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Documentation and download available at http://www.FreeRTOS.org/ Changes since FreeRTOS V9.0.0: + Ensure the Cortex-M SysTick count is cleared to zero before starting the first task. + Add configASSERT() into ARM Cortex-M ports to check the number of priority bit settings. + Clear the 'control' register before starting ARM Cortex-M4F ports in case the FPU is used before the scheduler is started. This just saves a few bytes on the main stack as it prevents space being left for a later save of FPU registers. + Added xSemaphoreGetMutexHolderFromISR(). + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: See http://www.FreeRTOS.org/FreeRTOS-V9.html RTOS kernel updates: + The prototype of the new xTaskCreateStatic() API function was modified to remove a parameter and improve compatibility with other new "CreateStatic()" API functions. The stack size parameter in xTaskCreateStatic() is now uint32_t, which changes the prototype of the callback functions. See the following URL: http://www.freertos.org/xTaskCreateStatic.html + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is automatically given a floating point (FPU) context. + GCC ARM Cortex-A port: It is now possible to automatically save and restore all floating point (FPU) registers on entry to each potentially nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of vApplicationIRQHandler(). + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task entry address placed onto the stack of a task when the task is created for strict compliance with the ARM Cortex-M3/4/7 architecture documentation (no noticeable effect unless using the QMEU emulator). + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only supported on ARM Cortex-M3. + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 API (other than static object creation) and added the FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to demonstrate how to use the updated MPU port. + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the default low power tickless implementation. + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the first task that executes. + Win32 ports: Reduce the amount of stack used and change the way Windows threads are deleted to increase the maximum execution time. + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the documentation page for this port before use. + MPS430X IAR port: Update to be compatible with the latest EW430 tools release. + IAR32 GCC port: Correct vPortExitCritical() when configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), xTaskGetTaskHandle() now has the alias xTaskGetHandle() and pcQueueGetQueueName() now has an alias pcQueueGetName(). + Fix various errors in comments and compiler warnings. Demo application updates: + Update Atmel Studio projects to use Atmel Studio 7. + Update Xilinx SDK projects to use the 2016.1 version of the SDK. + Remove dependency on legacy IO libraries from the PIC32 demos. + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. + Update the MSP432 libraries to the latest version. + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC compilers. + Move the Atmel SAMA5D2 demo into the main distribution. Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) released March 30 2016: NOTE - See http://www.FreeRTOS.org/FreeRTOS-V9.html for details + The functions that create RTOS objects using static memory allocation have been simplified and will not revert to using dynamic allocation if a buffer is passed into a function as NULL. + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to allow a FreeRTOS application to be built without a heap even being being defined. The Win32 example located in the /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as a reference for projects that do not include a FreeRTOS heap. + Minor run-time optimisations. + Two new low power tickless implementations that target Silicon Labs EFM32 microcontrollers. + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) released February 19 2016: RTOS Kernel Updates: + Major new feature - tasks, semaphores, queues, timers and event groups can now be created using statically allocated memory, so without any calls to pvPortMalloc(). + Major new features - Added the xTaskAbortDelay() API function which allows one task to force another task to immediately leave the Blocked state, even if the event the blocked task is waiting for has not occurred, or the blocked task's timeout has not expired. + Updates necessary to allow FreeRTOS to run on 64-bit architectures. + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS daemon task (which used to be called the timer service task) starts running. This is useful if the application includes initialisation code that would benefit from executing after the scheduler has been started. + Added the xTaskGetTaskHandle() API function, which obtains a task handle from the task's name. xTaskGetTaskHandle() uses multiple string compare operations, so it is recommended that it is called only once per task. The handle returned by xTaskGetTaskHandle() can then be stored locally for later re-use. + Added the pcQueueGetQueueName() API function, which obtains the name of a queue from the queue's handle. + Tickless idling (for low power applications) can now also be used when configUSE_PREEMPTION is 0. + If one task deletes another task, then the stack and TCB of the deleted task is now freed immediately. If a task deletes itself, then the stack and TCB of the deleted task are freed by the Idle task as before. + If a task notification is used to unblock a task from an ISR, but the xHigherPriorityTaskWoken parameter is not used, then pend a context switch that will then occur during the next tick interrupt. + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP settings, which previously was only used by heap_4.c. configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare the array that will be used as the FreeRTOS heap, and in-so-doing, place the heap at a specific memory location. + TaskStatus_t structures are used to obtain details of a task. TaskStatus_t now includes the bae address of the task's stack. + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t structure that contains information about a single task. Previously this information could only be obtained for all the tasks at once, as an array of TaskStatus_t structures. + Added the uxSemaphoreGetCount() API function. + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some Cortex-M3 port layers. Demo Application Updates: Further demo applications will be added prior to the final FreeRTOS V9 release. + Updated SAM4L Atmel Studio project to use Atmel Studio 7. + Added ARM Cortex-A53 64-bit port. + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx Ultrascale MPSoC. + Added Cortex-M7 SAME70 GCC demo. + Added EFM32 Giant and Wonder Gecko demos. Changes between V8.2.2 and V8.2.3 released October 16, 2015 RTOS kernel updates: + Fix bug identified in a modification made in V8.2.2 to the software timer code that allows tickless low power applications to sleep indefinitely when software timers are used. + Simplify and improve efficiency of stack overflow checking. + Add xTaskNotifyStateClear() API function. + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM generic interrupt controller (GIC). + New PIC32MEC14xx port. + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ port. + Zynq7000 port layer now declares the functions that setup and clear the tick interrupt as weak symbols so they can be overridden by the application, and uses a global XScuGic object so the same object can be used by the application code. + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is currently the only port that uses it. + Updates to RL78 and 78K0 IAR port layers to improve support for combinations of memory models. + Minor updates to heap_5.c to remove compiler warnings generated by some compilers. + License simplifications. See /FreeRTOS/License/license.txt in the official distribution. FreeRTOS+ updates: + Update directory names to use WolfSSL instead of CyaSSL, inline with WolfSSL's re-branding. + Update to latest WolfSSL code. + Update to latest FreeRTOS+Trace recorder code. + Add in the FreeRTOS+Trace recorder library required for streaming trace. Demo application changes: + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. + General tidy up of spelling and compiler warnings. Changes between V8.2.1 and V8.2.2 released August 12, 2015 RTOS kernel updates: + Added Intel IA32/x86 32-bit port. + General maintenance. + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory protected systems, have been added to the newer event group and software timer functions. + Add the errno definitions used by FreeRTOS+ components into projdefs.h. + Remove the restriction that prevented tick-less idle implementations waiting indefinitely when software timers were used in the same application. + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of xTaskNotifyAndQuery(). + Add additional NOPs to the MSP430X port layers to ensure strict compliance with the hardware documentation. + Microblaze port: Added option for port optimised task selection. + Microblaze port: Previously tasks inherited the exception enable state at the time the task was created. Now all tasks are created with exceptions enabled if the Microblaze design supports exceptions. + Windows port: Add additional safe guards to ensure the correct start up sequence and thread switching timing. + Windows port: Improve the implementation of the port optimised task selection assembly code. + Update heap_4 and heap_5 to allow use on 64-bit processors. + Simplify the code that creates a queue. + General improved tick-less idle behaviour. + Ensure none of the variables in the common kernel files are initialised to anything other than zero. + Correct calculation of xHeapStructSize in heap_4 and heap_5. Demo application updates: + Added demo project for the new IA32/x86 port that targets the Galileo hardware. + Added MSP430FR5969 demos (previously provided as a separate download). + Added FreeRTOS BSP repository for automatic creation of FreeRTOS applications in the Xilinx SDK. + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) + Update Xilinx SDK projects to use version 2015.2 of the SDK. + Remove Microblaze demos that were using obsolete tools. + Add MSP43FR5969 IAR and CCS demos. FreeRTOS+ Updates: + Updated FreeRTOS+Trace recorder library, which requires an update to the FreeRTOS+Trace application. + Added Reliance Edge source code and demo application. Reliance edge is a fail safe transactional file system ideal for applications that require file storage, and especially when high reliability is essential. + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI users to place the output buffer at a fixed memory address. + Improve the NetworkInterface.c file provided for the Windows port of FreeRTOS+UDP. Changes between V8.2.0 and V8.2.1 released 24th March 2015. RTOS kernel updates: + Added user definable and flexible thread local storage facility. + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() function to allow the timer's ID to be used as timer local storage. + Fixed a potential issue related to the use of queue sets from an ISR. + Some updates to the Xilinx Microblaze GCC port. + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a minor errata work around. All other ARM Cortex-M7 core revisions should use the ARM Cortex-M4F port. + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. + Change some data types from uint32_t to size_t in preparation for 64-bit Windows port. + Update the PIC32 port to remove deprecation warnings output by the latest XC32 compilers. Demo application updates: + Added demo application for TI's ARM Cortex-M4F based MSP432 microcontroller using IAR, Keil and CCS compilers. + Added demo application for STM32F ARM Cortex-M7 based microcontroller using IAR and Keil. + Added demo application for Atmel SAMV71 ARM Cortex-M7 based microcontroller using IAR and Keil. + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and runs on the KC705 evaluation board (Kintex FPGA). Changes between V8.1.2 and V8.2.0 released 16th January 2015 Changes between release candidate 1 and the official release are restricted to maintenance only. Significant RTOS kernel updates: + MAJOR NEW FEATURE! Task notifications. Please see the following URL for details: http://www.FreeRTOS.org/RTOS-task-notifications.html + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into a new header file called FreeRTOS/Source/include/deprecated_definitions.h. This header file must be present to build. Note some of the obsolete definitions are still used by very old demo application projects. Other RTOS kernel updates: + Made xSemaphoreGiveFromISR() a function rather than a macro that calls xQueueGenericSendFromISR(). This allows for major performance enhancements at the expense of some additional code size if both functions are used in the same application. NOTE: In most uses cases such use of a semaphore can now be replaced with a task notification which is smaller and faster still. + The TCB is now always allocated such that the task's stack grows away from the TCB (improves debugging of stack overflows as the overflow will not overwrite the task's name). + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance enhancements at the cost of a little additional code space). + Queues are now allocated with a single call to pvPortMalloc() which allocates both the queue structure and the queue storage area. + Introduced a new critical section macro for reading the tick count that defines away to nothing in cases where the width of the tick allows the tick count to be read atomically (performance benefits - especially when optimisation is on). + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the application writer to provide their own heap array - and in so doing control the location of the heap. + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will include known values in both list and list item structures. The values are intended to assist debugging. If the values get overwritten then it is likely application code has written over RAM used by the kernel. + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of the interrupt control register to detect taskENTER_CRITICAL() being called from an interrupt. This has been changed to test all 8 bits. + Introduced uxTaskPriorityGetFromISR(). + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 rather than equality to 1, and 2 and 3 are also valid values. + Cortex-A5 GIC-less port no longer passes the address of the interrupting peripheral into the interrupt handler. + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack belonging to a task when the task was deleted, even when the stack was allocated statically. + Utility (helper) functions that format task statistic information into human readable tables now pad task names with spaces to ensure columns line up correctly even where task name lengths vary greatly. + Update FreeRTOS+Trace recorder library to version 2.7.0. Demo application updates: + Added two new standard demo task sets: IntSemTest and TaskNotify. + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. + Added demo application for Altera Cyclone V Cortex-A9 MPU. + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in demo tasks for new RTOS features. + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test and demo tasks. + Fixed a corner case issue in Atmel SAM4L low power tickless implementation, and added button interrupt handling. + Make the interrupt queue tests more tolerant to heave CPU loads. + Updated MSVC FreeRTOS simulator demo to include the latest standard test and demo tasks. + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC simulator demo. + Updated all demos that use FreeRTOS+Trace to work with the latest trace recorder code. Changes between V8.1.1 and V8.1.2 released September 2nd 2014 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the individual port layers where necessary so it does not affect ports that do not support the definition. Changes between V8.1.0 and V8.1.1 released August 29th 2014 By popular requests - a minor patch to V8.1.0 to re-instate the ability to give a mutex type semaphore (with priority inheritance) from an interrupt handler. Changes between V8.0.1 and V8.1.0 released August 26th 2014 FreeRTOS scheduler, kernel, demo and test updates: + Improved the priority inheritance algorithms to assist integration with off the shelf middleware that may hold multiple mutexes simultaneously. + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to span multiple non-contiguous memory regions. + Updated all Cortex-A9 ports to help trap a couple of common usage errors - the first being when a task incorrectly attempts to exit its implementing function and the second being when a non interrupt safe API function is called from an interrupt. + Update all Cortex-A9 ports to remove obsolete mode switches prior to restoring a task context. + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. + Update all Cortex-M3/4F ports to trap a non interrupt safe API function being called from an interrupt handler. + Simplify the alignment checks in heap_4.c. + Update the MSVC Windows simulator demo to use heap_5.c in place of heap_4.c to ensure end users have an example to refer to. + Updated standard demo test code to test the new priority inheritance algorithms. + Updated the standard demo tasks to make use of stdint and the FreeRTOS specific typedefs that were introduced in FreeRTOS V8.0.0. + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive alternative to pdTICKS_PER_MS - both of which can be used to convert a time specified in milliseconds to a time specified in RTOS ticks. + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an incorrect value being written to the basepri register. This only effects users of the Tasking compiler. + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP example that demonstrates lwIP being used with both its raw and sockets interfaces. + Updated the CCS Cortex-R4 port to enable it to be built with the latest CCS compiler. New ports and demo applications: + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC compiler and one for the Renesas compiler. Both demos use e2 studio. + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. The new port is demonstrated on an Atmel SAMA5D3 XPlained board. FreeRTOS+ component updates: + Update CyaSSL to the latest version. + Updated the FreeRTOS+ components supplied directly by Real Time Engineers Ltd. to make use of stdint and the FreeRTOS specific typedefs that were introduced in FreeRTOS V8.0.0. + Rework and simplify the FreeRTOS+FAT SL RAM disk driver. Miscellaneous updates and maintenance: + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK hardware in place of the previously targeted Renesas internal (not publicly available) hardware. + Various other maintenance tasks. Changes between V8.0.0 and V8.0.1 released 2nd May 2014 + Minor fixes to the event group functionality that was released in V8.0.0. The 'clear bits from ISR' functionality is now implemented using a deferred interrupt callback instead of a function, and the 'wait bits' and 'task sync' functions now correctly clear internal control bits before returning a value in every possible path through the respective functions. + Ensure the updating of internal control data is protected by a critical section after a task is deleted or suspended. + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file when the offset was not a multiple of the sector size. + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, even when only the lest significant byte of the register is implemented. Other updates: + Updated the XMC4200 IAR project so it links with version 7.x of the IAR tools. + Add RL78L1C demo. + Add pcTimerGetName() API function. + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT is defined. Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 http://www.freertos.org/upgrading-to-FreeRTOS-V8.html FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, although a change to the type used to reference character strings may result in application code generating a few (easily clearable) compiler warnings after the upgrade, and an updated typedef naming convention means use of the old typedef names is now discouraged. See http://www.freertos.org/upgrading-to-FreeRTOS-V8.html for full information. New features and functionality: + Event groups - see http://www.freertos.org/FreeRTOS-Event-Groups.html + Centralised deferred interrupt processing - see http://www.freertos.org/xTimerPendFunctionCallFromISR.html Other updates: + Previously, when a task left the Blocked state, a context switch was performed if the priority of the unblocked task was greater than or equal to the priority of the Running task. Now a context switch is only performed if the priority of the unblocked task is greater than the priority of the Running task. + New low power tickless demonstration project that targets the ST STM32L microcontroller - see http://www.freertos.org/STM32L-discovery-low-power-tickless-RTOS-demo.html + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. + Small change to the tickless low power implementation on the SAM4L to ensure the alarm value (compare match value) cannot be set to zero when a tickless period is exited due to an interrupt originating from a source other than the RTOS tick. + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse resource filters and match the functionality of the MSVC equivalent. + xTaskIsTaskSuspended() is no longer a public function. Use eTaskGetState() in its place. + Improved trace macros, including tracing of heap usage. + Remove one level of indirection when accepting interrupts on the PIC32MZ. + Add Cortex-A9 GCC port layer. + Add Xilinx Zynq demo application. Changes between V7.5.3 and V7.6.0 released 18th November 2013 V7.6.0 changes some behaviour when the co-operative scheduler is used (when configUSE_PREEMPTION is set to 0). It is important to note that the behaviour of the pre-emptive scheduler is unchanged - the following description only applies when configUSE_PREEMPTION is set to 0: WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of cases) a context switch will now only occur when a task places itself into the Blocked state, or explicitly calls taskYIELD(). This differs from previous versions, where a context switch would also occur when implicitly moving a higher priority task out of the Blocked state. For example, previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by writing to a queue, then the scheduler would switch to the higher priority task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by writing to a queue, task B will not start running until task A enters the Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not set to 0, so the normal pre-emptive scheduler is being used, then task B will start running immediately that it is moved out of the Blocked state]. Other changes: + Added a port layer and a demo project for the new PIC32MZ architecture. + Update the PIC32MX port layer to re-introduce some ehb instructions that were previously removed, add the ability to catch interrupt stack overflows (previously only task stack overflows were trapped), and also add the ability to catch an application task incorrectly attempting to return from its implementing function. + Make dramatic improvements to the performance of the Win32 simulator port layer. + Ensure tasks that are blocked indefinitely report their state as Blocked instead of Suspended. + Slight improvement to the Cortex-M4F port layers where previously one register was inadvertently being saved twice. + Introduce the xSemaphoreCreateBinary() API function to ensure consistency in the semantics of how each semaphore type is created. It is no longer recommended to use vSemaphoreCreateBinary() (the version prefixed with a 'v'), although it will remain in the code for backward compatibility. + Update the Cortex-M0 port layers to allow the scheduler to be started without using the SVC handler. + Added a build configuration to the PIC32MX MPLAB X demo project that targets the PIC32 USB II starter kit. Previously all the build configurations required the Explorer 16 hardware. + Some of the standard demo tasks have been updated to ensure they execute correctly with the updated co-operative scheduling behaviour. + Added comprehensive demo for the Atmel SAM4E, including use of FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. FreeRTOS+ Changes: + Minor maintenance on FreeRTOS+UDP. Changes between V7.5.2 and V7.5.3 released October 14 2013 Kernel changes: + Prior to V7.5.x yields requested from the tick hook would occur in the same tick interrupt - revert to that original behaviour. + New API function uxQueueSpacesAvailable(). + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that attempt to return from their implementing functions (tasks should call vTaskDelete( NULL ); if they want to exit). + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. + Improved behaviour and robustness of the default Cortex-M tickless idle behaviour. + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to all Cortex-M4F ports. + Add Cortex-M0 port for Keil. + Updated Cortus port. + Ensure _impure_ptr is initialised before the scheduler is started. Previously it was not set until the first context switch. FreeRTOS+ changes: + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction to the test that prevents the network event hook being called on the first network down event. The FreeRTOS+UDP change history is maintained separately. + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files provided in the NXP CMSIS library, then update the interrupts used by the LPC18xx demos accordingly. + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help strings to ensure the strings can be used with the JSON descriptions used in the FreeRTOS+Nabto demos. Demo and miscellaneous changes: + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes FreeRTOS+CLI + Added a demo for the Infineon Cortex-M0 that can be built with the IAR Keil and GCC tools. + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, with additional build configurations to directly support the XMC4200 and XMC4400 devices, in addition to the previously supported XMC4500. + Updated the demo application. + Added additional trace macros traceMALLOC and traceFREE to track heap usage. Changes between V7.5.0 and V7.5.2 released July 24 2013 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function compatible with the STM32 standard peripheral driver library, and adds an extra critical section to the default low power tickless mode implementation. Only users of the STM32 peripheral library or the default tickless implementation need update from version 7.5.0. Changes between V7.4.2 and V7.5.0 released July 19 2013 V7.5.0 is a major upgrade that includes multiple scheduling and efficiency improvements, and some new API functions. Compatibility information for FreeRTOS users: FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one exception; the vTaskList() and vTaskGetRunTimeStats() functions are now considered legacy, having been replaced by the single uxTaskGetSystemState() function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be available. Compatibility information for FreeRTOS port writers: vTaskIncrementTick() is now called xTaskIncrementTick() (because it now returns a value). Headline changes: + Multiple scheduling and efficiency improvements. + Core kernel files now pass PC-Lint V8 static checking without outputting any warnings (information on the test conditions will follow). New API functions: + uxTaskGetSystemState() http://www.freertos.org/uxTaskGetSystemState.html + xQueueOverwrite() http://www.freertos.org/xQueueOverwrite.html + xQueueOverwriteFromISR() + xQueuePeekFromISR() The following ports and demos, which were previously available separately, are now incorporated into the main FreeRTOS zip file download: + ARM Cortex-A9 IAR + ARM Cortex-A9 ARM compiler + Renesas RZ + Microsemi SmartFusion2 New FreeRTOSConfig.h settings http://shop.freertos.org/FreeRTOS_API_and_Configuration_Reference_s/1822.htm + configUSE_TIME_SLICING + configUSE_NEWLIB_REENTRANT + configUSE_STATS_FORMATTING_FUNCTIONS + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS Other changes: + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS options provides a mechanism that allows application writers to execute certain functions in privileged mode even when a task is running in user mode. + Ports that support interrupt nesting now include a configASSERT() that will trigger if an interrupt safe FreeRTOS function is called from an interrupt that has a priority designated as above the maximum system/API call interrupt priority. + The included FreeRTOS+Trace recorder code has been updated to the latest version, and the demo applications that use the trace recorder code have been updated accordingly. + The FreeRTOS Windows Simulator (MSVC version only) has been updated to include a new basic 'blinky' build option in addition to the original comprehensive build option. + Improve RAM usage efficiency of heap_4.c and heap_2.c. + Prevent heap_4.c from attempting to free memory blocks that were not allocated by heap_4.c, or have already been freed. + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs files have been removed from FreeRTOS/Demo/Common. + Fix build error when R4 port is build in co-operative mode. + Multiple port and demo application maintenance activities. Changes between V7.4.1 and V7.4.2 released May 1 2013 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 + Added FreeRTOS+FAT SL source code and demo project. The demo project runs in the FreeRTOS Windows simulator for easy and hardware independent experimentation and evaluation. See http://www.FreeRTOS.org/fat_sl Changes between V7.4.0 and V7.4.1 released April 18 2013 + To ensure strict conformance with the spec and ensure compatibility with future chips data and instruction barrier instructions have been added to the yield macros of Cortex-M and Cortex-R port layers. For efficiency the Cortex-M port layer "yield" and "yield" from ISR are now implemented separately as the barrier instructions are not required in the ISR case. + Added FreeRTOS+UDP into main download. + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS directory with Source and Demo subdirectories. + Implemented the Berkeley sockets select() function in FreeRTOS+UDP. + Changed (unsigned) casting in calls to standard library functions with (size_t) casting. + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the tickless (tick suppression) low power FreeRTOS features. + Add a new RL78 IAR demo that targets numerous new RL78 chips and evaluation boards. + Adjusted stack alignment on RX200 ports to ensure an assert was not falsely triggered when configASSERT() is defined. + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest version of EWARM. + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). Changes between V7.3.0 and V7.4.0 released February 20 2013 + New feature: Queue sets. See: http://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html + Overhauled the default tickless idle mode implementation provided with the ARM Cortex-M3 port layers. + Enhanced tickless support in the core kernel code with the introduction of the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the eTaskConfirmSleepModeStatus() function. + Added the QueueSet.c common demo/test file. Several demo applications have been updated to use the new demo/test tasks. + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and demo applications. + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a pre-processor macro for backward compatibility with the previous name. + Updated functions implemented in the core queue.c source file to allow queue.h to be included from the .c file directly (this prevents compiler warnings that were generated by some compilers). + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function with the CLZ compiler intrinsic that is provided by the latest versions of the CCS ARM compiler. + Updated all heap_x.c implementations to replace the structure that was used to ensure the start of the heap was aligned with a more portable direct C code implementation. + Added support for PIC24 devices that include EDS. + Minor optimisations to the PIC32 port layer. + Minor changes to tasks.c that allow the state viewer plug-ins to display additional information. + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an issue that could occur if the priority of the timer daemon task was set below the priority of tasks that used timer services. + Update the FreeRTOS+Trace recorder code to the latest version. Changes between V7.2.0 and V7.3.0 released October 31 2012 + Added ability to override the default scheduler task selection mechanism with implementations that make use of architecture specific instructions. + Added ability to suppress tick interrupts during idle time, and in so doing, provide the ability to make use of architecture specific low power functionality. + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper function. + Added the configSYSTICK_CLOCK_HZ configuration constant. + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to directly support basic power saving functionality. + Added hooks to allow basic power saving to be augmented in the application by making use of chip specific functionality. + Minor change to allow mutex type semaphores to be used from interrupts (which would not be a normal usage model for a mutex). + Change the behaviour of the interrupt safe interrupt mask save and restore macros in the Cortex-M ports. The save macro now returns the previous mask value. The restore macro now uses the previous mask value. These changes are not necessary for the kernel's own implementation, and are made purely because the macros were being used by application writers. + Added eTaskStateGet() API function. + Added port specific optimisations to the PIC32 port layer, and updated the PIC32 demo applications to make use of this new feature. + Added port specific optimisations to the Win32 simulator port. + Added new ports and demo applications for the TI Hercules RM48 and TMS570 safety microcontrollers. + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation boards. + Updated the PIC32 MPLAB X project to manually set the compiler include paths instead of using the IDE entry box following reports that the include paths were somehow being deleted. + Improved character handling in FreeRTOS+CLI. Changes between V7.1.1 and V7.2.0 released 14 August 2012 FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ source code, and example projects that use the FreeRTOS Win32 simulator. + Added a new example heap allocation implementation (heap_4.c) that includes memory block coalescence. + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. The demo is preconfigured to build using the free Atmel Studio 6 IDE and GCC compiler. + Added xSemaphoreTakeFromISR() implementation. + The last parameter in ISR safe FreeRTOS queue and semaphore functions (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it is not required. + Update the IAR and MSP430X ports to clear all lower power mode bits before exiting the tick interrupt [bug fix]. + Allow xQueueReset() to be used, even when the queues event lists are not empty. + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was previously missing). + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to ensure it compiles with the latest ARM GCC compilers from Linaro. + Updated the prvReadGP() function in the NIOS II port to ensure the compiler can choose any register for the functions parameter (required at high compiler optimisation levels). + Add #error macros into the Keil and IAR Cortex-M ports to ensure they cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY to 0. + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY parameter must not be set to 0. + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant (defaulted to 0). + Added two new list handling macros - for internal use only in upcoming new products. + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace macros. FreeRTOS+Trace supersedes the legacy trace. + Added a configASSERT() into the vPortFree() function in heap_1.c as it is invalid for the function to be called. + Made the xRxLock and xTxLock members of the queue structure volatile. This is probably not necessary, and is included as a precautionary measure. + Modify the assert() that checks to see if the priority passed into an xTaskCreate() function is within valid bounds to permit the assert to be used in the FreeRTOS MPU port. + The software timer service (daemon) task is now created in a way that to ensure compatibility with FreeRTOS MPU. Changes between V7.1.0 and V7.1.1 released May 1 2012 New ports: The following ports are brand new: + Cortex-M3 Tasking The following ports have been available as separate downloads for a number of months, but are now included in the main FreeRTOS download. + Cortex-M0 IAR + Cortex-M0 GCC + Cortex-M4F GCC (with full floating point support) New demos: The following demos are brand new: + Renesas RX63N RDK (Renesas compiler) The following demos have been available as separate downloads for a number of months, but are now included in the main FreeRTOS download. + NXP LPC1114 GCC/LPCXpresso + ST STM32F0518 IAR + Infineon XMC4500 GCC/Atollic + Infineon XMC4500 IAR + Infineon XMC4500 Keil + Infineon XMC4500 Tasking Kernel miscellaneous / maintenance: + Introduced the portSETUP_TCB() macro to remove the requirement for the Windows simulator to use the traceTASK_CREATE() macro, leaving the trace macro available for use by FreeRTOS+Trace (http://www.FreeRTOS.org/trace). + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future FreeRTOS+Trace versions to provide even more information to users. + Updated the FreeRTOS MPU port to be correct for changes that were introduced in FreeRTOS V7.1.0. + Introduced the xQueueReset() API function. + Introduced the xSemaphoreGetMutexHolder() API function. + Tidy up various port implementations to add the static key word where appropriate, and remove obsolete code. + Slight change to the initial stack frame given to the RX600 ports to allow them to be used in the Eclipse based E2Studio IDE without confusing GDB. + Correct the alignment given to the initial stack of Cortex-M4F tasks. + Added a NOP following each DINT instruction on MSP430 devices for strict conformance with the instructions on using DINT. + Changed the implementation of thread deletes in the Win32 port to prevent the port making use of the traceTASK_DELETE() trace macros - leaving this macro free for use by FreeRTOS+Trace. + Made some benign changes to the RX600 Renesas compiler port layer to ensure the code can be built to a library without essential code being removed by the linker. + Reverted the change in the name of the uxTaskNumber variable made in V7.1.0 as it broke the IAR plug-in. Demo miscellaneous / maintenance: + The command interpreter has now been formally released as FreeRTOS+CLI, and been moved out of the main FreeRTOS download, to instead be available from the FreeRTOS+ Ecosystem site http://www.FreeRTOS.org/plus. + flash_timer.c/h has been added to the list of standard demo tasks. This performs the same functionality as the flash.c tasks, but using software timers in place of tasks. + Upgraded the PIC32 demo as follows: Changes to how the library functions are called necessitated by the new compiler version, addition of MPLAB X project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, addition of simply blinky demo, updated FreeRTOSConfig.h to include more parameters, addition of hook function stubs. + The MSP430X IAR and CCS demos have been updated to ensure the power settings are correct for the configured CPU frequency. + Rowley CrossWorks projects have been updated to correct the "multiple definition of ..." warnings introduced when the toolchain was updated. + Updated various FreeRTOSConfig.h header files associated with projects that build with Eclipse to include a #error statement informing the user that the CreateProjectDirectoryStructure.bat batch file needs to be executed before the projects can be opened. + Renamed directories that included "CCS4" in their name to remove the '4' and instead just be "CCS". This is because the demo was updated and tested to also work with later Code Composer Studio versions. + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be 50ms instead of 500ms. Changes between V7.0.2 and V7.1.0 released December 13 2011 New ports: + Cortex-M4F IAR port. + Cortex-M4F Keil/RVDS port. + TriCore GCC port. New demos: + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development board. + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on the IAR STM32F407ZG-SK starter kit. + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the TriBoard TC1782 evaluation board. + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an RX630 RSK (Renesas Starter Kit). Miscellaneous / maintenance: + Removed all calls to printf() from the K60/IAR Kinetis demo so the project can execute stand alone - without being connected to the debugger. + Completed the command interpreter framework. Command handlers now receive the entire command string, giving them direct access to parameters. Utility functions are provided to check the number of parameters, and return parameter sub-strings. + The previously documented fix for the bug in xTaskResumeFromISR() that effected (only) ports supporting interrupt nesting has now been incorporated into the main release. + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow specific ports to skip the second stack alignment check when a task is created. This is because the second check is not appropriate for some ports - including the new TriCore port where the checked pointer does not actually point to a stack. + The portCLEAN_UP_TCB() macro has been added to allow port specific clean up when a task is deleted - again this is required by the TriCore port. + Various other minor changes to ensure warning free builds on a growing number of microcontroller and toolchain platforms. This includes a (benign) correction to the prototype of the vApplicationStackOverflowHook() definition found in lots of recent demos. Trace system: + The legacy trace mechanism has been completely removed - it has been obsolete for the years since the trace macros were introduced. The configuration constant configUSE_TRACE_FACILITY is now used to optionally include additional queue and task information. The additional information is intended to make the trace mechanism more generic, and allow the trace output to provide more information. When configUSE_TRACE_FACILITY is set to 1: - the queue structure includes an additional member to hold the queue type, which can be base, mutex, counting semaphore, binary semaphore or recursive mutex. - the queue structure includes an additional member to hold a queue number. A trace tool can set and query the queue number for its own purposes. The kernel does not use the queue number itself. - the TCB structure includes an additional member to hold a task number number. A trace tool can set and query the task number for its own purposes. The kernel does not use the task number itself. + Queues and all types of semaphores are now automatically allocated their type as they are created. + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and traskTASK_PRIORITY_DISINHERIT(). + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that indicates the type of queue, mutex, or semaphore that failed to be created. + The position from which traceCREATE_MUTEX() is called has been moved from after the call to xQueueGenericSend() [within the same function] to before the call. This ensures the trace events occur in the correct order. + The value passed into tracePRIORITY_SET() has been corrected for the case where vTaskPrioritySet() is called with a null parameter. Changes between V7.0.1 and V7.0.2 released September 20 2011 New ports: + The official FreeRTOS Renesas RX200 port and demo application have been incorporated into the main FreeRTOS zip file download. + The official FreeRTOS Renesas RL78 port and demo application have been incorporated into the main FreeRTOS zip file download. + The official FreeRTOS Freescale Kinetis K60 tower demo application has been incorporated into the main FreeRTOS zip file download. This includes an embedded web server example. + A new Microblaze V8 port layer has been created to replace the older, now deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, including exceptions, caches, and the floating point unit. A new Microblaze demo has also been added to demonstrate the new Microblaze V8 port layer. The demo application was created using V13.1 of the Xilinx EDK, and includes a basic embedded web server that uses lwIP V1.4.0. + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been incorporated into the main FreeRTOS zip file download. Projects are provided for both the IAR and Keil toolchains. API additions: + xTaskGetIdleTaskHandle() has been added. + xTaskGetTimerDaemonTaskHandle() has been added. + pcTaskGetTaskName() has been added. + vSemaphoreDelete() macro has been added to make it obvious how to delete a semaphore. In previous versions vQueueDelete() had to be used. + vTaskCleanUpResources() has been removed. It has been obsolete for a while. + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings being generated when the size of a pointer does not match the size of the stack type. This will (has already) be used in new ports, but will not be retrofitted to existing ports until the existing port itself is updated. Other updates and news: + The core files have all been modified to tighten the coding standard even further. These are style, not functional changes. + All ARM7 port layers have been slightly modified to prevent erroneous assert() failures when tasks are created and configASSERT() is defined. + All ARM IAR projects have been updated to build with the latest V6.2.x versions of the IAR Embedded Workbench for ARM tools (EWARM). This was necessary due to a change in the way EWARM uses the CMSIS libraries. + The PIC32 port layer has been updated in preparation for V2 of the C32 compiler. + The old Virtex-4 Microblaze demo has been marked as deprecated. Please use the brand new Spartan-6 port and demo in its place. + The bones of a new generic command interpreter is located in FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in progress, and not documented. It is however already in use. It will be documented in full when the projects that are already using it are completed. + A couple of new standard demos have been included. First, a version of flop.c called sp_flop.c. This is similar to flop.c, but uses single precision floats in place of double precision doubles. This allows the for testing ports to processors that have only single precision floating point units, and revert to using emulated calculations whenever a double is used. Second, comtest_strings.c has been included to allow the test of UART drivers when an entire string is transmitted at once. The previous comtest.c only used single character transmission and reception. + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and used by a couple of new demos. Changes between V7.0.0 and V7.0.1 released May 13 2011 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool chains. + Added a SmartFusion demo application for all of the IAR, Keil and SoftConsole (GCC/Eclipse) tool chains. + Updated the RX600 port and demo applications to take into account the different semantics required when using the latest (V1.0.2.0) version of the Renesas compiler. + Modified the RX600 Ethernet driver slightly to make it more robust under heavy load, and updated the uIP handling task to make use of the FreeRTOS software timers. + Slightly changed the PIC32 port layer to move an ehb instruction in line with the recommendations of the MIPS core manual, and ensure 8 byte stack alignment is truly always obtained. + Changed the behaviour when tasks are suspended before the scheduler has been started. Before, there needed to be at least one task that was not in the suspended state. This is no longer the case. Changes between V6.1.1 and V7.0.0 released April 8 2011 FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x Main changes: + Introduced a new software timer implementation. + Introduced a new common demo application file to exercise the new timer implementation. + Updated the Win32/MSVC simulator project to include the new software timer demo tasks and software timer tick hook test. Much simpler software timer demonstrations are included in the demo projects for both of the new ports (MSP430X with CCS4 and STM32 with TrueStudio). + Various enhancements to the kernel implementation in tasks.c. These are transparent to users and do not effect the pre-existing API. + Added calls to configASSERT() within the kernel code. configASSERT() is functionally equivalent to the standard C assert() macro, but does not rely on the compiler providing assert.h. Other changes: + Updated the MSP430X IAR port and demo project to include support for the medium memory model. + Added a demo project for the MSP430X that targets the MSP430X Discovery board and uses the Code Composer Studio 4 tools. This demo includes use of the new software timer implementation. + Added an STM32F100RB demo project that targets the STM32 Discovery Board and uses the TrueStudio Eclipse based IDE from Atollic. + Removed some compiler warnings from the PSoC demo application. + Updated the PIC32 port layer to ensure the configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter what its value is (within the valid range set by the microcontroller kernel). + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest MPLAB compiler versions from Microchip. + Various cosmetic changes to prepare for a standards compliance statement that will be published after the software release. Changes between V6.1.0 and V6.1.1 released January 14 2011 + Added two new Windows simulator ports. One uses the free Microsoft Visual Studio 2010 express edition, and the other the free MingW/Eclipse environment. Demo projects are provided for both. + Added three demo projects for the PSoC 5 (CYAC5588). These are for the GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. + Added a demo for the low power STM32L152 microcontroller using the IAR Embedded Workbench. + Added a new port for the MSP430X core using the IAR Embedded Workbench. + Updated all the RX62N demo projects that target the Renesas Demonstration Kit (RDK) to take into account the revered LED wiring on later hardware revisions, and the new J-Link debug interface DLL. + Updated all the RX62N demo projects so the IO page served by the example embedded web server works with all web browsers. + Updated the Red Suite projects to work with the up coming Red Suite release, and to use a more recent version of the CMSIS libraries. + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() trace macro. + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for more flexibility in how the time base for the run time statistics feature can be implemented. + Added a "cpsie i" instruction before the "svc 0" instruction used to start the scheduler in each of the Cortex M3 ports. This is to ensure that interrupts are globally enabled prior to the "svc 0" instruction being executed in cases where interrupts are left disabled by the C start up code. + Slight optimisation in the run time stats calculation. Changes between V6.0.5 and V6.1.0 released October 6 2010 + Added xTaskGetTickCountFromISR() function. + Modified vTaskSuspend() to allow tasks that have just been created to be immediately suspended even when the kernel has not been started. This allows them to effectively start in the Suspended state - a feature that has been asked for on numerous occasions to assist with initialisation procedures. + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. + Added a STM32F103 demo application that uses the Rowley tools. + Under specific conditions xFreeBytesRemaining within heap_2.c could end up with an incorrect value. This has been fixed. + xTaskCreateGeneric() has a parameter that can be used to pass the handle of the task just created out to the calling task. The assignment to this parameter has been moved to ensure it is assigned prior to the newly created having any possibility of executing. This takes into account the case where the assignment is made to a global variable that is accessed by the newly created task. + Fixed some build time compiler warnings in various FreeTCPIP (based on uIP) files. + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. Changes between V6.0.4 and V6.0.5 released May 17 2010 + Added port and demo application for the Cortus APS3 processor. Changes between V6.0.3 and V6.0.4 released March 14 2010 + All the contributed files that were located in the Demo/Unsupported_Demos directory have been removed. These files are instead now available in the new Community Contributions section of the FreeRTOS website. See http://www.freertos.org/RTOS-contributed-ports.html + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory has been upgraded to use V2.x of the Rowley Crossworks STM32 support package. + An initial Energy Micro EFM32 demo has been included. This will be updated over the coming months to make better use of the low power modes the EFM32 provides. Changes between V6.0.2 and V6.0.3 released February 26 2010 + SuperH SH7216 (SH2A-FPU) port and demo application added. + Slight modification made to the default implementation of pvPortMallocAligned() and vPortFreeAligned() macros so by default they just call pvPortMalloc() and vPortFree(). The macros are only needed to be defined when a memory protection unit (MPU) is being used - and then only depending on other configuration settings. Changes between V6.0.1 and V6.0.2 released January 9th 2010 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. Previously the parameter was blank and therefore only an implicit 0 but newer GCC releases do not permit this. + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. + Updated prvListTaskWithinSingleList() is it works on processors where the stack grows up from low memory. + Corrected some comments. + Updated the startup file for the RVDS LPC21xx demo. Changes between V6.0.0 and V6.0.1 released November 15th 2009 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the stack pointer is where the compiler expects it to be when a task first starts executing. The following minor changes only effect the Cortex-M3 MPU port: + portRESET_PRIVILEGE() assembly macro updated to include a clobber list. + Added prototypes for all the privileged function wrappers to ensure no compile time warnings are generated no matter what the warning level setting. + Corrected the name of portSVC_prvRaisePrivilege to portSVC_RAISE_PRIVILEGE. + Added conditional compilation into xTaskGenericCreate() to prevent some compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. Changes between V5.4.2 and V6.0.0 released October 16th 2009 FreeRTOS V6 is backward compatible with FreeRTOS V5.x. Main changes: + FreeRTOS V6 is the first version to include memory protection unit (MPU) support. Two ports now exist for the Cortex M3, the standard FreeRTOS which does not include MPU support, and FreeRTOS-MPU which does. + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added in support of FreeRTOS-MPU. + Wording for the GPL exception has been (hopefully) clarified. Also the license.txt file included in the download has been fixed (the previous version contained some corruption). Other changes: + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. + ARM7 GCC demo interrupt service routines wrappers have been modified to call the C portion using an __asm statement. This prevents the function call being inlined at higher optimisation levels. + ARM7 ports now automatically set the THUMB bit if necessary when setting up the initial stack of a task - removing the need for THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode tasks to be mixed more easily. + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. + Various demo application project files have been updated to be up to date with the latest IDE versions. + The linker scripts used with command line GCC demos have been updated to include an eh_frame section to allow their use with the latest Yagarto release. Likewise the demo makefiles have been updated to include command line options to reduce or eliminate the eh_frame section all together. + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the various memory allocation files and into the common portable.h header file. + Removed unnecessary use of portLONG, portSHORT and portCHAR. + Added LM3Sxxxx demo for Rowley CrossWorks. + Posix simulator has been upgraded - see the corresponding WEB page on the FreeRTOS.org site. Changes between V5.4.1 and V5.4.2 released August 9th 2009 + Added a new port and demo app for the Altera Nios2 soft core. + Added LPC1768 demo for IAR. + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). + Changed clock frequency of LPC1768 demos to 99MHz. Changes between V5.4.0 and V5.4.1 released July 25th 2009 + New hook function added. vApplicationMallocFailedHook() is (optionally) called if pvPortMalloc() returns NULL. + Additional casting added to xTaskCheckForTimeOut(). This prevents problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a 32 bit architecture (which would probably be a mistake, anyway). + Corrected the parameter passed to NVIC_SetPriority() to set the MAC interrupt priority in both LPC1768 demos. + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 demo application to ensure the heap space was not completely consumed before the scheduler was started. Changes between V5.3.1 and V5.4.0 released July 13th 2009 + Added Virtex5 / PPC440 port and demos. + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The original demo was configured to use engineering samples of the CPU. The new demo has an improved Ethernet driver. + Added LPC1768 Rowley demo with zero copy Ethernet driver. + Reworked byte alignment code to ensure 8 byte alignment works correctly. + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. + Changed the initial stack setup for the PPC405 to ensure the small data area pointers are setup correctly. Changes between V5.3.0 and V5.3.1 released June 21st 2009 + Added ColdFire V1 MCF51CN128 port and WEB server demo. + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. + Changed the Cortex M3 port.c asm statements to __asm so it can be compiled using Rowley CrossWorks V2 in its default configuration. + Updated the Posix/Linux simulator contributed port. Changes between V5.2.0 and V5.3.0 released June 1st 2009 Main changes: + Added new (optional) feature that gathers statistics on the amount of CPU time used by each task. + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based microcontroller. + Added a new demo application for the NXP LPC1766 Cortex-M3 based microcontroller. + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a Linux environment. Minor changes: + Updated the Stellaris uIP WEB server demos to include the new run time statistics gathering feature - and include a served WEB page that presents the information in a tabular format. + Adde
Source: README.txt, updated 2016-12-03

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