + Added Cortex-M7 SAME70 GCC demo.
\r
480 + Added EFM32 Giant and Wonder Gecko demos.
\r
483 Changes between V8.2.2 and V8.2.3 released October 16, 2015
\r
485 RTOS kernel updates:
\r
487 + Fix bug identified in a modification made in V8.2.2 to the software timer
\r
488 code that allows tickless low power applications to sleep indefinitely
\r
489 when software timers are used.
\r
490 + Simplify and improve efficiency of stack overflow checking.
\r
491 + Add xTaskNotifyStateClear() API function.
\r
492 + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM
\r
493 generic interrupt controller (GIC).
\r
494 + New PIC32MEC14xx port.
\r
495 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ
\r
497 + Zynq7000 port layer now declares the functions that setup and clear the
\r
498 tick interrupt as weak symbols so they can be overridden by the
\r
499 application, and uses a global XScuGic object so the same object can be
\r
500 used by the application code.
\r
501 + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is
\r
502 currently the only port that uses it.
\r
503 + Updates to RL78 and 78K0 IAR port layers to improve support for
\r
504 combinations of memory models.
\r
505 + Minor updates to heap_5.c to remove compiler warnings generated by some
\r
507 + License simplifications. See /FreeRTOS/License/license.txt in the
\r
508 official distribution.
\r
512 + Update directory names to use WolfSSL instead of CyaSSL, inline with
\r
513 WolfSSL's re-branding.
\r
514 + Update to latest WolfSSL code.
\r
515 + Update to latest FreeRTOS+Trace recorder code.
\r
516 + Add in the FreeRTOS+Trace recorder library required for streaming trace.
\r
518 Demo application changes:
\r
520 + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with
\r
521 floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231.
\r
522 + General tidy up of spelling and compiler warnings.
\r
525 Changes between V8.2.1 and V8.2.2 released August 12, 2015
\r
527 RTOS kernel updates:
\r
529 + Added Intel IA32/x86 32-bit port.
\r
530 + General maintenance.
\r
531 + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory
\r
532 protected systems, have been added to the newer event group and software
\r
534 + Add the errno definitions used by FreeRTOS+ components into projdefs.h.
\r
535 + Remove the restriction that prevented tick-less idle implementations
\r
536 waiting indefinitely when software timers were used in the same
\r
538 + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of
\r
539 xTaskNotifyAndQuery().
\r
540 + Add additional NOPs to the MSP430X port layers to ensure strict compliance
\r
541 with the hardware documentation.
\r
542 + Microblaze port: Added option for port optimised task selection.
\r
543 + Microblaze port: Previously tasks inherited the exception enable state
\r
544 at the time the task was created. Now all tasks are created with
\r
545 exceptions enabled if the Microblaze design supports exceptions.
\r
546 + Windows port: Add additional safe guards to ensure the correct start up
\r
547 sequence and thread switching timing.
\r
548 + Windows port: Improve the implementation of the port optimised task
\r
549 selection assembly code.
\r
550 + Update heap_4 and heap_5 to allow use on 64-bit processors.
\r
551 + Simplify the code that creates a queue.
\r
552 + General improved tick-less idle behaviour.
\r
553 + Ensure none of the variables in the common kernel files are initialised to
\r
554 anything other than zero.
\r
555 + Correct calculation of xHeapStructSize in heap_4 and heap_5.
\r
557 Demo application updates:
\r
559 + Added demo project for the new IA32/x86 port that targets the Galileo
\r
561 + Added MSP430FR5969 demos (previously provided as a separate download).
\r
562 + Added FreeRTOS BSP repository for automatic creation of FreeRTOS
\r
563 applications in the Xilinx SDK.
\r
564 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7)
\r
565 + Update Xilinx SDK projects to use version 2015.2 of the SDK.
\r
566 + Remove Microblaze demos that were using obsolete tools.
\r
567 + Add MSP43FR5969 IAR and CCS demos.
\r
571 + Updated FreeRTOS+Trace recorder library, which requires an update to the
\r
572 FreeRTOS+Trace application.
\r
573 + Added Reliance Edge source code and demo application. Reliance edge is
\r
574 a fail safe transactional file system ideal for applications that require
\r
575 file storage, and especially when high reliability is essential.
\r
576 + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI
\r
577 users to place the output buffer at a fixed memory address.
\r
578 + Improve the NetworkInterface.c file provided for the Windows port of
\r
581 Changes between V8.2.0 and V8.2.1 released 24th March 2015.
\r
583 RTOS kernel updates:
\r
585 + Added user definable and flexible thread local storage facility.
\r
586 + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID()
\r
587 function to allow the timer's ID to be used as timer local storage.
\r
588 + Fixed a potential issue related to the use of queue sets from an ISR.
\r
589 + Some updates to the Xilinx Microblaze GCC port.
\r
590 + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio.
\r
591 + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a
\r
592 minor errata work around. All other ARM Cortex-M7 core revisions should
\r
593 use the ARM Cortex-M4F port.
\r
594 + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0.
\r
595 + Change some data types from uint32_t to size_t in preparation for 64-bit
\r
597 + Update the PIC32 port to remove deprecation warnings output by the latest
\r
599 + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to
\r
600 overwrite items in two queues that are part of the same set.
\r
602 Demo application updates:
\r
604 + Added demo application for TI's ARM Cortex-M4F based MSP432
\r
605 microcontroller using IAR, Keil and CCS compilers.
\r
606 + Added demo application for STM32F ARM Cortex-M7 based microcontroller
\r
607 using IAR and Keil.
\r
608 + Added demo application for Atmel SAMV71 ARM Cortex-M7 based
\r
609 microcontroller using IAR and Keil.
\r
610 + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and
\r
611 runs on the KC705 evaluation board (Kintex FPGA).
\r
613 Changes between V8.1.2 and V8.2.0 released 16th January 2015
\r
615 Changes between release candidate 1 and the official release are restricted
\r
616 to maintenance only.
\r
618 Significant RTOS kernel updates:
\r
620 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for
\r
621 details: https://www.FreeRTOS.org/RTOS-task-notifications.html
\r
622 + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into
\r
623 a new header file called FreeRTOS/Source/include/deprecated_definitions.h.
\r
624 This header file must be present to build. Note some of the obsolete
\r
625 definitions are still used by very old demo application projects.
\r
627 Other RTOS kernel updates:
\r
629 + Made xSemaphoreGiveFromISR() a function rather than a macro that calls
\r
630 xQueueGenericSendFromISR(). This allows for major performance
\r
631 enhancements at the expense of some additional code size if both functions
\r
632 are used in the same application. NOTE: In most uses cases such use of
\r
633 a semaphore can now be replaced with a task notification which is smaller
\r
635 + The TCB is now always allocated such that the task's stack grows away from
\r
636 the TCB (improves debugging of stack overflows as the overflow will not
\r
637 overwrite the task's name).
\r
638 + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance
\r
639 enhancements at the cost of a little additional code space).
\r
640 + Queues are now allocated with a single call to pvPortMalloc() which
\r
641 allocates both the queue structure and the queue storage area.
\r
642 + Introduced a new critical section macro for reading the tick count that
\r
643 defines away to nothing in cases where the width of the tick allows the
\r
644 tick count to be read atomically (performance benefits - especially when
\r
645 optimisation is on).
\r
646 + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the
\r
647 application writer to provide their own heap array - and in so doing
\r
648 control the location of the heap.
\r
649 + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will
\r
650 include known values in both list and list item structures. The values
\r
651 are intended to assist debugging. If the values get overwritten then it
\r
652 is likely application code has written over RAM used by the kernel.
\r
653 + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of
\r
654 the interrupt control register to detect taskENTER_CRITICAL() being called
\r
655 from an interrupt. This has been changed to test all 8 bits.
\r
656 + Introduced uxTaskPriorityGetFromISR().
\r
657 + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0
\r
658 rather than equality to 1, and 2 and 3 are also valid values.
\r
659 + Cortex-A5 GIC-less port no longer passes the address of the interrupting
\r
660 peripheral into the interrupt handler.
\r
661 + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack
\r
662 belonging to a task when the task was deleted, even when the stack was
\r
663 allocated statically.
\r
664 + Utility (helper) functions that format task statistic information into
\r
665 human readable tables now pad task names with spaces to ensure columns
\r
666 line up correctly even where task name lengths vary greatly.
\r
667 + Update FreeRTOS+Trace recorder library to version 2.7.0.
\r
669 Demo application updates:
\r
671 + Added two new standard demo task sets: IntSemTest and TaskNotify.
\r
672 + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU.
\r
673 + Added demo application for Altera Cyclone V Cortex-A9 MPU.
\r
674 + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in
\r
675 demo tasks for new RTOS features.
\r
676 + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test
\r
678 + Fixed a corner case issue in Atmel SAM4L low power tickless
\r
679 implementation, and added button interrupt handling.
\r
680 + Make the interrupt queue tests more tolerant to heave CPU loads.
\r
681 + Updated MSVC FreeRTOS simulator demo to include the latest standard test
\r
683 + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC
\r
685 + Updated all demos that use FreeRTOS+Trace to work with the latest trace
\r
689 Changes between V8.1.1 and V8.1.2 released September 2nd 2014
\r
691 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the
\r
692 individual port layers where necessary so it does not affect ports that do
\r
693 not support the definition.
\r
695 Changes between V8.1.0 and V8.1.1 released August 29th 2014
\r
697 By popular requests - a minor patch to V8.1.0 to re-instate the ability to
\r
698 give a mutex type semaphore (with priority inheritance) from an interrupt
\r
701 Changes between V8.0.1 and V8.1.0 released August 26th 2014
\r
703 FreeRTOS scheduler, kernel, demo and test updates:
\r
705 + Improved the priority inheritance algorithms to assist integration with
\r
706 off the shelf middleware that may hold multiple mutexes simultaneously.
\r
707 + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to
\r
708 span multiple non-contiguous memory regions.
\r
709 + Updated all Cortex-A9 ports to help trap a couple of common usage errors -
\r
710 the first being when a task incorrectly attempts to exit its implementing
\r
711 function and the second being when a non interrupt safe API function is
\r
712 called from an interrupt.
\r
713 + Update all Cortex-A9 ports to remove obsolete mode switches prior to
\r
714 restoring a task context.
\r
715 + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0.
\r
716 + Update all Cortex-M3/4F ports to trap a non interrupt safe API function
\r
717 being called from an interrupt handler.
\r
718 + Simplify the alignment checks in heap_4.c.
\r
719 + Update the MSVC Windows simulator demo to use heap_5.c in place of
\r
720 heap_4.c to ensure end users have an example to refer to.
\r
721 + Updated standard demo test code to test the new priority inheritance
\r
723 + Updated the standard demo tasks to make use of stdint and the FreeRTOS
\r
724 specific typedefs that were introduced in FreeRTOS V8.0.0.
\r
725 + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive
\r
726 alternative to pdTICKS_PER_MS - both of which can be used to convert a
\r
727 time specified in milliseconds to a time specified in RTOS ticks.
\r
728 + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an
\r
729 incorrect value being written to the basepri register. This only effects
\r
730 users of the Tasking compiler.
\r
731 + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP
\r
732 example that demonstrates lwIP being used with both its raw and sockets
\r
734 + Updated the CCS Cortex-R4 port to enable it to be built with the latest
\r
737 New ports and demo applications:
\r
739 + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC
\r
740 compiler and one for the Renesas compiler. Both demos use e2 studio.
\r
741 + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced.
\r
742 The new port is demonstrated on an Atmel SAMA5D3 XPlained board.
\r
744 FreeRTOS+ component updates:
\r
746 + Update CyaSSL to the latest version.
\r
747 + Updated the FreeRTOS+ components supplied directly by Real Time Engineers
\r
748 Ltd. to make use of stdint and the FreeRTOS specific typedefs that were
\r
749 introduced in FreeRTOS V8.0.0.
\r
750 + Rework and simplify the FreeRTOS+FAT SL RAM disk driver.
\r
752 Miscellaneous updates and maintenance:
\r
754 + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK
\r
755 hardware in place of the previously targeted Renesas internal (not
\r
756 publicly available) hardware.
\r
757 + Various other maintenance tasks.
\r
760 Changes between V8.0.0 and V8.0.1 released 2nd May 2014
\r
762 + Minor fixes to the event group functionality that was released in V8.0.0.
\r
763 The 'clear bits from ISR' functionality is now implemented using a
\r
764 deferred interrupt callback instead of a function, and the 'wait bits' and
\r
765 'task sync' functions now correctly clear internal control bits before
\r
766 returning a value in every possible path through the respective functions.
\r
767 + Ensure the updating of internal control data is protected by a critical
\r
768 section after a task is deleted or suspended.
\r
769 + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file
\r
770 when the offset was not a multiple of the sector size.
\r
771 + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values,
\r
772 even when only the lest significant byte of the register is implemented.
\r
776 + Updated the XMC4200 IAR project so it links with version 7.x of the IAR
\r
778 + Add RL78L1C demo.
\r
779 + Add pcTimerGetName() API function.
\r
780 + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT
\r
783 Changes between V7.6.0 and V8.0.0 released 19th Feb 2014
\r
785 https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html
\r
787 FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x,
\r
788 although a change to the type used to reference character strings may result
\r
789 in application code generating a few (easily clearable) compiler warnings
\r
790 after the upgrade, and an updated typedef naming convention means use of the
\r
791 old typedef names is now discouraged.
\r
792 See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full
\r
795 New features and functionality:
\r
797 + Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html
\r
798 + Centralised deferred interrupt processing - see
\r
799 https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html
\r
803 + Previously, when a task left the Blocked state, a context switch was
\r
804 performed if the priority of the unblocked task was greater than or equal
\r
805 to the priority of the Running task. Now a context switch is only
\r
806 performed if the priority of the unblocked task is greater than the
\r
807 priority of the Running task.
\r
808 + New low power tickless demonstration project that targets the ST STM32L
\r
809 microcontroller - see
\r
810 https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html
\r
811 + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c.
\r
812 + Small change to the tickless low power implementation on the SAM4L to
\r
813 ensure the alarm value (compare match value) cannot be set to zero when a
\r
814 tickless period is exited due to an interrupt originating from a source
\r
815 other than the RTOS tick.
\r
816 + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse
\r
817 resource filters and match the functionality of the MSVC equivalent.
\r
818 + xTaskIsTaskSuspended() is no longer a public function. Use
\r
819 eTaskGetState() in its place.
\r
820 + Improved trace macros, including tracing of heap usage.
\r
821 + Remove one level of indirection when accepting interrupts on the PIC32MZ.
\r
822 + Add Cortex-A9 GCC port layer.
\r
823 + Add Xilinx Zynq demo application.
\r
826 Changes between V7.5.3 and V7.6.0 released 18th November 2013
\r
828 V7.6.0 changes some behaviour when the co-operative scheduler is used (when
\r
829 configUSE_PREEMPTION is set to 0). It is important to note that the
\r
830 behaviour of the pre-emptive scheduler is unchanged - the following
\r
831 description only applies when configUSE_PREEMPTION is set to 0:
\r
833 WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of
\r
834 cases) a context switch will now only occur when a task places itself into
\r
835 the Blocked state, or explicitly calls taskYIELD(). This differs from
\r
836 previous versions, where a context switch would also occur when implicitly
\r
837 moving a higher priority task out of the Blocked state. For example,
\r
838 previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by
\r
839 writing to a queue, then the scheduler would switch to the higher priority
\r
840 task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by
\r
841 writing to a queue, task B will not start running until task A enters the
\r
842 Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not
\r
843 set to 0, so the normal pre-emptive scheduler is being used, then task B
\r
844 will start running immediately that it is moved out of the Blocked state].
\r
848 + Added a port layer and a demo project for the new PIC32MZ architecture.
\r
849 + Update the PIC32MX port layer to re-introduce some ehb instructions that
\r
850 were previously removed, add the ability to catch interrupt stack
\r
851 overflows (previously only task stack overflows were trapped), and also
\r
852 add the ability to catch an application task incorrectly attempting to
\r
853 return from its implementing function.
\r
854 + Make dramatic improvements to the performance of the Win32 simulator port
\r
856 + Ensure tasks that are blocked indefinitely report their state as Blocked
\r
857 instead of Suspended.
\r
858 + Slight improvement to the Cortex-M4F port layers where previously one
\r
859 register was inadvertently being saved twice.
\r
860 + Introduce the xSemaphoreCreateBinary() API function to ensure consistency
\r
861 in the semantics of how each semaphore type is created. It is no longer
\r
862 recommended to use vSemaphoreCreateBinary() (the version prefixed with a
\r
863 'v'), although it will remain in the code for backward compatibility.
\r
864 + Update the Cortex-M0 port layers to allow the scheduler to be started
\r
865 without using the SVC handler.
\r
866 + Added a build configuration to the PIC32MX MPLAB X demo project that
\r
867 targets the PIC32 USB II starter kit. Previously all the build
\r
868 configurations required the Explorer 16 hardware.
\r
869 + Some of the standard demo tasks have been updated to ensure they execute
\r
870 correctly with the updated co-operative scheduling behaviour.
\r
871 + Added comprehensive demo for the Atmel SAM4E, including use of
\r
872 FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI.
\r
876 + Minor maintenance on FreeRTOS+UDP.
\r
878 Changes between V7.5.2 and V7.5.3 released October 14 2013
\r
882 + Prior to V7.5.x yields requested from the tick hook would occur in the
\r
883 same tick interrupt - revert to that original behaviour.
\r
884 + New API function uxQueueSpacesAvailable().
\r
885 + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4
\r
886 and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that
\r
887 attempt to return from their implementing functions (tasks should call
\r
888 vTaskDelete( NULL ); if they want to exit).
\r
889 + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and
\r
890 portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable.
\r
891 + Improved behaviour and robustness of the default Cortex-M tickless idle
\r
893 + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to
\r
894 all Cortex-M4F ports.
\r
895 + Add Cortex-M0 port for Keil.
\r
896 + Updated Cortus port.
\r
897 + Ensure _impure_ptr is initialised before the scheduler is started.
\r
898 Previously it was not set until the first context switch.
\r
902 + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the
\r
903 FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction
\r
904 to the test that prevents the network event hook being called on the first
\r
905 network down event. The FreeRTOS+UDP change history is maintained
\r
907 + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files
\r
908 provided in the NXP CMSIS library, then update the interrupts used by the
\r
909 LPC18xx demos accordingly.
\r
910 + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help
\r
911 strings to ensure the strings can be used with the JSON descriptions used
\r
912 in the FreeRTOS+Nabto demos.
\r
914 Demo and miscellaneous changes:
\r
916 + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes
\r
918 + Added a demo for the Infineon Cortex-M0 that can be built with the IAR
\r
919 Keil and GCC tools.
\r
920 + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools,
\r
921 with additional build configurations to directly support the XMC4200 and
\r
922 XMC4400 devices, in addition to the previously supported XMC4500.
\r
923 + Updated the demo application.
\r
924 + Added additional trace macros traceMALLOC and traceFREE to track heap
\r
927 Changes between V7.5.0 and V7.5.2 released July 24 2013
\r
929 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function
\r
930 compatible with the STM32 standard peripheral driver library, and adds
\r
931 an extra critical section to the default low power tickless mode
\r
932 implementation. Only users of the STM32 peripheral library or the default
\r
933 tickless implementation need update from version 7.5.0.
\r
935 Changes between V7.4.2 and V7.5.0 released July 19 2013
\r
937 V7.5.0 is a major upgrade that includes multiple scheduling and efficiency
\r
938 improvements, and some new API functions.
\r
940 Compatibility information for FreeRTOS users:
\r
941 FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one
\r
942 exception; the vTaskList() and vTaskGetRunTimeStats() functions are now
\r
943 considered legacy, having been replaced by the single uxTaskGetSystemState()
\r
944 function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in
\r
945 FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be
\r
948 Compatibility information for FreeRTOS port writers:
\r
949 vTaskIncrementTick() is now called xTaskIncrementTick() (because it now
\r
954 + Multiple scheduling and efficiency improvements.
\r
955 + Core kernel files now pass PC-Lint V8 static checking without outputting
\r
956 any warnings (information on the test conditions will follow).
\r
960 + uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html
\r
961 + xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html
\r
962 + xQueueOverwriteFromISR()
\r
963 + xQueuePeekFromISR()
\r
965 The following ports and demos, which were previously available separately,
\r
966 are now incorporated into the main FreeRTOS zip file download:
\r
968 + ARM Cortex-A9 IAR
\r
969 + ARM Cortex-A9 ARM compiler
\r
971 + Microsemi SmartFusion2
\r
973 New FreeRTOSConfig.h settings
\r
974 http://shop.freertos.org/FreeRTOS_API_and_Configuration_Reference_s/1822.htm
\r
976 + configUSE_TIME_SLICING
\r
977 + configUSE_NEWLIB_REENTRANT
\r
978 + configUSE_STATS_FORMATTING_FUNCTIONS
\r
979 + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
\r
983 + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
\r
984 options provides a mechanism that allows application writers to execute
\r
985 certain functions in privileged mode even when a task is running in user
\r
987 + Ports that support interrupt nesting now include a configASSERT() that
\r
988 will trigger if an interrupt safe FreeRTOS function is called from an
\r
989 interrupt that has a priority designated as above the maximum system/API
\r
990 call interrupt priority.
\r
991 + The included FreeRTOS+Trace recorder code has been updated to the latest
\r
992 version, and the demo applications that use the trace recorder code have
\r
993 been updated accordingly.
\r
994 + The FreeRTOS Windows Simulator (MSVC version only) has been updated to
\r
995 include a new basic 'blinky' build option in addition to the original
\r
996 comprehensive build option.
\r
997 + Improve RAM usage efficiency of heap_4.c and heap_2.c.
\r
998 + Prevent heap_4.c from attempting to free memory blocks that were not
\r
999 allocated by heap_4.c, or have already been freed.
\r
1000 + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs
\r
1001 files have been removed from FreeRTOS/Demo/Common.
\r
1002 + Fix build error when R4 port is build in co-operative mode.
\r
1003 + Multiple port and demo application maintenance activities.
\r
1005 Changes between V7.4.1 and V7.4.2 released May 1 2013
\r
1007 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2
\r
1009 + Added FreeRTOS+FAT SL source code and demo project. The demo project
\r
1010 runs in the FreeRTOS Windows simulator for easy and hardware independent
\r
1011 experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl
\r
1013 Changes between V7.4.0 and V7.4.1 released April 18 2013
\r
1015 + To ensure strict conformance with the spec and ensure compatibility with
\r
1016 future chips data and instruction barrier instructions have been added to
\r
1017 the yield macros of Cortex-M and Cortex-R port layers. For efficiency
\r
1018 the Cortex-M port layer "yield" and "yield" from ISR are now implemented
\r
1019 separately as the barrier instructions are not required in the ISR case.
\r
1020 + Added FreeRTOS+UDP into main download.
\r
1021 + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS
\r
1022 directory with Source and Demo subdirectories.
\r
1023 + Implemented the Berkeley sockets select() function in FreeRTOS+UDP.
\r
1024 + Changed (unsigned) casting in calls to standard library functions with
\r
1026 + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the
\r
1027 tickless (tick suppression) low power FreeRTOS features.
\r
1028 + Add a new RL78 IAR demo that targets numerous new RL78 chips and
\r
1029 evaluation boards.
\r
1030 + Adjusted stack alignment on RX200 ports to ensure an assert was not
\r
1031 falsely triggered when configASSERT() is defined.
\r
1032 + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest
\r
1034 + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo).
\r
1037 Changes between V7.3.0 and V7.4.0 released February 20 2013
\r
1039 + New feature: Queue sets. See:
\r
1040 https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html
\r
1041 + Overhauled the default tickless idle mode implementation provided with the
\r
1042 ARM Cortex-M3 port layers.
\r
1043 + Enhanced tickless support in the core kernel code with the introduction of
\r
1044 the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the
\r
1045 eTaskConfirmSleepModeStatus() function.
\r
1046 + Added the QueueSet.c common demo/test file. Several demo applications
\r
1047 have been updated to use the new demo/test tasks.
\r
1048 + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and
\r
1049 demo applications.
\r
1050 + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo.
\r
1051 + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a
\r
1052 pre-processor macro for backward compatibility with the previous name.
\r
1053 + Updated functions implemented in the core queue.c source file to allow
\r
1054 queue.h to be included from the .c file directly (this prevents compiler
\r
1055 warnings that were generated by some compilers).
\r
1056 + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function
\r
1057 with the CLZ compiler intrinsic that is provided by the latest versions of
\r
1058 the CCS ARM compiler.
\r
1059 + Updated all heap_x.c implementations to replace the structure that was
\r
1060 used to ensure the start of the heap was aligned with a more portable
\r
1061 direct C code implementation.
\r
1062 + Added support for PIC24 devices that include EDS.
\r
1063 + Minor optimisations to the PIC32 port layer.
\r
1064 + Minor changes to tasks.c that allow the state viewer plug-ins to display
\r
1065 additional information.
\r
1066 + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an
\r
1067 issue that could occur if the priority of the timer daemon task was set
\r
1068 below the priority of tasks that used timer services.
\r
1069 + Update the FreeRTOS+Trace recorder code to the latest version.
\r
1071 Changes between V7.2.0 and V7.3.0 released October 31 2012
\r
1073 + Added ability to override the default scheduler task selection mechanism
\r
1074 with implementations that make use of architecture specific instructions.
\r
1075 + Added ability to suppress tick interrupts during idle time, and in so
\r
1076 doing, provide the ability to make use of architecture specific low power
\r
1078 + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper
\r
1080 + Added the configSYSTICK_CLOCK_HZ configuration constant.
\r
1081 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to
\r
1082 directly support basic power saving functionality.
\r
1083 + Added hooks to allow basic power saving to be augmented in the application
\r
1084 by making use of chip specific functionality.
\r
1085 + Minor change to allow mutex type semaphores to be used from interrupts
\r
1086 (which would not be a normal usage model for a mutex).
\r
1087 + Change the behaviour of the interrupt safe interrupt mask save and restore
\r
1088 macros in the Cortex-M ports. The save macro now returns the previous
\r
1089 mask value. The restore macro now uses the previous mask value. These
\r
1090 changes are not necessary for the kernel's own implementation, and are
\r
1091 made purely because the macros were being used by application writers.
\r
1092 + Added eTaskStateGet() API function.
\r
1093 + Added port specific optimisations to the PIC32 port layer, and updated the
\r
1094 PIC32 demo applications to make use of this new feature.
\r
1095 + Added port specific optimisations to the Win32 simulator port.
\r
1096 + Added new ports and demo applications for the TI Hercules RM48 and TMS570
\r
1097 safety microcontrollers.
\r
1098 + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation
\r
1100 + Updated the PIC32 MPLAB X project to manually set the compiler include
\r
1101 paths instead of using the IDE entry box following reports that the
\r
1102 include paths were somehow being deleted.
\r
1103 + Improved character handling in FreeRTOS+CLI.
\r
1105 Changes between V7.1.1 and V7.2.0 released 14 August 2012
\r
1107 FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2.
\r
1109 + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+
\r
1110 source code, and example projects that use the FreeRTOS Win32 simulator.
\r
1111 + Added a new example heap allocation implementation (heap_4.c) that
\r
1112 includes memory block coalescence.
\r
1113 + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller.
\r
1114 The demo is preconfigured to build using the free Atmel Studio 6 IDE and
\r
1116 + Added xSemaphoreTakeFromISR() implementation.
\r
1117 + The last parameter in ISR safe FreeRTOS queue and semaphore functions
\r
1118 (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it
\r
1120 + Update the IAR and MSP430X ports to clear all lower power mode bits before
\r
1121 exiting the tick interrupt [bug fix].
\r
1122 + Allow xQueueReset() to be used, even when the queues event lists are not
\r
1124 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was
\r
1125 previously missing).
\r
1126 + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to
\r
1127 ensure it compiles with the latest ARM GCC compilers from Linaro.
\r
1128 + Updated the prvReadGP() function in the NIOS II port to ensure the compiler
\r
1129 can choose any register for the functions parameter (required at high
\r
1130 compiler optimisation levels).
\r
1131 + Add #error macros into the Keil and IAR Cortex-M ports to ensure they
\r
1132 cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY
\r
1134 + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and
\r
1135 Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY
\r
1136 parameter must not be set to 0.
\r
1137 + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant
\r
1139 + Added two new list handling macros - for internal use only in upcoming new
\r
1141 + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace
\r
1142 macros. FreeRTOS+Trace supersedes the legacy trace.
\r
1143 + Added a configASSERT() into the vPortFree() function in heap_1.c as it is
\r
1144 invalid for the function to be called.
\r
1145 + Made the xRxLock and xTxLock members of the queue structure volatile.
\r
1146 This is probably not necessary, and is included as a precautionary
\r
1148 + Modify the assert() that checks to see if the priority passed into an
\r
1149 xTaskCreate() function is within valid bounds to permit the assert to be
\r
1150 used in the FreeRTOS MPU port.
\r
1151 + The software timer service (daemon) task is now created in a way that
\r
1152 to ensure compatibility with FreeRTOS MPU.
\r
1154 Changes between V7.1.0 and V7.1.1 released May 1 2012
\r
1158 The following ports are brand new:
\r
1159 + Cortex-M3 Tasking
\r
1161 The following ports have been available as separate downloads for a number
\r
1162 of months, but are now included in the main FreeRTOS download.
\r
1165 + Cortex-M4F GCC (with full floating point support)
\r
1170 The following demos are brand new:
\r
1171 + Renesas RX63N RDK (Renesas compiler)
\r
1173 The following demos have been available as separate downloads for a number
\r
1174 of months, but are now included in the main FreeRTOS download.
\r
1175 + NXP LPC1114 GCC/LPCXpresso
\r
1176 + ST STM32F0518 IAR
\r
1177 + Infineon XMC4500 GCC/Atollic
\r
1178 + Infineon XMC4500 IAR
\r
1179 + Infineon XMC4500 Keil
\r
1180 + Infineon XMC4500 Tasking
\r
1183 Kernel miscellaneous / maintenance:
\r
1185 + Introduced the portSETUP_TCB() macro to remove the requirement for the
\r
1186 Windows simulator to use the traceTASK_CREATE() macro, leaving the trace
\r
1187 macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace).
\r
1188 + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future
\r
1189 FreeRTOS+Trace versions to provide even more information to users.
\r
1190 + Updated the FreeRTOS MPU port to be correct for changes that were
\r
1191 introduced in FreeRTOS V7.1.0.
\r
1192 + Introduced the xQueueReset() API function.
\r
1193 + Introduced the xSemaphoreGetMutexHolder() API function.
\r
1194 + Tidy up various port implementations to add the static key word where
\r
1195 appropriate, and remove obsolete code.
\r
1196 + Slight change to the initial stack frame given to the RX600 ports to allow
\r
1197 them to be used in the Eclipse based E2Studio IDE without confusing GDB.
\r
1198 + Correct the alignment given to the initial stack of Cortex-M4F tasks.
\r
1199 + Added a NOP following each DINT instruction on MSP430 devices for strict
\r
1200 conformance with the instructions on using DINT.
\r
1201 + Changed the implementation of thread deletes in the Win32 port to prevent
\r
1202 the port making use of the traceTASK_DELETE() trace macros - leaving this
\r
1203 macro free for use by FreeRTOS+Trace.
\r
1204 + Made some benign changes to the RX600 Renesas compiler port layer to
\r
1205 ensure the code can be built to a library without essential code being
\r
1206 removed by the linker.
\r
1207 + Reverted the change in the name of the uxTaskNumber variable made in
\r
1208 V7.1.0 as it broke the IAR plug-in.
\r
1211 Demo miscellaneous / maintenance:
\r
1213 + The command interpreter has now been formally released as FreeRTOS+CLI,
\r
1214 and been moved out of the main FreeRTOS download, to instead be available
\r
1215 from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus.
\r
1216 + flash_timer.c/h has been added to the list of standard demo tasks. This
\r
1217 performs the same functionality as the flash.c tasks, but using software
\r
1218 timers in place of tasks.
\r
1219 + Upgraded the PIC32 demo as follows: Changes to how the library functions
\r
1220 are called necessitated by the new compiler version, addition of MPLAB X
\r
1221 project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations,
\r
1222 addition of simply blinky demo, updated FreeRTOSConfig.h to include more
\r
1223 parameters, addition of hook function stubs.
\r
1224 + The MSP430X IAR and CCS demos have been updated to ensure the power
\r
1225 settings are correct for the configured CPU frequency.
\r
1226 + Rowley CrossWorks projects have been updated to correct the "multiple
\r
1227 definition of ..." warnings introduced when the toolchain was updated.
\r
1228 + Updated various FreeRTOSConfig.h header files associated with projects
\r
1229 that build with Eclipse to include a #error statement informing the user
\r
1230 that the CreateProjectDirectoryStructure.bat batch file needs to be
\r
1231 executed before the projects can be opened.
\r
1232 + Renamed directories that included "CCS4" in their name to remove the '4'
\r
1233 and instead just be "CCS". This is because the demo was updated and
\r
1234 tested to also work with later Code Composer Studio versions.
\r
1235 + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be
\r
1236 50ms instead of 500ms.
\r
1238 Changes between V7.0.2 and V7.1.0 released December 13 2011
\r
1242 + Cortex-M4F IAR port.
\r
1243 + Cortex-M4F Keil/RVDS port.
\r
1244 + TriCore GCC port.
\r
1248 + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development
\r
1250 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on
\r
1251 the IAR STM32F407ZG-SK starter kit.
\r
1252 + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the
\r
1253 TriBoard TC1782 evaluation board.
\r
1254 + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an
\r
1255 RX630 RSK (Renesas Starter Kit).
\r
1257 Miscellaneous / maintenance:
\r
1259 + Removed all calls to printf() from the K60/IAR Kinetis demo so the project
\r
1260 can execute stand alone - without being connected to the debugger.
\r
1261 + Completed the command interpreter framework. Command handlers now receive
\r
1262 the entire command string, giving them direct access to parameters.
\r
1263 Utility functions are provided to check the number of parameters, and
\r
1264 return parameter sub-strings.
\r
1265 + The previously documented fix for the bug in xTaskResumeFromISR() that
\r
1266 effected (only) ports supporting interrupt nesting has now been
\r
1267 incorporated into the main release.
\r
1268 + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow
\r
1269 specific ports to skip the second stack alignment check when a task is
\r
1270 created. This is because the second check is not appropriate for some
\r
1271 ports - including the new TriCore port where the checked pointer does not
\r
1272 actually point to a stack.
\r
1273 + The portCLEAN_UP_TCB() macro has been added to allow port specific clean
\r
1274 up when a task is deleted - again this is required by the TriCore port.
\r
1275 + Various other minor changes to ensure warning free builds on a growing
\r
1276 number of microcontroller and toolchain platforms. This includes a
\r
1277 (benign) correction to the prototype of the
\r
1278 vApplicationStackOverflowHook() definition found in lots of recent demos.
\r
1282 + The legacy trace mechanism has been completely removed - it has been
\r
1283 obsolete for the years since the trace macros were introduced. The
\r
1284 configuration constant configUSE_TRACE_FACILITY is now used to optionally
\r
1285 include additional queue and task information. The additional information
\r
1286 is intended to make the trace mechanism more generic, and allow the trace
\r
1287 output to provide more information. When configUSE_TRACE_FACILITY is set
\r
1289 - the queue structure includes an additional member to hold the queue
\r
1290 type, which can be base, mutex, counting semaphore, binary semaphore
\r
1291 or recursive mutex.
\r
1292 - the queue structure includes an additional member to hold a queue
\r
1293 number. A trace tool can set and query the queue number for its own
\r
1294 purposes. The kernel does not use the queue number itself.
\r
1295 - the TCB structure includes an additional member to hold a task number
\r
1296 number. A trace tool can set and query the task number for its own
\r
1297 purposes. The kernel does not use the task number itself.
\r
1298 + Queues and all types of semaphores are now automatically allocated their
\r
1299 type as they are created.
\r
1300 + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and
\r
1301 traskTASK_PRIORITY_DISINHERIT().
\r
1302 + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that
\r
1303 indicates the type of queue, mutex, or semaphore that failed to be
\r
1305 + The position from which traceCREATE_MUTEX() is called has been moved from
\r
1306 after the call to xQueueGenericSend() [within the same function] to before
\r
1307 the call. This ensures the trace events occur in the correct order.
\r
1308 + The value passed into tracePRIORITY_SET() has been corrected for the case
\r
1309 where vTaskPrioritySet() is called with a null parameter.
\r
1311 Changes between V7.0.1 and V7.0.2 released September 20 2011
\r
1315 + The official FreeRTOS Renesas RX200 port and demo application have been
\r
1316 incorporated into the main FreeRTOS zip file download.
\r
1317 + The official FreeRTOS Renesas RL78 port and demo application have been
\r
1318 incorporated into the main FreeRTOS zip file download.
\r
1319 + The official FreeRTOS Freescale Kinetis K60 tower demo application has
\r
1320 been incorporated into the main FreeRTOS zip file download. This includes
\r
1321 an embedded web server example.
\r
1322 + A new Microblaze V8 port layer has been created to replace the older, now
\r
1323 deprecated, port layer. The V8 port supports V8.x of the Microblaze IP,
\r
1324 including exceptions, caches, and the floating point unit. A new
\r
1325 Microblaze demo has also been added to demonstrate the new Microblaze V8
\r
1326 port layer. The demo application was created using V13.1 of the Xilinx
\r
1327 EDK, and includes a basic embedded web server that uses lwIP V1.4.0.
\r
1328 + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been
\r
1329 incorporated into the main FreeRTOS zip file download. Projects are
\r
1330 provided for both the IAR and Keil toolchains.
\r
1335 + xTaskGetIdleTaskHandle() has been added.
\r
1336 + xTaskGetTimerDaemonTaskHandle() has been added.
\r
1337 + pcTaskGetTaskName() has been added.
\r
1338 + vSemaphoreDelete() macro has been added to make it obvious how to delete
\r
1339 a semaphore. In previous versions vQueueDelete() had to be used.
\r
1340 + vTaskCleanUpResources() has been removed. It has been obsolete for a
\r
1342 + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings
\r
1343 being generated when the size of a pointer does not match the size of
\r
1344 the stack type. This will (has already) be used in new ports, but will
\r
1345 not be retrofitted to existing ports until the existing port itself is
\r
1348 Other updates and news:
\r
1350 + The core files have all been modified to tighten the coding standard even
\r
1351 further. These are style, not functional changes.
\r
1352 + All ARM7 port layers have been slightly modified to prevent erroneous
\r
1353 assert() failures when tasks are created and configASSERT() is defined.
\r
1354 + All ARM IAR projects have been updated to build with the latest V6.2.x
\r
1355 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was
\r
1356 necessary due to a change in the way EWARM uses the CMSIS libraries.
\r
1357 + The PIC32 port layer has been updated in preparation for V2 of the C32
\r
1359 + The old Virtex-4 Microblaze demo has been marked as deprecated. Please
\r
1360 use the brand new Spartan-6 port and demo in its place.
\r
1361 + The bones of a new generic command interpreter is located in
\r
1362 FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in
\r
1363 progress, and not documented. It is however already in use. It will be
\r
1364 documented in full when the projects that are already using it are
\r
1366 + A couple of new standard demos have been included. First, a version of
\r
1367 flop.c called sp_flop.c. This is similar to flop.c, but uses single
\r
1368 precision floats in place of double precision doubles. This allows the
\r
1369 for testing ports to processors that have only single precision floating
\r
1370 point units, and revert to using emulated calculations whenever a double
\r
1371 is used. Second, comtest_strings.c has been included to allow the test
\r
1372 of UART drivers when an entire string is transmitted at once. The
\r
1373 previous comtest.c only used single character transmission and reception.
\r
1374 + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and
\r
1375 used by a couple of new demos.
\r
1377 Changes between V7.0.0 and V7.0.1 released May 13 2011
\r
1379 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool
\r
1381 + Added a SmartFusion demo application for all of the IAR, Keil and
\r
1382 SoftConsole (GCC/Eclipse) tool chains.
\r
1383 + Updated the RX600 port and demo applications to take into account the
\r
1384 different semantics required when using the latest (V1.0.2.0) version of
\r
1385 the Renesas compiler.
\r
1386 + Modified the RX600 Ethernet driver slightly to make it more robust under
\r
1387 heavy load, and updated the uIP handling task to make use of the FreeRTOS
\r
1389 + Slightly changed the PIC32 port layer to move an ehb instruction in line
\r
1390 with the recommendations of the MIPS core manual, and ensure 8 byte stack
\r
1391 alignment is truly always obtained.
\r
1392 + Changed the behaviour when tasks are suspended before the scheduler has
\r
1393 been started. Before, there needed to be at least one task that was not
\r
1394 in the suspended state. This is no longer the case.
\r
1396 Changes between V6.1.1 and V7.0.0 released April 8 2011
\r
1398 FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x
\r
1402 + Introduced a new software timer implementation.
\r
1403 + Introduced a new common demo application file to exercise the new timer
\r
1405 + Updated the Win32/MSVC simulator project to include the new software timer
\r
1406 demo tasks and software timer tick hook test. Much simpler software timer
\r
1407 demonstrations are included in the demo projects for both of the new ports
\r
1408 (MSP430X with CCS4 and STM32 with TrueStudio).
\r
1409 + Various enhancements to the kernel implementation in tasks.c. These are
\r
1410 transparent to users and do not effect the pre-existing API.
\r
1411 + Added calls to configASSERT() within the kernel code. configASSERT() is
\r
1412 functionally equivalent to the standard C assert() macro, but does not
\r
1413 rely on the compiler providing assert.h.
\r
1417 + Updated the MSP430X IAR port and demo project to include support for the
\r
1418 medium memory model.
\r
1419 + Added a demo project for the MSP430X that targets the MSP430X Discovery
\r
1420 board and uses the Code Composer Studio 4 tools. This demo includes use
\r
1421 of the new software timer implementation.
\r
1422 + Added an STM32F100RB demo project that targets the STM32 Discovery Board
\r
1423 and uses the TrueStudio Eclipse based IDE from Atollic.
\r
1424 + Removed some compiler warnings from the PSoC demo application.
\r
1425 + Updated the PIC32 port layer to ensure the
\r
1426 configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter
\r
1427 what its value is (within the valid range set by the microcontroller
\r
1429 + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest
\r
1430 MPLAB compiler versions from Microchip.
\r
1431 + Various cosmetic changes to prepare for a standards compliance statement
\r
1432 that will be published after the software release.
\r
1435 Changes between V6.1.0 and V6.1.1 released January 14 2011
\r
1437 + Added two new Windows simulator ports. One uses the free Microsoft Visual
\r
1438 Studio 2010 express edition, and the other the free MingW/Eclipse
\r
1439 environment. Demo projects are provided for both.
\r
1440 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the
\r
1441 GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE.
\r
1442 + Added a demo for the low power STM32L152 microcontroller using the IAR
\r
1443 Embedded Workbench.
\r
1444 + Added a new port for the MSP430X core using the IAR Embedded Workbench.
\r
1445 + Updated all the RX62N demo projects that target the Renesas Demonstration
\r
1446 Kit (RDK) to take into account the revered LED wiring on later hardware
\r
1447 revisions, and the new J-Link debug interface DLL.
\r
1448 + Updated all the RX62N demo projects so the IO page served by the example
\r
1449 embedded web server works with all web browsers.
\r
1450 + Updated the Red Suite projects to work with the up coming Red Suite
\r
1451 release, and to use a more recent version of the CMSIS libraries.
\r
1452 + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro.
\r
1453 + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED()
\r
1455 + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment
\r
1456 the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for
\r
1457 more flexibility in how the time base for the run time statistics feature
\r
1458 can be implemented.
\r
1459 + Added a "cpsie i" instruction before the "svc 0" instruction used to start
\r
1460 the scheduler in each of the Cortex M3 ports. This is to ensure that
\r
1461 interrupts are globally enabled prior to the "svc 0" instruction being
\r
1462 executed in cases where interrupts are left disabled by the C start up
\r
1464 + Slight optimisation in the run time stats calculation.
\r
1466 Changes between V6.0.5 and V6.1.0 released October 6 2010
\r
1468 + Added xTaskGetTickCountFromISR() function.
\r
1469 + Modified vTaskSuspend() to allow tasks that have just been created to be
\r
1470 immediately suspended even when the kernel has not been started. This
\r
1471 allows them to effectively start in the Suspended state - a feature that
\r
1472 has been asked for on numerous occasions to assist with initialisation
\r
1474 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites.
\r
1475 + Added a STM32F103 demo application that uses the Rowley tools.
\r
1476 + Under specific conditions xFreeBytesRemaining within heap_2.c could end up
\r
1477 with an incorrect value. This has been fixed.
\r
1478 + xTaskCreateGeneric() has a parameter that can be used to pass the handle
\r
1479 of the task just created out to the calling task. The assignment to this
\r
1480 parameter has been moved to ensure it is assigned prior to the newly
\r
1481 created having any possibility of executing. This takes into account the
\r
1482 case where the assignment is made to a global variable that is accessed by
\r
1483 the newly created task.
\r
1484 + Fixed some build time compiler warnings in various FreeTCPIP (based on
\r
1486 + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c.
\r
1488 Changes between V6.0.4 and V6.0.5 released May 17 2010
\r
1490 + Added port and demo application for the Cortus APS3 processor.
\r
1492 Changes between V6.0.3 and V6.0.4 released March 14 2010
\r
1494 + All the contributed files that were located in the Demo/Unsupported_Demos
\r
1495 directory have been removed. These files are instead now available in the
\r
1496 new Community Contributions section of the FreeRTOS website. See
\r
1497 https://www.FreeRTOS.org/RTOS-contributed-ports.html
\r
1498 + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory
\r
1499 has been upgraded to use V2.x of the Rowley Crossworks STM32 support
\r
1501 + An initial Energy Micro EFM32 demo has been included. This will be
\r
1502 updated over the coming months to make better use of the low power modes
\r
1503 the EFM32 provides.
\r
1505 Changes between V6.0.2 and V6.0.3 released February 26 2010
\r
1507 + SuperH SH7216 (SH2A-FPU) port and demo application added.
\r
1508 + Slight modification made to the default implementation of
\r
1509 pvPortMallocAligned() and vPortFreeAligned() macros so by default they
\r
1510 just call pvPortMalloc() and vPortFree(). The macros are only needed to
\r
1511 be defined when a memory protection unit (MPU) is being used - and then
\r
1512 only depending on other configuration settings.
\r
1514 Changes between V6.0.1 and V6.0.2 released January 9th 2010
\r
1516 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter.
\r
1517 Previously the parameter was blank and therefore only an implicit 0 but
\r
1518 newer GCC releases do not permit this.
\r
1519 + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40.
\r
1520 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes.
\r
1521 + Updated prvListTaskWithinSingleList() is it works on processors where the
\r
1522 stack grows up from low memory.
\r
1523 + Corrected some comments.
\r
1524 + Updated the startup file for the RVDS LPC21xx demo.
\r
1526 Changes between V6.0.0 and V6.0.1 released November 15th 2009
\r
1528 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the
\r
1529 stack pointer is where the compiler expects it to be when a task first
\r
1532 The following minor changes only effect the Cortex-M3 MPU port:
\r
1534 + portRESET_PRIVILEGE() assembly macro updated to include a clobber list.
\r
1535 + Added prototypes for all the privileged function wrappers to ensure no
\r
1536 compile time warnings are generated no matter what the warning level
\r
1538 + Corrected the name of portSVC_prvRaisePrivilege to
\r
1539 portSVC_RAISE_PRIVILEGE.
\r
1540 + Added conditional compilation into xTaskGenericCreate() to prevent some
\r
1541 compilers issuing warnings when portPRIVILEGE_BIT is defined as zero.
\r
1544 Changes between V5.4.2 and V6.0.0 released October 16th 2009
\r
1546 FreeRTOS V6 is backward compatible with FreeRTOS V5.x.
\r
1550 + FreeRTOS V6 is the first version to include memory protection unit (MPU)
\r
1551 support. Two ports now exist for the Cortex M3, the standard FreeRTOS
\r
1552 which does not include MPU support, and FreeRTOS-MPU which does.
\r
1553 + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added
\r
1554 in support of FreeRTOS-MPU.
\r
1555 + Wording for the GPL exception has been (hopefully) clarified. Also the
\r
1556 license.txt file included in the download has been fixed (the previous
\r
1557 version contained some corruption).
\r
1561 + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c.
\r
1562 + ARM7 GCC demo interrupt service routines wrappers have been modified to
\r
1563 call the C portion using an __asm statement. This prevents the function
\r
1564 call being inlined at higher optimisation levels.
\r
1565 + ARM7 ports now automatically set the THUMB bit if necessary when
\r
1566 setting up the initial stack of a task - removing the need for
\r
1567 THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode
\r
1568 tasks to be mixed more easily.
\r
1569 + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default.
\r
1570 + Various demo application project files have been updated to be up to date
\r
1571 with the latest IDE versions.
\r
1572 + The linker scripts used with command line GCC demos have been updated to
\r
1573 include an eh_frame section to allow their use with the latest Yagarto
\r
1574 release. Likewise the demo makefiles have been updated to include
\r
1575 command line options to reduce or eliminate the eh_frame section all
\r
1577 + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the
\r
1578 various memory allocation files and into the common portable.h header
\r
1580 + Removed unnecessary use of portLONG, portSHORT and portCHAR.
\r
1581 + Added LM3Sxxxx demo for Rowley CrossWorks.
\r
1582 + Posix simulator has been upgraded - see the corresponding WEB page on the
\r
1583 FreeRTOS.org site.
\r
1586 Changes between V5.4.1 and V5.4.2 released August 9th 2009
\r
1588 + Added a new port and demo app for the Altera Nios2 soft core.
\r
1589 + Added LPC1768 demo for IAR.
\r
1590 + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR).
\r
1591 + Changed clock frequency of LPC1768 demos to 99MHz.
\r
1593 Changes between V5.4.0 and V5.4.1 released July 25th 2009
\r
1595 + New hook function added. vApplicationMallocFailedHook() is (optionally)
\r
1596 called if pvPortMalloc() returns NULL.
\r
1597 + Additional casting added to xTaskCheckForTimeOut(). This prevents
\r
1598 problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a
\r
1599 32 bit architecture (which would probably be a mistake, anyway).
\r
1600 + Corrected the parameter passed to NVIC_SetPriority() to set the MAC
\r
1601 interrupt priority in both LPC1768 demos.
\r
1602 + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32
\r
1603 demo application to ensure the heap space was not completely consumed
\r
1604 before the scheduler was started.
\r
1606 Changes between V5.3.1 and V5.4.0 released July 13th 2009
\r
1608 + Added Virtex5 / PPC440 port and demos.
\r
1609 + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The
\r
1610 original demo was configured to use engineering samples of the CPU. The
\r
1611 new demo has an improved Ethernet driver.
\r
1612 + Added LPC1768 Rowley demo with zero copy Ethernet driver.
\r
1613 + Reworked byte alignment code to ensure 8 byte alignment works correctly.
\r
1614 + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects.
\r
1615 + Changed the initial stack setup for the PPC405 to ensure the small data
\r
1616 area pointers are setup correctly.
\r
1618 Changes between V5.3.0 and V5.3.1 released June 21st 2009
\r
1620 + Added ColdFire V1 MCF51CN128 port and WEB server demo.
\r
1621 + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo.
\r
1622 + Changed the Cortex M3 port.c asm statements to __asm so it can be
\r
1623 compiled using Rowley CrossWorks V2 in its default configuration.
\r
1624 + Updated the Posix/Linux simulator contributed port.
\r
1626 Changes between V5.2.0 and V5.3.0 released June 1st 2009
\r
1630 + Added new (optional) feature that gathers statistics on the amount of CPU
\r
1631 time used by each task.
\r
1632 + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based
\r
1634 + Added a new demo application for the NXP LPC1766 Cortex-M3 based
\r
1636 + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a
\r
1637 Linux environment.
\r
1640 + Updated the Stellaris uIP WEB server demos to include the new run time
\r
1641 statistics gathering feature - and include a served WEB page that
\r
1642 presents the information in a tabular format.
\r
1643 + Added in the lwIP port layer for the Coldfire MCF52259.
\r
1644 + Updated the CrossWorks LPC2368 WEB server to include an image in the
\r
1646 + Changed some of the timing in the initialisation of the LPC2368 MAC to
\r
1647 permit its use on all part revisions.
\r
1648 + Minor modifications to the core uIP code to remove some compiler warnings.
\r
1649 + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom
\r
1650 demo to make use of the new function.
\r
1651 + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using
\r
1652 Rowley Crossworks.
\r
1653 + Heap_1.c and Heap_2.c used to define structures for the purpose of data
\r
1654 alignment. These have been converted to unions to save a few bytes of
\r
1655 RAM that would otherwise be wasted.
\r
1656 + Remove the call to strncpy() used to copy the task name into the TCB when
\r
1657 the maximum task name is configured to be 1 byte long.
\r
1659 Changes between V5.1.2 and V5.2.0 released March 14th 2009
\r
1661 + Optimised the queue send and receive functions (also used by semaphores).
\r
1662 + Replaced the standard critical sections used to protect BIOS calls in the
\r
1663 PC port to instead use scheduler locks. This is because the BIOS calls
\r
1664 always return with interrupts enabled.
\r
1665 + Corrected unclosed comments in boot.s.
\r
1667 Changes between V5.1.1 and V5.1.2 released February 9th 2009
\r
1669 + Added NEC V850ES port and demo.
\r
1670 + Added NEC 78K0R port and demo.
\r
1671 + Added MCF52259 port and demo.
\r
1672 + Added the AT91SAM9XE port and demo.
\r
1673 + Updated the MCF52233 FEC driver to work around a silicon bug that
\r
1674 prevents the part auto negotiating some network parameters.
\r
1675 + Minor modifications to the MCF52233 makefile to permit it to be used
\r
1677 + Updated the STM32 primer files to allow them to be built with the latest
\r
1678 version of the RIDE tools.
\r
1679 + Updated the threads.js Java script used for kernel aware debugging in
\r
1680 the Rowley CrossWorks IDE.
\r
1683 Changes between V5.1.0 and V5.1.1 released November 20, 2008
\r
1685 + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse.
\r
1686 + Added IAR MSP430 port and demo.
\r
1687 + Corrected several compiler time issues that had crept in as tool versions
\r
1689 + Included FreeRTOS-uIP - a faster uIP. This is not yet complete.
\r
1691 Changes between V5.0.4 and V5.1.0 released October 24, 2008
\r
1693 + Added a new port and demo application for the ColdFire V2 core using the
\r
1694 CodeWarrior development tools.
\r
1695 + Replaced the ARM7 demo that used the old (and now no longer supported)
\r
1696 Keil compiler with a new port that uses the new Keil/RVDS combo.
\r
1697 + Stack overflow checking now works for stacks that grow up from low
\r
1698 memory (PIC24 and dsPIC).
\r
1699 + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct
\r
1701 + MSP430 port layers have been updated to permit tasks to place the
\r
1702 microcontroller into power down modes 1 to 3. The demo applications have
\r
1703 likewise been updated to demonstrate the new feature.
\r
1704 + Replaced the two separate MSP430/Rowley port layers with a single and more
\r
1706 + Added more contributed ports, including ports for NEC and SAM9
\r
1708 + Changed the linker script used in the LPC2368 Eclipse demo.
\r
1710 Changes between V5.0.3 and V5.0.4 released September 22, 2008
\r
1712 + Completely re-written port for ColdFire GCC.
\r
1713 + Bug fix: All Cortex M3 ports have a minor change to the code that sets
\r
1714 the pending interrupt.
\r
1715 + Some header files require that FreeRTOS.h be included prior to their
\r
1716 inclusion. #error message have been added to all such header file
\r
1717 informing users to the cause of the compilation error should the headers
\r
1718 not be included in the correct order.
\r
1720 Changes between V5.0.2 and V5.0.3 released July 31, 2008
\r
1722 Changes relating to the Cortex M3:
\r
1724 + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3
\r
1725 ports and demos. See the port documentation pages on the FreeRTOS.org
\r
1726 WEB site for full usage information.
\r
1727 + Improved efficiency of Cortex M3 port even further.
\r
1728 + Ensure the Cortex M3 port works no matter where the vector table is
\r
1730 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port
\r
1731 (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY
\r
1733 + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil
\r
1734 projects to allow the WEB server to be conditionally excluded from the
\r
1735 build and therefore allow use of the KickStart (code size limited)
\r
1740 + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to
\r
1741 an assembly file to allow use with all MPLAB compiler versions. This also
\r
1742 allows the omit-frame-pointer optimisation to be turned off.
\r
1744 Changes between V5.0.0 and V5.0.2 released May 30, 2008
\r
1746 + Updated the PIC32 port to allow queue API calls to be used from
\r
1747 interrupts above the kernel interrupt priority, and to allow full
\r
1748 interrupt nesting. Task stack usages has also been reduced.
\r
1749 + Added a new PowerPC port that demonstrates how the trace macros can be
\r
1750 used to allow the use of a floating point co-processor. The
\r
1751 traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to
\r
1752 save and restore the floating point context respectively for those tasks
\r
1753 that actually use floating point operations.
\r
1754 + BUG FIX: The first PPC405 port contained a bug in that it did not leave
\r
1755 adequate space above the stack for the backchain to be saved when a task
\r
1756 started to execute for the first time.
\r
1757 + Updated queue.c to add in the means to allow interrupt nesting and for
\r
1758 queue API functions to be called from interrupts that have a priority
\r
1759 above the kernel priority. This is only supported on PIC32 ports thus
\r
1761 + Fixed the compiler warnings that were generated when the latest version
\r
1762 of WinAVR was used.
\r
1763 + Remove all inline usage of 'inline' from the core kernel code.
\r
1764 + Added the queue registry feature. The queue registry is provided as a
\r
1765 means for kernel aware debuggers to locate queue definitions. It has no
\r
1766 purpose unless you are using a kernel aware debugger. The queue registry
\r
1767 will only be used when configQUEUE_REGISTRY_SIZE is greater than zero.
\r
1768 + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to
\r
1769 prevent them from having to be included in multiple demos.
\r
1770 + Added a Keil STM32 demo application.
\r
1771 + Changed the blocktim.c test files as it is no longer legitimate for all
\r
1772 ports to call queue API functions from within a critical section.
\r
1773 + Added the IntQueue.c test file to test the calling of queue API functions
\r
1774 from different interrupt priority levels, and test interrupt nesting.
\r
1776 Changes between V5.0.0 and V5.0.1
\r
1778 + V5.0.1 was a customer specific release.
\r
1780 Changes between V4.8.0 and V5.0.0 released April 15, 2008
\r
1782 *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 ***
\r
1784 The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(),
\r
1785 xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must
\r
1786 update all calls to these functions to use the new calling convention! Your
\r
1787 compiler might not issue any type mismatch warnings!
\r
1792 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3
\r
1794 + New task hook feature added.
\r
1795 + PowerPC demo updated to use version 10.1 of the Xilinx EDK.
\r
1796 + Efficiency gains within the PIC32 port layer.
\r
1798 Changes between V4.7.2 and V4.8.0 released March 26 2008
\r
1800 + Added a Virtex4 PowerPC 405 port and demo application.
\r
1801 + Added optional stack overflow checking and new
\r
1802 uxTaskGetStackHighWaterMark() function.
\r
1803 + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and
\r
1804 uxQueueMessagesWaitingFromISR() API functions.
\r
1805 + Efficiency improvements to the Cortex-M3 port layer. NOTE: This
\r
1806 requires that an SVC handler be installed in the application.
\r
1807 + Efficiency improvements to the queue send and receive functions.
\r
1808 + Added new trace macros. These are application definable to provide
\r
1809 a flexible trace facility.
\r
1810 + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex
\r
1811 M3 port layer (bringing it up to the same standard as the IAR and GCC
\r
1813 + Ports that used the arm-stellaris-eabi-gcc tools have been converted to
\r
1814 use the arm-non-eabi-gcc tools.
\r
1816 Changes between V4.7.1 and V4.7.2 released February 21, 2008
\r
1818 + Added Fujitsu MB91460 port and demo.
\r
1819 + Added Fujitsu MB96340 port and demo.
\r
1820 + Tidied up the capitalisation of include files to facilitate builds on
\r
1822 + Removed some redundant casting that was generating warnings - but was
\r
1823 included to remove warnings on other compilers.
\r
1825 Changes between V4.7.0 and V4.7.1 released February 3, 2008
\r
1827 + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench
\r
1829 + Introduced recursive semaphore feature.
\r
1830 + Updated LPC2368 demos to take into account silicon bugs in old chip
\r
1832 + Updated STR9 uIP port to manually set the net mask and gateway addresses.
\r
1833 + Updating demos to allow more to run with the co-operative scheduler.
\r
1834 + Fixed co-operative scheduler behaviour upon the occurrence of a tick
\r
1835 interrupt while the scheduler was suspended.
\r
1836 + Updated documentation contained within semphr.h.
\r
1837 + ARM7 GCC ports no longer use the IRQ attribute.
\r
1839 Changes between V4.6.1 and V4.7.0 released December 6, 2007
\r
1841 + Introduced the counting semaphore macros and demo source files. The
\r
1842 Open Watcom PC project has been updated to include the new demo. See
\r
1843 the online documentation for more information.
\r
1844 + Introduced the 'alternative' queue handling API and demo source files.
\r
1845 The Open Watcom PC project has been updated to include the new demo
\r
1846 source files. See the online documentation for more information.
\r
1847 + Added AT91SAM7X Eclipse demo project.
\r
1848 + Added the STM32 primer demo project for the GCC compiler and Ride IDE.
\r
1849 + Removed the .lock files that were mistakenly included in the V4.6.1
\r
1850 eclipse workspaces.
\r
1852 Changes between V4.6.0 and V4.6.1 released November 5 2007
\r
1854 + Added support for the MIPS M4K based PIC32.
\r
1855 + Added 'extern "C"' to all the header files to facilitate use with C++.
\r
1857 Changes between V4.5.0 and V4.6.0 released October 28 2007
\r
1859 + Changed the method used to force a context switch within an ISR for the
\r
1860 ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and
\r
1861 portEXIT_SWITCHING_ISR() macros are no longer supported. This is to
\r
1862 ensure correct behaviour no matter which GCC version is used, with or
\r
1863 without the -fomit-frame-pointer option, and at all optimisation levels.
\r
1864 + Corrected the prototype for xQueueGenericSend() within queue.h.
\r
1866 Changes between V4.4.0 and V4.5.0 released September 17 2007
\r
1868 + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek()
\r
1869 functionality. These should now be used in preference to the old
\r
1870 xQueueSend() function - which is maintained for backward compatibility.
\r
1871 + Added Mutex functionality. The behaviour of mutexes is subtly different
\r
1872 to the already existing binary semaphores as mutexes automatically
\r
1873 include a priority inheritance mechanism.
\r
1874 + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour
\r
1875 of the new functionality.
\r
1876 + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and
\r
1878 + Updated the GCC port for the Cortex M3 to include the
\r
1879 configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only
\r
1880 included in the IAR port.
\r
1881 + Optimised the GCC and IAR port layer code - specifically the context
\r
1883 + Consolidated the LM3Sxxxx EK demos for all development tools into a
\r
1884 single project that automatically detects which version of the EK the
\r
1885 application is executing on.
\r
1886 + Added Eclipse support for LM3Sxxxx evaluation kits.
\r
1887 + Added Eclipse support for the Keil LPC2368 evaluation kit.
\r
1888 + Added the Demo/Drivers directory to hold code that is common to multiple
\r
1889 demo application projects.
\r
1890 + Included some minor bug fixes in the uIP 1.0 code.
\r
1891 + Added an lwIP demo for the STR9 - thanks ST for assistance.
\r
1892 + Updated the AVR32 port to ensure correct behaviour with full compiler
\r
1894 + Included binaries for OpenOCD FTDI and parallel port interfaces.
\r
1896 Changes between V4.4.0 and V4.3.1 released July 31, 2007
\r
1898 + Added AVR32 UC3B demo application.
\r
1899 + Updated AVR32 UC3A port and demo applications.
\r
1900 + Added IAR lwIP demo for AVR32 UC3A.
\r
1901 + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation
\r
1902 (thanks Niu Yong for making the suggestion).
\r
1903 + Added xTaskGetSchedulerState() API function.
\r
1904 + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely
\r
1905 have their block time adjusted (within xQueueSend() and xQueueReceive()),
\r
1906 and are the subject of a call the vTaskResume() when they are not
\r
1907 actually in the Suspended state (thanks Dan Searles for reporting the
\r
1911 Changes between V4.3.0 and V4.3.1 released June 11, 2007
\r
1913 + Added STMicroelectronics STM32 Cortex-M3 demo application.
\r
1914 + Updated ustdlib.c for the GCC LM3S6965 demo.
\r
1916 Changes between V4.2.1 and V4.3.0 released June 5, 2007
\r
1918 + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24
\r
1919 and dsPIC ports. See the LM3S6965 and PIC24 demo application
\r
1920 documentation pages for more information.
\r
1921 + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC
\r
1922 tools, and changed the demo applications.
\r
1923 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris
\r
1925 + Corrected bug in uIP the demos that prevented frames of approximately 1480
\r
1926 bytes and over from being transmitted.
\r
1927 + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org
\r
1929 + Update to WizC PIC18 port to permit its use with version 14 of the
\r
1930 compiler. Thanks Marcel!
\r
1932 Changes between V4.2.1 and V4.2.0 released April 2, 2007
\r
1934 + Added AVR32 AT32UC3A ports for GCC and IAR.
\r
1935 + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile.
\r
1936 + Moved location of call to LCD_Init() in STR9 demo to ensure it is only
\r
1937 called after the scheduler has been started.
\r
1939 Changes between V4.1.3 and V4.2.0 released February 8, 2007
\r
1941 + Changes to both task.c and queue.c as a result of testing performed on
\r
1942 the SafeRTOS code base.
\r
1943 + Added Cortex-M3 LM3S811 demos for GCC and IAR tools.
\r
1945 Changes between V4.1.2 and V4.1.3 released November 19, 2006
\r
1947 + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools.
\r
1948 + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around
\r
1949 to GCC bug at some optimisation levels.
\r
1950 + Altered the way the heap is defined in the LM3S811 Keil demo to prevent
\r
1951 the RAM usage from counting toward the code size limit calculation.
\r
1952 + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within
\r
1953 xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz.
\r
1954 + Tasks that block on events with a timeout of portMAX_DELAY are now
\r
1955 blocked indefinitely if configINCLUDE_vTaskSuspend is defined.
\r
1956 Previously portMAX_DELAY was just the longest block time possible. This
\r
1957 is still the case if configINCLUDE_vTaskSuspend is not defined.
\r
1958 + Minor changes to some demo application files.
\r
1960 Changes between V4.1.1 and V4.1.2 released October 21, 2006
\r
1962 + Added 16bit PIC ports and demos.
\r
1963 + Added STR750 port and demo.
\r
1966 Changes between V4.1.0 and V4.1.1 released September 24, 2006
\r
1968 + Added the Luminary Micro Stellaris LM3S811 demo application.
\r
1970 Changes between V4.0.5 and V4.1.0 released August 28, 2006
\r
1972 + Prior to V4.1.0, under certain documented circumstances, it was possible
\r
1973 for xQueueSend() and xQueueReceive() to return without having completed
\r
1974 and without their block time expiring. The block time effectively
\r
1975 stated a maximum block time, and the return value of the function needed
\r
1976 to be checked to determine the reason for returning. This is no longer
\r
1977 the case as the functions will only return once the block time has
\r
1978 expired or they are able to complete their operation. It is therefore no
\r
1979 longer necessary to wrap calls within loops.
\r
1980 + Changed the critical section handling in the IAR AVR port to correct the
\r
1981 behaviour when used with later compiler versions.
\r
1982 + Added the LPC2138 CrossWorks demo into the zip file. Previously this was
\r
1983 only available as a separate download.
\r
1984 + Modified the AVR demo applications to demonstrate the use of co-routines.
\r
1986 Changes between V4.0.4 and V4.0.5 released August 13, 2006
\r
1988 + Introduced API function xTaskResumeFromISR(). Same functionality as
\r
1989 xTaskResume(), but can be called from within an interrupt service routine.
\r
1990 + Optimised vListInsert() in the case when the wake time is the maximum
\r
1992 + Bug fix: The 'value' of the event list item is updated when the priority
\r
1993 of a task is changed. Previously only the priority of the TCB itself was
\r
1995 + vTaskPrioritySet() and vTaskResume() no longer use the event list item.
\r
1996 This has not been necessary since V4.0.1 when the xMissedYield handling
\r
1998 + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz.
\r
1999 + When ending the scheduler - do not try to attempt a context switch when
\r
2000 deleting the current task.
\r
2001 + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining
\r
2002 the length from the rx descriptor.
\r
2005 Changes between V4.0.3 and V4.0.4 released June 22, 2006
\r
2007 + Added a port and demo application for the STR9 ARM9 based processors from
\r
2009 + Slight optimisation to the vTaskPrioritySet() function.
\r
2010 + Included the latest uIP version (1.0) in the demo/common/ethernet
\r
2013 Changes between V4.0.2 and V4.0.3 released June 7, 2006
\r
2015 + Added a port and demo application for the Cortex-M3 target using the IAR
\r
2016 development tools.
\r
2017 + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the
\r
2018 CrossStudio tools.
\r
2019 + The heap size defined for the lwIP Rowley demo has been reduced so that
\r
2020 the project will link correctly when using the command line GCC tools
\r
2021 also. The makefile has also been modified to allow debugging.
\r
2022 + The lwIP Rowley demo not includes a 'kernel aware' debug window.
\r
2023 + The uIP Rowley project has been updated to build with V1.6 of CrossWorks.
\r
2024 + The second set of tasks in the blockQ demo were created the wrong way
\r
2025 around (inconsistent to the description in the file). This has been
\r
2028 Changes between V4.0.1 and V4.0.2 released May 28, 2006
\r
2030 + Port and demo application added for the Tern Ethernet Engine controller.
\r
2031 + Port and demo application added for MC9S12 using GCC, thanks to
\r
2032 Jefferson "imajeff" Smith.
\r
2033 + The function vTaskList() now suspends the scheduler rather than disabling
\r
2034 interrupts during the creation of the task list.
\r
2035 + Allow a task to delete itself by passing in its own handle. Previously
\r
2036 this could only be done by passing in NULL.
\r
2037 + Corrected the value passed to the WDG_PeriodValueConfig() library
\r
2038 function in the STR71x demo.
\r
2039 + The tick hook function is now called only within a tick isr. Previously
\r
2040 it was also called when the tick function was called during the scheduler
\r
2041 unlocking process.
\r
2042 + The EMAC driver in the SAM7X lwIP demo has been made more robust as per
\r
2043 the thread: http://sourceforge.net/forum/message.php?msg_id=3714405
\r
2044 + In the PC ports: Add function prvSetTickFrequencyDefault() to set the
\r
2045 DOS tick back to its proper value when the scheduler exits. Thanks
\r
2047 + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT
\r
2048 macro where the BP register was not popped from the stack correctly. The
\r
2049 BP value would never get used so this did not cause a problem, but it has
\r
2050 been corrected all the same.
\r
2053 Changes between V4.0.0 and V4.0.1 released April 7 2006
\r
2055 + Improved the ARM CORTEX M3 ports so they now only have to service
\r
2056 pendSV interrupts.
\r
2057 + Added a Luminary Micro port and demo for use with Rowley CrossWorks.
\r
2058 + Added the xMissedYield handling to tasks.c.
\r
2060 Changes between V3.2.4 and V4.0.0
\r
2064 + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers.
\r
2065 + Added new co-routine functionality.
\r
2067 Other kernel changes:
\r
2069 + An optional tick hook call is now included in the tick function.
\r
2070 + Introduced the xMiniListItem structure and removed the list pxHead
\r
2071 member in order to reduce RAM usage.
\r
2072 + Added the following definitions to the FreeRTOSConfig.h file included
\r
2074 configUSE_TICK_HOOK
\r
2075 configUSE_CO_ROUTINES
\r
2076 configMAX_CO_ROUTINE_PRIORITIES
\r
2077 + The volatile qualification has been changed on the list members to allow
\r
2078 the task.c code to be tidied up a bit.
\r
2079 + The scheduler can now be started even if no tasks have been created!
\r
2080 This is to allow co-routines to run when there are no tasks.
\r
2081 + A task being woken by an event will now preempt the currently running task
\r
2082 even if its priority is only equal to the currently running task.
\r
2084 Port and demo application changes:
\r
2086 + Updated the WinAVR demo to compile with the latest version of WinAVR
\r
2087 with no warnings generated.
\r
2088 + Changed the WinAVR makefile to make chars signed - needed for the
\r
2089 co-routine code if BaseType_t is set to char.
\r
2090 + Added new demo application file crflash.c. This demonstrates co-routine
\r
2091 functionality including passing data between co-routines.
\r
2092 + Added new demo application file crhook.c. This demonstrates co-routine
\r
2093 and tick hook functionality including passing data between and ISR and
\r
2095 + Some NOP's were missing following stmdb{}^ instructions in various ARM7
\r
2096 ports. These have been added.
\r
2097 + Updated the Open Watcom PC demo project to include the crflash and crhook
\r
2098 demo co-routines as an example of their use.
\r
2099 + Updated the H8S demo to compile with the latest version of GCC.
\r
2100 + Updated the SAM7X EMAC drivers to take into account the hardware errata
\r
2101 regarding lost packets.
\r
2102 + Changed the default MAC address used by some WEB server demos as the
\r
2103 original addresses used was not liked by some routers.
\r
2104 + Modified the SAM7X/IAR startup code slightly to prevent it hanging on
\r
2105 some systems when the code is executed using a j-link debugger. The
\r
2106 j-link macro file configures the PLL before the code executes so
\r
2107 attempting to configure it again in the startup code was causing a
\r
2108 problem for some user. Now a check is performed first to see if the
\r
2109 PLL is already set up.
\r
2110 + GCC port now contain all assembler code in a single asm block rather than
\r
2111 individual blocks as before.
\r
2112 + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler
\r
2113 choose the register to use as a temporary register during the context
\r
2115 + Added portNOP() macro.
\r
2116 + The compare match load value on LPC2000 ports now has 1 added to correct
\r
2118 + The minimal stack depth has been increased slightly on the WIZC PIC18
\r
2121 Changes between V3.2.3 and V3.2.4
\r
2123 + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above.
\r
2124 Many thanks to Glen Biagioni for the provided update.
\r
2125 + Added a new Microblaze port and demo application.
\r
2126 + Modified the SAM7X EMAC demo to default to use the MII interface rather
\r
2127 than the RMII interface.
\r
2128 + Modified the startup sequence of the SAM7X demo slightly to allow the
\r
2129 EMAC longer to auto negotiate.
\r
2131 Changes between V3.2.2 and V3.2.3
\r
2133 + Added MII interface support to the SAM7X EMAC peripheral driver.
\r
2134 Previously versions worked with the RMII interface only.
\r
2135 + Added command line GCC support to the SAM7X lwIP demo. Previously the
\r
2136 project could only be built using the CrossWorks IDE. Modifications to
\r
2137 this end include the addition of a standard makefile and linker script to
\r
2138 the download, and some adjustments to the stacks allocated to each task.
\r
2139 + Changed the page returned by the lwIP WEB server demo to display the
\r
2140 task status table rather than the TCP/IP statistics.
\r
2141 + Corrected the capitalisation of some header file includes and makefile
\r
2142 dependencies to facilitate use on Linux host computers.
\r
2143 + The various LPC2000 ports had a mistake in the timer setup where the
\r
2144 prescale value was written to T0_PC instead of T0_PR. This would have
\r
2145 no effect unless a prescale value was actually required. This has been
\r
2148 Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005
\r
2150 + Added an IAR port for the Philips LPC2129
\r
2151 + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded
\r
2152 Workbench V4.30a format.
\r
2153 + Updated the J-Link macro file included with the SAM7X uIP demo project
\r
2154 to allow the demo board to be reset over the J-Link.
\r
2156 Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005
\r
2158 + Added lwIP demo for AT91SAM7X using Rowley tools.
\r
2159 + Added uIP demo for AT91SAM7X using IAR tools.
\r
2160 + Added function xTaskGetCurrentTaskHandle().
\r
2161 + Renamed events.h to mevents.h to prevent it conflicting with the events.h
\r
2162 generated automatically by the HCS12 processor expert utility. events.h
\r
2163 is only used by the PC demo application.
\r
2164 + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value
\r
2165 expected by the compiler, and the compilers do not write to this
\r
2167 + The HCS12 banked model demo now creates the 'suicide' tasks immediately
\r
2168 prior to starting the scheduler. These tasks should be the last tasks to
\r
2169 get started in order for the test to function correctly.
\r
2171 Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005
\r
2173 V3.2.0 introduces two new MSP430 ports and corrects a minor kernel
\r
2174 issues. Thanks to Ares.qi for his input.
\r
2176 + Added two MSP430 ports that use the Rowley CrossWorks development tools.
\r
2177 One port just mirrors the existing GCC port. The other port was provided
\r
2178 by Milos Prokic. Thanks!
\r
2179 + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume()
\r
2180 are called while the scheduler is locked (by a call to
\r
2181 vTaskSuspendAll()). When this is done the subject task now starts to
\r
2182 execute immediately when the scheduler is unlocked if it has the highest
\r
2183 priority that is ready to run. Previously there was a possibility that
\r
2184 the task would not run until the next RTOS tick or call to portYIELD().
\r
2185 + Another similar small correction ensures that in the case where more than
\r
2186 one task is blocked on a semaphore or queue, the task with the highest
\r
2187 priority is guaranteed to be unblocked first.
\r
2188 + Added a couple of more test tasks to the PC demo which cover the points
\r
2191 Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005
\r
2193 This release updates the HCS12 port. The common kernel code
\r
2194 remains unchanged.
\r
2196 + Updated the HCS12 port to support banking and introduced a demo
\r
2197 application for the MC9S12DP256. The new demo application is
\r
2198 located in the Demo/HCS12_CodeWarrior_banked directory.
\r
2199 + The name of the directory containing the MC9S12F32 demo application
\r
2200 has been changed to Demo/HCS12_CodeWarrior_small (as in 'small'
\r
2202 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the
\r
2203 demo application is now 24MHz. Previously it was 8MHz.
\r
2204 + The demo application file Demo/Common/Minimal/death.c has a slight
\r
2205 alteration to prevent it using floating point variables.
\r
2208 Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005
\r
2210 + Added new ports for ST Microsystems STR71x, and Freescale HCS12
\r
2211 microcontrollers. Currently the HCS12 port is limited to the small
\r
2212 memory model. Large memory models will be supported in the next
\r
2214 + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his
\r
2215 continuing contribution.
\r
2216 + The accuracy of the AVR port timer setup has been improved. Thanks to
\r
2217 Thomas Krutmann for this contribution.
\r
2218 + Added a new conditional compilation macro configIDLE_SHOULD_YIELD.
\r
2219 See the WEB documentation for details.
\r
2220 + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks.
\r
2221 + Slight modification to the SAM7 release build configuration to correct
\r
2222 an include path definition.
\r
2223 + Updated the MPLAB PIC18 documentation to provide extra details on linker
\r
2224 file configuration.
\r
2226 Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005
\r
2228 V3.0.0 includes many enhancements, so this history list is broken into
\r
2229 subsections as follows:
\r
2233 Directory name changes
\r
2234 Kernel and miscellaneous changes changes
\r
2238 + Each port now defines BaseType_t as the data type that is most
\r
2239 efficient for that architecture. The type BaseType_t is used
\r
2240 extensively in API calls necessitating the following changes to the
\r
2241 FreeRTOS API function prototypes.
\r
2243 See the "New for V3.0.0" section of the FreeRTOS online
\r
2244 documentation for full details of API changes.
\r
2248 + The AT91FR40008 ARM7 port contributed by John Feller is now included
\r
2249 in the download (thanks John!).
\r
2250 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van
\r
2251 Lieshout is now included in the download (thanks Marcel!).
\r
2252 + The IAR port for the AVR microcontroller has been upgraded to V3.0.0
\r
2253 and is now a supported port.
\r
2255 - Directory name changes
\r
2257 For consistency, and to allow integration of the new ports, the
\r
2258 following directory names have been changed.
\r
2260 + The source/portable/GCC/ARM7 directory has been renamed
\r
2261 source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming
\r
2262 of other GCC ARM7 ports.
\r
2263 + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to
\r
2264 accommodate the wizC/fedC PIC port.
\r
2265 + The demo applications for the two AVR ports no longer share the same
\r
2266 directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR
\r
2267 directory and the IAR port in the Demo/AVR_ATMega323_IAR directory.
\r
2270 - Kernel and miscellaneous changes changes
\r
2272 See the "New for V3.0.0" section of the FreeRTOS online
\r
2273 documentation for more information.
\r
2275 + Previously 'portmacro.h' contained some user editable definitions
\r
2276 relating to the user application, and some fixed definitions relating
\r
2277 specifically to the port being used. The application specific
\r
2278 definitions have been removed from 'portmacro.h' and placed inside a
\r
2279 new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now
\r
2280 never be modified by the user. A 'FreeRTOSConfig.h' is now included
\r
2281 in each of FreeRTOS/Demo subdirectories - as it's settings relate to
\r
2282 the demo application rather than being specific to the port.
\r
2283 + Introduced configUSE_IDLE_HOOK in idle task.
\r
2284 + The idle task will yield when another idle priority task is ready to
\r
2285 run. Previously the idle task would run to the end of its time slice
\r
2287 + The idle task is now created when the scheduler is started. This
\r
2288 requires less stack than the previous scheme where it was created upon
\r
2289 creation of the first application task.
\r
2290 + The function usPortCheckFreeStackSpace() has been renamed
\r
2291 usTaskCheckFreeStackSpace() and moved from the portable layer to
\r
2293 + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE.
\r
2294 + The portheap.c file included with the AVR port has been deleted. The
\r
2295 AVR demo now uses the standard heap1 sample memory allocator.
\r
2296 + The GCC AVR port is now build using the standard make utility. The
\r
2297 batch files used previously have been deleted. This means a recent
\r
2298 version of WinAVR is required in order to create a binary suitable for
\r
2299 source level debugging.
\r
2300 + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION
\r
2301 constant as a parameter. Instead the constant is used directly within
\r
2302 tasks.c and no parameter is required.
\r
2303 + The header file 'FreeRTOS.h' has been created and is used to include
\r
2304 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary
\r
2305 order. FreeRTOS.h can now be included in place of these other
\r
2307 + The header file 'errors.h' has been deleted. The definitions it
\r
2308 contained are now located within 'projdefs.h'.
\r
2309 + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc().
\r
2310 Previously an unsigned short was used.
\r
2311 + When resuming the scheduler a yield is performed if either a tick has
\r
2312 been missed, or a task is moved from the pending ready list into a
\r
2313 ready list. Previously a yield was not performed on this second
\r
2315 + In heap1.c an overflow check has been added to ensure the next free
\r
2316 byte variable does not wrap around.
\r
2317 + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO()
\r
2319 + The MPLAB PIC port now saved the TABLAT register in interrupt service
\r
2322 Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005
\r
2324 This version adds support for the H8 processor.
\r
2328 + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each
\r
2329 individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM
\r
2330 limited ports to allocate fewer characters to the task name.
\r
2331 + AVR port - Replaced the inb() and outb() functions with direct memory
\r
2332 access. This allows the port to be built with the 20050414 build of
\r
2334 + GCC LPC2106 port - removed the 'static' from the definition of
\r
2335 vNonPreemptiveTick() to allow the demo to link when using the cooperative
\r
2337 + GCC LPC2106 port - Corrected the optimisation options in the batch files
\r
2338 ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case
\r
2339 -o is replaced by an uppercase -O.
\r
2340 + Tasks.c - The strcpy call has been removed when copying across the task
\r
2341 name into the TCB.
\r
2342 + Updated the trace visualisation to always be 4 byte aligned so it can be
\r
2343 used on ARM architectures.
\r
2344 + There are now two tracecon executables (that convert the trace file binary
\r
2345 into an ASCII file). One for big endian targets and one for little endian
\r
2347 + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called
\r
2348 too often in the idle task.
\r
2349 + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt
\r
2350 mask with the RX_DATA_BK1.
\r
2353 Changes between V2.5.5 and V2.6.0 - Released January 16, 2005
\r
2355 + Added the API function vTaskDelayUntil(). The demo app file
\r
2356 Demo/Common/Minimal/flash.c has been updated to demonstrate its use.
\r
2357 + Added INCLUDE_vTaskDelay conditional compilation.
\r
2358 + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to
\r
2359 Demo/ARM7_AT91SAM7S64_IAR for consistency.
\r
2360 + Modified the AT91SAM7S USB driver to allow descriptors that have
\r
2361 a length that is an exact multiple of the FIFO to be transmitted.
\r
2363 Changes between V2.5.4 and V2.5.5 - Released January 3, 2005
\r
2365 This version adds support for the Atmel SAM7 ARM7 microcontrollers
\r
2366 along with the IAR development tools.
\r
2370 + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC.
\r
2371 + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil.
\r
2372 + Modified the Philips ARM7 serial interrupt service routines to only
\r
2373 process one interrupt per call. This seems to enable the ISR to
\r
2374 operate more quickly.
\r
2375 + Removed the 'far' keyword from the Open Watcom portable layer source
\r
2376 files. This allows their use with V1.3 of Open Watcom.
\r
2377 + Minor modifications to the SDCC build files to allow their use under
\r
2378 Linux. Thanks to Frieder Ferlemann for this contribution.
\r
2379 + Small change to sTaskCreate() to allow a context switch even when
\r
2380 pxCreatedTask is NULL. Thanks to Kamil for this contribution.
\r
2381 + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick()
\r
2384 Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004
\r
2386 This is an important maintenance release.
\r
2388 The function cTaskResumeAll() has been modified so it can be used safely
\r
2389 prior to the kernel being initialised. This was an issue as
\r
2390 cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun
\r
2391 for highlighting this issue.
\r
2393 Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004
\r
2395 The critical section handling functions have been changed for the GCC ARM7
\r
2396 port. Some optimisation levels use the stack differently to others. This
\r
2397 means the interrupt flags cannot always be stored on the stack and are
\r
2398 instead now stored in a variable, which is then saved as part of the
\r
2399 tasks context. This allows the GCC ARM7 port to be used at all
\r
2400 optimisation levels - including -Os.
\r
2402 Other minor changes:
\r
2404 + MSP430 definition of usCriticalNesting now uses the volatile qualifier.
\r
2405 This is probably not required but added just in case.
\r
2407 Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004
\r
2409 + Added the Keil ARM7 port.
\r
2410 + Slight modification to comtest.c to make the delay periods more random.
\r
2411 This creates a better test condition.
\r
2413 Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004
\r
2415 + Added the MSP430 port.
\r
2416 + Extra comments added to the GCC ARM7 port.c and portISR.c files.
\r
2417 + The memory pool allocated within heap_1.c has been placed within a
\r
2418 structure to ensure correct memory alignment on 32bit systems.
\r
2419 + Within the GCC ARM7 serial drivers an extra check is made to ensure
\r
2420 the post to the queue was successful if then attempting immediately
\r
2421 retrieve the posted character.
\r
2422 + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS
\r
2423 as the old name was misleading.
\r
2426 Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004
\r
2428 The RTOS source code download now includes three separate memory allocation
\r
2429 schemes - so you can choose the most appropriate for your application.
\r
2430 These are found in the Source/Portable/MemMang directory. The demo
\r
2431 application projects have also been updated to demonstrate the new schemes.
\r
2432 See the "Memory Management" page of the API documentation for more details.
\r
2434 + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang
\r
2436 + Replaced the portheap.c files for each demo application with one of the
\r
2437 new memory allocation files.
\r
2438 + Updated the portmacro.h file for each demo application to include the
\r
2439 constants required for the new memory allocators: portTOTAL_HEAP_SIZE and
\r
2440 portBYTE_ALIGNMENT.
\r
2441 + Added a new test to the ARM7 demo application that tests the operation
\r
2442 of the heap_2 memory allocator.
\r
2445 Changes between V2.4.1 and V2.4.2 - Released July 14, 2004
\r
2447 + The ARM7 port now supports THUMB mode.
\r
2448 + Modification to the ARM7 demo application serial port driver.
\r
2450 Changes between V2.4.0 and V2.4.1 - Released July 2, 2004
\r
2452 + Rationalised the ARM7 port version of portEXIT_CRITICAL() -
\r
2453 improvements provided by Bill Knight.
\r
2454 + Made demo serial driver more complete and robust.
\r
2457 Changes between V2.4.0 and V2.3.1 - Released June 30, 2004
\r
2459 + Added the first ARM7 port - thanks to Bill Knight for the assistance
\r
2461 + Added extra files to the Demo/Common/Minimal directory. These are
\r
2462 equivalent to their Demo/Common/Full counterparts but with the
\r
2463 calls to the functions defined in print.c removed.
\r
2464 + Added TABLAT to the list of registers saved as part of a PIC18 context.
\r
2466 Changes between V2.3.0 and V2.3.1 - Released June 25, 2004
\r
2468 + Changed the way the vector table is defined to be more portable.
\r
2469 + Corrected the definitions of SPH and SPL in portmacro.s90.
\r
2470 The previous definitions prevented V2.3.0 operating if the iom323.h
\r
2471 header file was included in portmacro.s90.
\r
2473 Changes between V2.2.0 and V2.3.0 - Released June 19, 2004
\r
2475 + Added an AVR port that uses the IAR compiler.
\r
2476 + Explicit use of 'signed' qualifier on plain char types.
\r
2477 + Modified the Open Watcom project files to use 'signed' as the
\r
2478 default char type.
\r
2479 + Changed odd calculation of initial pxTopOfStack value when
\r
2480 portSTACK_GROWTH < 0.
\r
2481 + Added inline qualifier to context switch functions within task.c.
\r
2482 Ports that do not support the (non ANSI) inline keyword have the
\r
2483 inline #define'd away in their respective portmacro.h files.
\r
2485 Changes between V2.1.1 and V2.2.0 - Released May 18, 2004
\r
2487 + Added Cygnal 8051 port.
\r
2488 + PCLATU and PCLATH are now saved as part of the PIC18 context. This
\r
2489 allows function pointers to be used within tasks. Thanks to Javier
\r
2490 Espeche for the enhancement.
\r
2491 + Minor changes to demo application files to reduce stack usage.
\r
2492 + Minor changes to prevent compiler warnings when compiling the new port.
\r
2494 Changes between V2.1.0 and V2.1.1 - Released March 12, 2004
\r
2496 + Bug fix - pxCurrentTCB is now initialised before the call to
\r
2497 prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed
\r
2498 while null during the initialisation sequence. Thanks to Giuseppe
\r
2499 Franco for the correction.
\r
2501 Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004
\r
2503 V2.1.0 has significant reworks that greatly reduce the amount of time
\r
2504 the kernel has interrupts disabled. The first section of modifications
\r
2505 listed here must be taken into account by users. The second section
\r
2506 are related to the kernel implementation and as such are transparent.
\r
2510 + The typedef TickType_t has been introduced. All delay times should
\r
2511 now use a variable of type TickType_t in place of the unsigned long's
\r
2512 used previously. API function prototypes have been updated
\r
2514 + The configuration macro USE_16_BIT_TICKS has been introduced. If set
\r
2515 to 1 TickType_t is defined as an unsigned short. If set to 0
\r
2516 TickType_t is defined as an unsigned long. See the configuration
\r
2517 section of the API documentation for more details.
\r
2518 + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete.
\r
2519 + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a
\r
2520 value (see the API documentation).
\r
2521 + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type
\r
2522 it returns now depends on the USE_16_BIT_TICKS definition.
\r
2523 + cQueueReceive() must now >never< be used from within an ISR. Use the new
\r
2524 cQueueReceiveFromISR() function instead.
\r
2528 + A mechanism has been introduced that allows a queue to be accessed by
\r
2529 a task and ISR simultaneously.
\r
2530 + A "pending ready" queue has been introduced that enables interrupts to
\r
2531 be processed when the scheduler is suspended.
\r
2532 + The list implementation has been improved to provide faster item
\r
2534 + The scheduler now makes use of the scheduler suspend mechanism in places
\r
2535 where previously interrupts were disabled.
\r
2537 Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004
\r
2539 + Introduced new API functions:
\r
2540 vTaskPriorityGet ()
\r
2541 vTaskPrioritySet ()
\r
2544 vTaskSuspendAll ()
\r
2546 + Added conditional compilation options that allow the components of the
\r
2547 kernel that are unused by an application to be excluded from the build.
\r
2548 See the Configuration section on the WEB site for more information (on
\r
2549 the API pages). The macros have been added to each portmacro.h file (
\r
2550 sometimes called prtmacro.h).
\r
2551 + Rearranged tasks.c.
\r
2552 + Added demo application file dynamic.c.
\r
2553 + Updated the PC demo application to make use of dynamic.c.
\r
2554 + Updated the documentation contained in the kernel header files.
\r
2555 + Creating a task now causes a context switch if the task being created
\r
2556 has a higher priority than the calling task - assuming the kernel is
\r
2558 + vTaskDelete() now only causes a context switch if the calling task is
\r
2559 the task being deleted.
\r
2561 Changes between V1.2.5 and V1.2.6 - Released December 31, 2003
\r
2563 Barring the change to the interrupt vector (PIC port) these are minor
\r
2566 + The interrupt vector used for the PIC master ISR has been changed from
\r
2567 0x18 to 0x08 - where it should have always been. The incorrect address
\r
2568 still works but probably executes a number of NOP's before getting to the
\r
2570 + Changed the baud rate used by the AVR demo application to 38400. This
\r
2571 has an error percentage of less than one percent with an 8MHz clock.
\r
2572 + Raised the priority of the Rx task in demo\full\comtest.c. This only
\r
2573 affects the Flashlite and PC ports. This was done to prevent the Rx
\r
2574 buffer becoming full.
\r
2575 + Reverted the Flashlite COM port driver back so it does not use the DMA.
\r
2576 The DMA appears to miss characters under stress. The Borland Flashlite
\r
2577 port was also calculating a register value incorrectly resulting in the
\r
2578 wrong DMA source address being used. The same code worked fine when
\r
2579 compiling with Open Watcom. Other minor enhancements were made to the
\r
2580 interrupt handling.
\r
2581 + Modified the PIC serial Rx ISR to check for and clear overrun errors.
\r
2582 Overrun errors seem to prevent any further characters being received.
\r
2583 + The PIC demo projects now have some optimisation switched on.
\r
2586 Changes between V1.2.4 and V1.2.5
\r
2588 Small fix made to the PIC specific port.c file described below.
\r
2590 + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global
\r
2591 interrupt flag setting. Using the two bits defined within
\r
2592 portINITAL_INTERRUPT_STATE was causing the w register to get clobbered
\r
2593 before the test was performed.
\r
2595 Changes between V1.2.3 and V1.2.4
\r
2597 V1.2.4 contains a release version of the PIC18 port.
\r
2598 An optional exception has been included with the GPL. See the licensing
\r
2599 section of www.FreeRTOS.org for details.
\r
2601 + The function xPortInitMinimal() has been renamed to
\r
2602 xSerialPortInitMinimal() and the function xPortInit() has been renamed
\r
2603 to xSerialPortInit().
\r
2604 + The function sSerialPutChar() has been renamed cSerialPutChar() and
\r
2605 the function return type chaned to portCHAR.
\r
2606 + The integer and flop tasks now include calls to tskYIELD(), allowing
\r
2607 them to be used with the cooperative scheduler.
\r
2608 + All the demo applications now use the integer and comtest tasks when the
\r
2609 cooperative scheduler is being used. Previously they were only used with
\r
2610 the preemptive scheduler.
\r
2611 + Minor changes made to operation of minimal versions of comtest.c and
\r
2613 + The ATMega port definition of portCPU_CLOSK_HZ definition changed to
\r
2614 8MHz base 10, previously it base 16.
\r
2618 Changes between V1.2.2a and V1.2.3
\r
2620 The only change of any significance is to the license, which has changed
\r
2621 from the Open Software License to the GNU GPL.
\r
2623 The zip file also contains a pre-release version of the PIC18 port. This
\r
2624 has not yet completed testing and as such does not constitute part of the
\r
2625 V1.2.3 release. It is still however covered by the GNU GPL.
\r
2627 There are minor source code changes to accommodate the PIC C compiler.
\r
2628 These mainly involve more explicit casting.
\r
2630 + sTaskCreate() has been modified slightly to make use of the
\r
2631 portSTACK_GROWTH macro. This is required for the PIC port where the
\r
2632 stack grows in the opposite direction to the other existing ports.
\r
2633 + prvCheckTasksWaitingTermination() has been modified slightly to bring
\r
2634 the decrementing of usCurrentNumberOfTasks within the critical section,
\r
2635 where it should have been since the creation of an eight bit port.
\r
2637 Changes between V1.2.2 and V1.2.2a
\r
2639 The makefile and buildcoff.bat files included with the AVR demo application
\r
2640 have been modified for use with the September 2003 build of WinAVR. No
\r
2641 source files have changed.
\r
2643 Changes between V1.2.1 and V1.2.2
\r
2645 There are only minor changes here to allow the PC and Flashlite 186 ports
\r
2646 to use the Borland V4.52 compiler, as supplied with the Flashlite 186
\r
2649 + Introduced a BCC directory under source\portable. This contains all the
\r
2650 files specific to the Borland compiler port.
\r
2651 + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS.
\r
2652 + Modified comtest.c to increase the rate at which the string is
\r
2653 transmitted and received on the serial port. The Flashlite 186 demo
\r
2654 app baud rate has also been increased.
\r
2655 + The values of the constants used in both integer.c files have been
\r
2656 increased to force the Borland compiler to use 32 bit values. The
\r
2657 Borland optimiser placed the previous values in 16 bit registers, and in
\r
2658 So doing invalidated the test.
\r
2660 Changes between V1.2.0 and V1.2.1
\r
2662 This version includes some minor changes to the list implementation aimed
\r
2663 at improving the context switch time - with is now approximately 10% faster.
\r
2664 Changes include the removal of some null pointer assignment checks. These
\r
2665 were redundant where the scheduler uses the list functions, but means any
\r
2666 user application choosing to use the same list functions must now check
\r
2667 that no NULL pointers are passed as a parameter.
\r
2669 The Flashlite 186 serial port driver has also been modified to use a DMA
\r
2670 channel for transmissions. The serial driver is fully functional but still
\r
2671 under development. Flashlite users may prefer to use V1.2.0 for now.
\r
2675 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600.
\r
2676 + Use vSerialPutString() instead of single character puts in
\r
2677 Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial
\r
2678 driver. Also the check variable only stops incrementing after two
\r
2679 consecutive failures.
\r
2680 + semtest.c creates four tasks, two of which operate at the idle priority.
\r
2681 The tasks that operate at the idle priority now use a lower expected
\r
2682 count than those running at a higher priority. This prevents the low
\r
2683 priority tasks from signalling an error because they have not been
\r
2684 scheduled enough time for each of them to count the shared variable to
\r
2685 the higher original value.
\r
2686 + The flashlite 186 serial driver now uses a DMA channel for transmissions.
\r
2687 + Removed the volatile modifier from the list function parameters. This was
\r
2688 only ever included to prevent compiler warnings. Now warnings are
\r
2689 removed by casting parameters where the calls are made.
\r
2690 + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been
\r
2691 removed from list.c and added as macros in list.h.
\r
2692 + usNumberOfItems has been added to the list structure. This removes the
\r
2693 need for a pointer comparison when checking if a list is empty, and so
\r
2694 is slightly faster.
\r
2695 + Removed the NULL check in vListRemove(). This makes the call faster but
\r
2696 necessitates any application code utilising the list implementation to
\r
2697 ensure NULL pointers are not passed.
\r
2698 + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds
\r
2699 per tick). This is what it always should have been.
\r
2701 Changes between V1.01 and V1.2.0
\r
2703 The majority of these changes were made to accommodate the 8bit AVR port.
\r
2704 The scheduler workings have not changed, but some of the data types used
\r
2705 have been made more friendly to an eight bit environment.
\r
2709 + Changed the version numbering format.
\r
2711 + Split the directory demo\common into demo\common\minimal and
\r
2712 demo\common\full. The files in the full directory are for systems with
\r
2713 a display (currently PC and Flashlite 186 demo's). The files in the
\r
2714 minimal directory are for systems with limited RAM and no display
\r
2715 (currently MegaAVR).
\r
2716 + Minor changes to demo application function prototypes to make more use
\r
2717 of 8bit data types.
\r
2718 + Within the scheduler itself the following functions have slightly
\r
2719 modified declarations to make use of 8bit data types where possible:
\r
2723 usQueueMessageWaiting(),
\r
2724 sQueueSendFromISR(),
\r
2727 sSemaphoreGiveFromISR(),
\r
2729 sTaskMoveFromEventList().
\r
2731 Where the return type has changed the function name has also changed in
\r
2732 accordance with the naming convention. For example
\r
2733 usQueueMessageWaiting() has become ucQueueMessageWaiting().
\r
2734 + The definition tskMAX_PRIORITIES has been moved from task.h to
\r
2735 portmacro.h and renamed portMAX_PRIORITIES. This allows different
\r
2736 ports to allocate a different maximum number of priorities.
\r
2737 + By default the trace facility is off, previously USE_TRACE_FACILITY
\r
2739 + comtest.c now uses a psuedo random delay between sends. This allows for
\r
2740 better testing as the interrupts do not arrive at regular intervals.
\r
2741 + Minor change to the Flashlite serial port driver. The driver is written
\r
2742 to demonstrate the scheduler and is not written to be efficient.
\r
2746 Changes between V1.00 and V1.01
\r
2748 These changes improve the ports. The scheduler itself has not changed.
\r
2750 Improved context switch mechanism used when performing a context
\r
2751 switch from an ISR (both the tick ISR and the serial comms ISR's within
\r
2752 the demo application). The new mechanism is faster and uses less stack.
\r
2754 The assembler file portasm.asm has been replaced by a header file
\r
2755 portasm.h. This includes a few assembler macro definitions.
\r
2757 All saving and restoring of registers onto/off of the stack is now handled
\r
2758 by the compiler. This means the initial stack setup for a task has to
\r
2759 mimic the stack used by the compiler, which is different for debug and
\r
2762 Slightly changed the operation of the demo application, details below.
\r
2766 + portSWITCH_CONTEXT() replaced by vPortFirstContext().
\r
2767 + pxPortInitialiseStack() modified to replicate the stack used by the
\r
2769 + portasm.asm file removed.
\r
2770 + portasm.h introduced. This contains macro definitions for
\r
2771 portSWITCH_CONTEXT() and portFIRST_CONTEXT().
\r
2772 + Context switch from ISR now uses the compiler generated interrupt
\r
2773 mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving
\r
2774 the save/restore to compiler generated code.
\r
2775 + Calls to taskYIELD() during ISR's have been replaced by calling the
\r
2776 simpler and faster portSWITCH_CONTEXT().
\r
2777 + The Flashlite 186 port now uses 186 instruction set (used to use 80x86
\r
2778 instructions only).
\r
2779 + The blocking queue tasks within the demo application did not operate
\r
2780 quite as described. This has been corrected.
\r
2781 + The priority of the comtest Rx task within the demo application has been
\r
2782 lowered. Received characters are now processed (read from the queue) at
\r
2783 the idle priority, allowing low priority tasks to run evenly at times of
\r
2784 a high communications overhead.
\r
2785 + Prevent the call to kbhit() in main.c for debug builds as the debugger
\r
2786 seems to have problems stepping over the call. This if for the PC port
\r
begriffs.com / projects / freertos / blob