+ The MPU port is not supported in this revision number.
+ The documentation for the static allocation functions in the header files has not yet been updated for this revision.
Kernel updates:
+ Simplify the static allocation of objects implementation.
+ Introduce configSUPPORT_DYNAMIC_ALLOCATION in addition to the existing configSUPPORT_STATIC_ALLOCATION so FreeRTOS can be built without providing a heap at all.
Demo application updates:
+ Update the demos to take into account the new configSUPPORT_DYNAMIC_ALLOCATION constant.
+ Add an MSVC demo that only uses static allocation, and does not include a FreeRTOS heap.
+ Update the MSVC project to use both configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION.
+ Update the MingW project to use only configSUPPORT_DYNAMIC_ALLOCATION.
Fix build error when configSUPPORT_STATIC_ALLOCATION and configNUM_THREAD_LOCAL_STORAGE_POINTERS were greater than zero at the same time.
Allow the pdMS_TO_TICKS macro to be overridden by a definition in FreeRTOSConfig.h.
- Remove the standard demo files that used the [long since deprecated] alternative API.
- Add standard demo task that tests the new xTaskAbortDelay() function.
- Update the Win32 Visual Studio project to use Visual Studio 2015 Community Edition.
- Rename the xGenericListItem TCB member to xStateListItem as it better describes the member's purpose.
+ Added xTaskAbortDelay() function, which causes a task to exit the Blocked state even before the timeout has expired or the event the task is waiting for has occurred.
+ For efficiency and code size reasons on some architectures, replace many instances of "== pdTRUE" with "!= pdFALSE".
- Major refactor to consolidate the multiple places where a task is removed from a ready list and placed in a delay list into a single function, reducing code size, and enabling the easy addition of up-coming functionality.
- Replace the enum used for task notification states with a uint8_t to reduce the TCB struct size with some compilers, and allow additional members to be added without increasing its size.
- Rearrange FreeRTOS.h so all INCLUDE_ defaults are grouped together.
Add a member to the TaskStatus_t structure that is used to return the base address of the stack used by the task being queried.
Add xTaskGetTaskHandle() that allows the handle of a task to be looked up from the task's text name.
Continue to document the macros that allow RTOS objects to be created using statically allocated memory.
Introduced vApplicationDaemonTaskStartupHook(), which allows initialisation that that needs to be executed after the scheduler has been started to be executed from the RTOS daemon task.
Call prvResetNextTaskUnblockTime() in xTaskResumeAll() if a task is moved from the pending ready list - this can prevent an unnecessary wake from sleep mode if a task is unblocked by an interrupt while in a low power tickless state.
Move structures used for static allocation of tasks and queues into FreeRTOS.h from their individual API header files.
Add SAME70 Xplained Atmel Studio project.
Update SAMV71 Atmel Studio project to use Studio 7.
Revert some changes to GenQTest.c standard demo task which only function correctly when a queue registry was used.
Minor change to xQueueGenericReceive() to catch the extreme case of data being placed into a queue between a task timing out and leaving the xQueueGenericReceive() function.
Added xSemaphoreGetCount() macro.
Demo app changes:
Updated countsem.c to test the new xSemaphoreGetCount() macro.
+ Introduced xTaskCreateStatic() to allow tasks to be created without any dynamic memory allocation.
+ When a task notification is used to unblock a task from an ISR, but the xHigherPriorityTaskWoken parameter is not used, then pend a context switch to occur during the next tick interrupt.
Demo application changes:
+ Updated TaskNotify.c to test the case where a task is unblocked by an ISR, but does not use its xHigherPriorityTaskWoken parameter.
+ Updated the Win32 MSVC project to test statically allocated tasks being created and deleted.
+ Introduced StaticAllocation.c standard demo task.
+ Previously, if a task was deleted, the memory allocated to the task by the RTOS was freed in the Idle task. Now if a task deletes another task the memory is freed immediately. The idle task is however still responsible for freeing the memory when a task deletes itself.
+ Added pcQueueGetQueueName() function to return the name of a queue from its handle, assuming the queue is registers.
Demo application:
+ Update GenQTest to exercise the new pcQueueGetQueueName() function.
+ Delete workspaces from old Eclipse examples, leaving just the projects.
+ Rework comments in the MSVC simply blinky demo.
+ Support tickless idle when configUSE_PREEMPTION is 0 (previously tickless idle was only supported when the pre-emptive scheduler was being used).
+ If a stack was statically allocated, then don't try freeing it if the TCB cannot be allocated.
+ Remove use of INCLUDE_xEventGroupsSetBitsFromISR() pre-processor macro, as it was not tested anyway.
Demo app changes:
+ Updated SAM4L Atmel Studio project to use Atmel Studio 7.
Kernel source changes:
- Added xTaskNotifyStateClear() API function.
- Added the GCC Cortex-R port (existed for a while) into the main download.
- Improved the IAR RL78 port's handling of different memory model combinations.
- Removed some compiler warnings in heap_5.c.
Demo app changes:
- Added example use of xTaskNotifyStateClear() to the TaskNotify standard demo tasks.
Bug fix - issue introduced in V8.2.2 when the current timer list is empty and the overflow timer list is not empty.
Add PIC32MZ EF (floating point) support and update the MZ demo project to test the flop context switching.
Improve efficiency of the stack overflow checking.
Add CLI to RX71M demo.
General tidy up of new RZ and RX projects - including ensuring the UART driver copes with 0 length strings.
Add stack overflow checking to the [old] PIC24 demo.
FreeRTOS+Trace:
- Add trace macros for task notifications.
- Update to the latest trace recorder library.
Demo projects:
- Only include the CLI command to show run time states if configGENERATE_RUN_TIME_STATS is set to 1.
- Back out changes that allow mutexes to be given from a semaphore after tests showed issues that would not be fast to fix.
Demo projects:
- Update the Microblaze Kintex 7 project and BSP to use version 2015.2 of the Xilinx SDK.
Kernel changes:
- Remove an assert that was preventing xQueueSendFromISR() being used to give a mutex from an ISR (mutexes cannot be given using xSemaphoreGiveFromISR()).
- Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of xTaskNotifyAndQuery().
Common demo task changes:
- Update IntSemTest.c to prove the theory that it is safe to give a mutex type semaphore from an interrupt using xQueueSendFromISR() instead of xSemaphoreGiveFromISR().
- Update TaskNotify.c to test the new xTaskNotifyAndQuery() from ISR fuction.
+ The timer task now blocks indefinitely if there are no timers active, allowing eTaskConfirmSleepModeStatus to return eNoTasksWaitingTimeout when configUSE_TIMERS is set to 1.
+ The next unblock time is calculated automatically after a task unblocks when waiting for a notification, allowing deep sleep to be entered earlier.
Remove redundant global definition vPortInstallFreeRTOSVectorTable from the GCC ARM_CA9 portASM.S file.
Ensure correct sequence of start up sequence when the Windows port is used on multi-core Windows machines by starting one thread in the suspended state.
Move initialisation of xNextTaskUnblockTime to the function that starts the scheduler, rather than from where the variable is declared - this fixes a compiler warning in newer IAR compilers.
Fix "elif (SELECTED_PORT == PORT_MICROCHIP_PIC32MX || PORT_MICROCHIP_PIC32MZ)" in the FreeRTOS+Trace trcHardwarePort.h header file.
Exclude the entire croutine.c file when configUSE_CO_ROUTINES is 0.
New ports:
Added Cortex-M7 IAR and Keil port layers that include a minor errata workaround r0p1 Cortex-M7 devices.
Added Cortex-M4F port layer for CCS.
New demo applications:
Added demo application for STM32F7.
Added demo application for SAMv71.
+ Added mtCOVERAGE_TEST_DELAY() macro to facilitate getting better code coverage during testing.
+ Update prvNotifyQueueSetContainer() so it does not call xTaskRemoveFromEventList() if it is called from an interrupt, and the queue is locked.
Demo apps:
Added QueueSetPolling.c/h demo/test functions.
+ Added vTimerSetTimerID() to compliment vTimerGetTimerID(). Now the timer ID can be used as timer local storage.
+ Updated comments and added some additional assert() calls.
Win32 port:
+ Some changes to allow easier 64-bit builds
PIC24/dsPIC port:
+ Added NOP after disable interrupt instruction.
+ Made xTaskNotifyGiveFromISR() its own function, rather than a macro that calls xTaskNotifyFromISR() (minor performance improvement).
+ GCC and Keil Cortex-M4F ports now use vPortRaiseBASEPRI() in place of ulPortRaiseBASEPRI() where the return value is not required (minor performance improvement).
Demo changes:
Change the [very basic] FreeRTOS+UDP SAM4E driver to use task notifications rather than a semaphore (execution time now 55% what it was in FreeRTOS V8.1.2!).
Robustness improvements to IntQueue.c standard demo task.h.
Added the latest standard demo tasks, reg test tasks and int q tasks to the SAM4E demo.
+ Do not attempt to free the stack of a deleted task if the stack was statically allocated.
+ Introduce configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES - which optionally writes known values into the list and list item data structures in order to assist with the detection of memory corruptions.
Microblase port:
+Change occurrences of #if XPAR_MICROBLAZE_0_USE_FPU == 1 to #if XPAR_MICROBLAZE_0_USE_FPU != 0 as the value can also be 2 or 3.
Demo app modifications:
+ Update Zynq project to use the 2014.4 tools and add in tests for the new task notification feature.
+ Update SAM4S project to include tests for the new task notification feature.
+ Fix a few compiler warnings.
+ Add TickType_t specific critical sections so critical sections are not used when accessing the tick count in cases where the access is atomic (32-bit tick count, 32-bit architecture).
+ Optimise Cortex-M4F ports by inlining some critical section macros.
+ Original ports used a #define to set the path to portmacro.h - that method has been obsolete for years and now all the old definitions have been moved into a separate header files called deprecated_definitions.h.
+ Cortex-M port now check the active vector bits against 0xff when determining if a function is called from an interrupt - previously only a subset of the bits (0x1f) were checked.
+ Add in new standard demo/test files TaskNotify.c/h and include the files in the simulator demos.
+ Update trace recorder code, and some demos to use the new version (more to do).
+ Introduce uxTaskPriorityGetFromISR().
+ Minor typo corrections.
+ Update MingW simulator demo to match the MSVC simulator demo.
Richard Barry