A FreeRTOS Library for all Arduino ATmega Devices (Uno R3, Leonardo, Mega, etc).
+ Re-enable stack and heap error functions.
+ Add ARMv7-R port with Memory Protection Unit (MPU) support.
+ Add Memory Protection Unit (MPU) support to the Cortex-M0 port.
+ Add stream batching buffer. A stream batching buffer differs from a stream
buffer when a task reads from a non-empty buffer:
- The task reading from a non-empty stream buffer returns immediately
regardless of the amount of data in the buffer.
- The task reading from a non-empty steam batching buffer blocks until the
amount of data in the buffer exceeds the trigger level or the block time
expires.
We thank @cperkulator for their contribution.
+ Add the ability to change task notification index for stream buffers. We
thank @glemco for their contribution.
+ Add xStreamBufferResetFromISR and xMessageBufferResetFromISR APIs to reset
stream buffer and message buffer from an Interrupt Service Routine (ISR).
We thank @HagaiMoshe for their contribution.
+ Update all the FreeRTOS APIs to use configSTACK_DEPTH_TYPE for stack type.
We thank @feilipu for their contribution.
+ Update vTaskEndScheduler to delete the timer and idle tasks,
once the scheduler is stopped.
+ Make xTaskGetCurrentTaskHandleForCore() available to the single core
scheduler. We thank @Dazza0 for their contribution.
+ Update uxTaskGetSystemState to not use the pxIndex member of the List_t
structure while iterating ready tasks list. The reason is that pxIndex
member must only used to select next ready task to run. We thank
@gemarcano for their inputs.
+ Add a config option to the FreeRTOS SMP Kernel to set the default core
affinity mask for tasks created without an affinity mask. We thank @go2sh
for their contribution.
+ Add configUSE_EVENT_GROUPS and configUSE_STREAM_BUFFERS configuration
constants to control the inclusion of event group and stream buffer
functionalities.
+ Code changes to comply with MISRA C 2012.
+ Add 64-bit support to the FreeRTOS Windows Simulator port. We thank @watsk
and @josesimoes for their contributions.
+ Add support for 64-bit Microblaze processor to the MicroblazeV9 port. We
thank @mubinsyed for their contribution.
+ Add support for MSP430 Embedded Application Binary Interface (EABI) to
the MSP430F449 port to make it work with both MSP430 GCC and MSPGCC
compilers. We thank @Forty-Bot for their contribution.
+ Update xPortIsAuthorizedToAccessBuffer() on FreeRTOS ports with MPU
support to grant an unprivileged task access to all the memory before the
scheduler is started.
+ Update the POSIX port to pass the FreeRTOS task name to pthread for
readable output in debuggers. We thank @Mixaill for their contribution.
+ Update the POSIX port to ignore the user specified stack memory and only
pass the stack size to the pthread API to avoid errors caused when stack size
is smaller than the minimum. We thank @cmorgnaBE for their
contribution.
+ Update the POSIX port to use a timer thread for tick interrupts instead of
POSIX timers to address issues with signal handling in non-FreeRTOS
pthreads. We thank @cmorgnaBE for their contribution.
+ Update ARM_TFM port to support TF-Mv2.0.0 release of trusted-firmware-m.
We thanks @urutva for their contribution.
+ Remove redundant constant pools in ARMv8 ports. We thank @urutva for their
contribution.
+ Add APIs to reset the internal state of kernel modules. These APIs are
primarily intended to be used in the testing frameworks that restart the
scheduler.
+ Use kernel provided implementations of vApplicationGetIdleTaskMemory() and
vApplicationGetTimerTaskMemory() in the RP2040 port. We thank @dpslwk for
their contribution.
+ Fix atomic enter/exit critical section macro definitions in atomic.h for
ports that support nested interrupts. We thank @sebunger for their
contribution.
+ Fix compiler warnings in the MSP430F449 port when compiled with the
MSP430 GCC compiler. We thank @Forty-Bot for their contribution.
+ Update the scheduler suspension usage in ulTaskGenericNotifyTake and
xTaskGenericNotifyWait() to enhance code readability. We thank @Dazza0 for
their contribution.
+ Add support for latest version of MPU wrappers( mpu_wrappers_v2) in CMake.
We thank @IsaacDynamo for their contribution.
+ Update CMake support to create only one static library containing both the
kernel common code and the kernel port code. We thank @barnatahmed for
their contribution.
+ Add ARMv7-R port with Memory Protection Unit (MPU) support.
+ Add Memory Protection Unit (MPU) support to the Cortex-M0 port.
+ Add stream batching buffer. A stream batching buffer differs from a stream
buffer when a task reads from a non-empty buffer:
- The task reading from a non-empty stream buffer returns immediately
regardless of the amount of data in the buffer.
- The task reading from a non-empty steam batching buffer blocks until the
amount of data in the buffer exceeds the trigger level or the block time
expires.
We thank @cperkulator for their contribution.
+ Add the ability to change task notification index for stream buffers. We
thank @glemco for their contribution.
+ Add xStreamBufferResetFromISR and xMessageBufferResetFromISR APIs to reset
stream buffer and message buffer from an Interrupt Service Routine (ISR).
We thank @HagaiMoshe for their contribution.
+ Update all the FreeRTOS APIs to use configSTACK_DEPTH_TYPE for stack type.
We thank @feilipu for their contribution.
+ Update vTaskEndScheduler to delete the timer and idle tasks,
once the scheduler is stopped.
+ Make xTaskGetCurrentTaskHandleForCore() available to the single core
scheduler. We thank @Dazza0 for their contribution.
+ Update uxTaskGetSystemState to not use the pxIndex member of the List_t
structure while iterating ready tasks list. The reason is that pxIndex
member must only used to select next ready task to run. We thank
@gemarcano for their inputs.
+ Add a config option to the FreeRTOS SMP Kernel to set the default core
affinity mask for tasks created without an affinity mask. We thank @go2sh
for their contribution.
+ Add configUSE_EVENT_GROUPS and configUSE_STREAM_BUFFERS configuration
constants to control the inclusion of event group and stream buffer
functionalities.
+ Code changes to comply with MISRA C 2012.
+ Add 64-bit support to the FreeRTOS Windows Simulator port. We thank @watsk
and @josesimoes for their contributions.
+ Add support for 64-bit Microblaze processor to the MicroblazeV9 port. We
thank @mubinsyed for their contribution.
+ Add support for MSP430 Embedded Application Binary Interface (EABI) to
the MSP430F449 port to make it work with both MSP430 GCC and MSPGCC
compilers. We thank @Forty-Bot for their contribution.
+ Update xPortIsAuthorizedToAccessBuffer() on FreeRTOS ports with MPU
support to grant an unprivileged task access to all the memory before the
scheduler is started.
+ Update the POSIX port to pass the FreeRTOS task name to pthread for
readable output in debuggers. We thank @Mixaill for their contribution.
+ Update the POSIX port to ignore the user specified stack memory and only
pass the stack size to the pthread API to avoid errors caused when stack size
is smaller than the minimum. We thank @cmorgnaBE for their
contribution.
+ Update the POSIX port to use a timer thread for tick interrupts instead of
POSIX timers to address issues with signal handling in non-FreeRTOS
pthreads. We thank @cmorgnaBE for their contribution.
+ Update ARM_TFM port to support TF-Mv2.0.0 release of trusted-firmware-m.
We thanks @urutva for their contribution.
+ Remove redundant constant pools in ARMv8 ports. We thank @urutva for their
contribution.
+ Add APIs to reset the internal state of kernel modules. These APIs are
primarily intended to be used in the testing frameworks that restart the
scheduler.
+ Use kernel provided implementations of vApplicationGetIdleTaskMemory() and
vApplicationGetTimerTaskMemory() in the RP2040 port. We thank @dpslwk for
their contribution.
+ Fix atomic enter/exit critical section macro definitions in atomic.h for
ports that support nested interrupts. We thank @sebunger for their
contribution.
+ Fix compiler warnings in the MSP430F449 port when compiled with the
MSP430 GCC compiler. We thank @Forty-Bot for their contribution.
+ Update the scheduler suspension usage in ulTaskGenericNotifyTake and
xTaskGenericNotifyWait() to enhance code readability. We thank @Dazza0 for
their contribution.
+ Add support for latest version of MPU wrappers( mpu_wrappers_v2) in CMake.
We thank @IsaacDynamo for their contribution.
+ Update CMake support to create only one static library containing both the
kernel common code and the kernel port code. We thank @barnatahmed for
their contribution.
+ Updated the SBOM file.
+ Updated stream buffer notifications.
+ Update MPU Idle Task assignment.
+ Modify unpaired critical section for readability
+ Move prvDeleteTCB out of critical section for SMP
+ Add missing Task Notification #IFDEF
+ SMP merged into the mainline: While FreeRTOS introduced Asymmetric
Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the
first to merge Symmetric Multiprocessing (SMP) support into the mainline
release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks
across multiple identical processor cores. We thank Mike Bruno and Jerry
McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of
Espressif Systems for their contributions.
+ Switch MISRA compliance checking from PC Lint to Coverity, and update from
MISRA C:2004 to MISRA C:2012.
+ Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of
each configuration item. Application writers can use this template as a
starting point to create the FreeRTOSConfig.h file for their application.
+ Add a template FreeRTOS port which can be used as a starting point for
developing a new FreeRTOS port.
+ Add bounds checking and obfuscation to internal heap block pointers in
heap_4.c and heap_5.c to help catch pointer corruptions. The application can
enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their
FreeRTOSConfig.h. We thank @oliverlavery for their contribution.
+ Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf
with snprintf.
+ Add trace macros to ports that enable tracing the interaction of ISRs with
scheduler events. We thank @conara for their contribution.
+ Add trace macros that enable tracing of entering and exiting all APIs. We
thank @Techcore123 for their contribution.
+ Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the
base priority of a task. The base priority of a task is the priority that
was last assigned to the task - which due to priority inheritance, may not
be the current priority of the task.
+ Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in
milliseconds. We thank @Dazza0 for their contribution.
+ Add default implementations of vApplicationGetIdleTaskMemory and
vApplicationGetTimerTaskMemory. The application can enable these default
implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their
FreeRTOSConfig.h. We thank @mdnr-g for their contribution.
+ Update vTaskGetInfo to include start and end of the stack whenever both
values are available. We thank @vinceburns for their contribution.
+ Prevent tasks waiting for a notification from being resumed by calls to
vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their
contribution.
+ Add asserts to validate that the application has correctly installed
FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices.
We thank @jefftenney for their contribution.
+ Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and
Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64
architecture. We thank @urutva for their contribution.
+ Add CMake support to allow the application writer to select the RISC-V
chip extension. We thank @JoeBenczarski for their contribution.
+ Add CMake support to allow the application writer to build an application
with static allocation only. We thank @conara for their contribution.
+ Make taskYIELD available to unprivileged tasks for ARMv8-M ports.
+ Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their
contribution.
+ Update the SysTick setup code for ARMv8-M ports to first configure the clock
source and then enable SysTick. This is needed to address a bug in QEMU
versions older than 7.0.0, which causes an emulation error if SysTick is
enabled without first selecting a valid clock source. We thank @jefftenney
for their contribution.
+ Add the port-optimized task selection algorithm optionally available for
ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their
contribution.
+ Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing
unnecessary steps while splitting a large memory block into two. We thank
@Moral-Hao for their contribution.
+ Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and
heap_5.c by moving the size calculation out of the critical section. We thank
@Moral-Hao for their contribution.
+ Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic
operation of traversing a linked link from a critical section. We thank
@karver8 for their contribution.
+ Fix stack end and stack size computation in POSIX port to meet the stack
alignment requirements on MacOS. We thank @tegimeki for their contribution.
+ Update the vTaskPrioritySet implementation to use the new priority when the
task has inherited priority from a mutex it is holding, and the new priority
is bigger than the inherited priority. We thank @Moral-Hao for their
contribution.
+ Add stack alignment adjustment if stack grows upwards. We thank @ivq for
their contribution.
+ Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is
selected as the C library implementation to ensure that
pxPortInitialiseStack does not overwrite the data in the TLS block portion
of the stack. We thank @bebebib-rs for their contribution.
+ Fix vPortEndScheduler() for the MSVC port so that the function
prvProcessSimulatedInterrupts is not stuck in an infinite loop when the
scheduler is stopped. We thank @Ju1He1 for their contribution.
+ Add the Pull Request (PR) Process explaining the stages a PR goes through.
+ Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c)
introduced in version 10.6.0:
- Introduce Access Control List (ACL) feature to allow the application
writer to control an unprivileged task’s access to kernel objects.
- Update the system call entry mechanism to only require one Supervisor
Call (SVC) instruction.
- Wrap parameters for system calls with more than four parameters in a
struct to avoid special handling during system call entry.
- Fix 2 possible integer overflows.
- Convert some asserts to run time parameter checks.
+ Add runtime parameter checks to functions in mpu_wrappers_v2.c file.
The same checks are already performed in API implementations using
asserts.
We thank the following people for their inputs in these changes:
- Lan Luo, Zixia Liu of School of Computer Science and Technology,
Anhui University of Technology, China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of
Computer Science and Engineering, Southeast University, China.
+ Add a new MPU wrapper that places additional restrictions on unprivileged
tasks. The following is the list of changes introduced with the new MPU
wrapper:
1. Opaque and indirectly verifiable integers for kernel object handles:
All the kernel object handles (for example, queue handles) are now
opaque integers. Previously object handles were raw pointers.
2. Save the task context in Task Control Block (TCB): When a task is
swapped out by the scheduler, the task's context is now saved in its
TCB. Previously the task's context was saved on its stack.
3. Execute system calls on a separate privileged only stack: FreeRTOS
system calls, which execute with elevated privilege, now use a
separate privileged only stack. Previously system calls used the
calling task's stack. The application writer can control the size of
the system call stack using new configSYSTEM_CALL_STACK_SIZE config
macro.
4. Memory bounds checks: FreeRTOS system calls which accept a pointer
and de-reference it, now verify that the calling task has required
permissions to access the memory location referenced by the pointer.
5. System calls restrictions: The following system calls are no longer
available to unprivileged tasks:
- vQueueDelete
- xQueueCreateMutex
- xQueueCreateMutexStatic
- xQueueCreateCountingSemaphore
- xQueueCreateCountingSemaphoreStatic
- xQueueGenericCreate
- xQueueGenericCreateStatic
- xQueueCreateSet
- xQueueRemoveFromSet
- xQueueGenericReset
- xTaskCreate
- xTaskCreateStatic
- vTaskDelete
- vTaskPrioritySet
- vTaskSuspendAll
- xTaskResumeAll
- xTaskGetHandle
- xTaskCallApplicationTaskHook
- vTaskList
- vTaskGetRunTimeStats
- xTaskCatchUpTicks
- xEventGroupCreate
- xEventGroupCreateStatic
- vEventGroupDelete
- xStreamBufferGenericCreate
- xStreamBufferGenericCreateStatic
- vStreamBufferDelete
- xStreamBufferReset
Also, an unprivileged task can no longer use vTaskSuspend to suspend
any task other than itself.
We thank the following people for their inputs in these enhancements:
- David Reiss of Meta Platforms, Inc.
- Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling
of School of Computer Science and Engineering, Southeast University,
China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of
Colorado Boulder, USA.
+ Add Cortex-M35P port. Contributed by @urutva.
+ Add embedded extension (RV32E) support to the IAR RISC-V port.
+ Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by
@chrisnc.
+ Add APIs to get the application supplied buffers from statically
created kernel objects. The following new APIs are added:
- xTaskGetStaticBuffers
- xQueueGetStaticBuffers
- xQueueGenericGetStaticBuffers
- xSemaphoreGetStaticBuffer
- xEventGroupGetStaticBuffer
- xStreamBufferGetStaticBuffers
- xMessageBufferGetStaticBuffers
These APIs enable the application writer to obtain static buffers from
the kernel object and free/reuse them at the time of deletion. Earlier
the application writer had to maintain the association of static buffers
and the kernel object in the application. Contributed by @Dazza0.
+ Add Thread Local Storage (TLS) support using picolibc function. Contributed
by @keith-packard.
+ Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result,
the number of bits in an event group also increases with big data type. Contributed
by @Hadatko.
+ Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready
tasks. Contributed by @Dazza0.
+ Update heap_4 and heap_5 to add padding only if the resulting block is not
already aligned.
+ Fix the scheduler logic in a couple of places to not preempt a task when an
equal priority task becomes ready.
+ Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden.
+ Fix clang compiler warnings. Contributed by @phelter.
+ Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from
interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY.
Contributed by @urutva.
+ Add xPortIsInsideInterrupt API to ARM_CM0 ports.
+ Fix build warning in MSP430X port when large data model is used.
+ Add the ability to use Cortex-R5 port on the parts without FPU.
+ Fix build warning in heap implementations on PIC24/dsPIC.
+ Update interrupt priority asserts for Cortex-M ports so that these do not fire
on QEMU which does not implement PRIO bits.
+ Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority.
configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings
these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc.
+ Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed
by @jacky309.
+ Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain.
+ Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu.
+ Multiple improvements in the CMake support. Contributed by @phelte and @cookpate.
+ Updated the SBOM file.
+ Updated stream buffer notifications.
+ SMP merged into the mainline: While FreeRTOS introduced Asymmetric
Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the
first to merge Symmetric Multiprocessing (SMP) support into the mainline
release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks
across multiple identical processor cores. We thank Mike Bruno and Jerry
McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of
Espressif Systems for their contributions.
+ Switch MISRA compliance checking from PC Lint to Coverity, and update from
MISRA C:2004 to MISRA C:2012.
+ Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of
each configuration item. Application writers can use this template as a
starting point to create the FreeRTOSConfig.h file for their application.
+ Add a template FreeRTOS port which can be used as a starting point for
developing a new FreeRTOS port.
+ Add bounds checking and obfuscation to internal heap block pointers in
heap_4.c and heap_5.c to help catch pointer corruptions. The application can
enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their
FreeRTOSConfig.h. We thank @oliverlavery for their contribution.
+ Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf
with snprintf.
+ Add trace macros to ports that enable tracing the interaction of ISRs with
scheduler events. We thank @conara for their contribution.
+ Add trace macros that enable tracing of entering and exiting all APIs. We
thank @Techcore123 for their contribution.
+ Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the
base priority of a task. The base priority of a task is the priority that
was last assigned to the task - which due to priority inheritance, may not
be the current priority of the task.
+ Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in
milliseconds. We thank @Dazza0 for their contribution.
+ Add default implementations of vApplicationGetIdleTaskMemory and
vApplicationGetTimerTaskMemory. The application can enable these default
implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their
FreeRTOSConfig.h. We thank @mdnr-g for their contribution.
+ Update vTaskGetInfo to include start and end of the stack whenever both
values are available. We thank @vinceburns for their contribution.
+ Prevent tasks waiting for a notification from being resumed by calls to
vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their
contribution.
+ Add asserts to validate that the application has correctly installed
FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices.
We thank @jefftenney for their contribution.
+ Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and
Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64
architecture. We thank @urutva for their contribution.
+ Add CMake support to allow the application writer to select the RISC-V
chip extension. We thank @JoeBenczarski for their contribution.
+ Add CMake support to allow the application writer to build an application
with static allocation only. We thank @conara for their contribution.
+ Make taskYIELD available to unprivileged tasks for ARMv8-M ports.
+ Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their
contribution.
+ Update the SysTick setup code for ARMv8-M ports to first configure the clock
source and then enable SysTick. This is needed to address a bug in QEMU
versions older than 7.0.0, which causes an emulation error if SysTick is
enabled without first selecting a valid clock source. We thank @jefftenney
for their contribution.
+ Add the port-optimized task selection algorithm optionally available for
ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their
contribution.
+ Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing
unnecessary steps while splitting a large memory block into two. We thank
@Moral-Hao for their contribution.
+ Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and
heap_5.c by moving the size calculation out of the critical section. We thank
@Moral-Hao for their contribution.
+ Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic
operation of traversing a linked link from a critical section. We thank
@karver8 for their contribution.
+ Fix stack end and stack size computation in POSIX port to meet the stack
alignment requirements on MacOS. We thank @tegimeki for their contribution.
+ Update the vTaskPrioritySet implementation to use the new priority when the
task has inherited priority from a mutex it is holding, and the new priority
is bigger than the inherited priority. We thank @Moral-Hao for their
contribution.
+ Add stack alignment adjustment if stack grows upwards. We thank @ivq for
their contribution.
+ Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is
selected as the C library implementation to ensure that
pxPortInitialiseStack does not overwrite the data in the TLS block portion
of the stack. We thank @bebebib-rs for their contribution.
+ Fix vPortEndScheduler() for the MSVC port so that the function
prvProcessSimulatedInterrupts is not stuck in an infinite loop when the
scheduler is stopped. We thank @Ju1He1 for their contribution.
+ Add the Pull Request (PR) Process explaining the stages a PR goes through.
+ Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c)
introduced in version 10.6.0:
- Introduce Access Control List (ACL) feature to allow the application
writer to control an unprivileged task’s access to kernel objects.
- Update the system call entry mechanism to only require one Supervisor
Call (SVC) instruction.
- Wrap parameters for system calls with more than four parameters in a
struct to avoid special handling during system call entry.
- Fix 2 possible integer overflows.
- Convert some asserts to run time parameter checks.
+ Add runtime parameter checks to functions in mpu_wrappers_v2.c file.
The same checks are already performed in API implementations using
asserts.
We thank the following people for their inputs in these changes:
- Lan Luo, Zixia Liu of School of Computer Science and Technology,
Anhui University of Technology, China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of
Computer Science and Engineering, Southeast University, China.
+ Add a new MPU wrapper that places additional restrictions on unprivileged
tasks. The following is the list of changes introduced with the new MPU
wrapper:
1. Opaque and indirectly verifiable integers for kernel object handles:
All the kernel object handles (for example, queue handles) are now
opaque integers. Previously object handles were raw pointers.
2. Save the task context in Task Control Block (TCB): When a task is
swapped out by the scheduler, the task's context is now saved in its
TCB. Previously the task's context was saved on its stack.
3. Execute system calls on a separate privileged only stack: FreeRTOS
system calls, which execute with elevated privilege, now use a
separate privileged only stack. Previously system calls used the
calling task's stack. The application writer can control the size of
the system call stack using new configSYSTEM_CALL_STACK_SIZE config
macro.
4. Memory bounds checks: FreeRTOS system calls which accept a pointer
and de-reference it, now verify that the calling task has required
permissions to access the memory location referenced by the pointer.
5. System calls restrictions: The following system calls are no longer
available to unprivileged tasks:
- vQueueDelete
- xQueueCreateMutex
- xQueueCreateMutexStatic
- xQueueCreateCountingSemaphore
- xQueueCreateCountingSemaphoreStatic
- xQueueGenericCreate
- xQueueGenericCreateStatic
- xQueueCreateSet
- xQueueRemoveFromSet
- xQueueGenericReset
- xTaskCreate
- xTaskCreateStatic
- vTaskDelete
- vTaskPrioritySet
- vTaskSuspendAll
- xTaskResumeAll
- xTaskGetHandle
- xTaskCallApplicationTaskHook
- vTaskList
- vTaskGetRunTimeStats
- xTaskCatchUpTicks
- xEventGroupCreate
- xEventGroupCreateStatic
- vEventGroupDelete
- xStreamBufferGenericCreate
- xStreamBufferGenericCreateStatic
- vStreamBufferDelete
- xStreamBufferReset
Also, an unprivileged task can no longer use vTaskSuspend to suspend
any task other than itself.
We thank the following people for their inputs in these enhancements:
- David Reiss of Meta Platforms, Inc.
- Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling
of School of Computer Science and Engineering, Southeast University,
China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of
Colorado Boulder, USA.
+ Add Cortex-M35P port. Contributed by @urutva.
+ Add embedded extension (RV32E) support to the IAR RISC-V port.
+ Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by
@chrisnc.
+ Add APIs to get the application supplied buffers from statically
created kernel objects. The following new APIs are added:
- xTaskGetStaticBuffers
- xQueueGetStaticBuffers
- xQueueGenericGetStaticBuffers
- xSemaphoreGetStaticBuffer
- xEventGroupGetStaticBuffer
- xStreamBufferGetStaticBuffers
- xMessageBufferGetStaticBuffers
These APIs enable the application writer to obtain static buffers from
the kernel object and free/reuse them at the time of deletion. Earlier
the application writer had to maintain the association of static buffers
and the kernel object in the application. Contributed by @Dazza0.
+ Add Thread Local Storage (TLS) support using picolibc function. Contributed
by @keith-packard.
+ Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result,
the number of bits in an event group also increases with big data type. Contributed
by @Hadatko.
+ Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready
tasks. Contributed by @Dazza0.
+ Update heap_4 and heap_5 to add padding only if the resulting block is not
already aligned.
+ Fix the scheduler logic in a couple of places to not preempt a task when an
equal priority task becomes ready.
+ Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden.
+ Fix clang compiler warnings. Contributed by @phelter.
+ Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from
interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY.
Contributed by @urutva.
+ Add xPortIsInsideInterrupt API to ARM_CM0 ports.
+ Fix build warning in MSP430X port when large data model is used.
+ Add the ability to use Cortex-R5 port on the parts without FPU.
+ Fix build warning in heap implementations on PIC24/dsPIC.
+ Update interrupt priority asserts for Cortex-M ports so that these do not fire
on QEMU which does not implement PRIO bits.
+ Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority.
configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings
these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc.
+ Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed
by @jacky309.
+ Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain.
+ Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu.
+ Multiple improvements in the CMake support. Contributed by @phelte and @cookpate.
+ Updated the SBOM file.
+ SMP merged into the mainline: While FreeRTOS introduced Asymmetric
Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the
first to merge Symmetric Multiprocessing (SMP) support into the mainline
release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks
across multiple identical processor cores. We thank Mike Bruno and Jerry
McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of
Espressif Systems for their contributions.
+ Switch MISRA compliance checking from PC Lint to Coverity, and update from
MISRA C:2004 to MISRA C:2012.
+ Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of
each configuration item. Application writers can use this template as a
starting point to create the FreeRTOSConfig.h file for their application.
+ Add a template FreeRTOS port which can be used as a starting point for
developing a new FreeRTOS port.
+ Add bounds checking and obfuscation to internal heap block pointers in
heap_4.c and heap_5.c to help catch pointer corruptions. The application can
enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their
FreeRTOSConfig.h. We thank @oliverlavery for their contribution.
+ Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf
with snprintf.
+ Add trace macros to ports that enable tracing the interaction of ISRs with
scheduler events. We thank @conara for their contribution.
+ Add trace macros that enable tracing of entering and exiting all APIs. We
thank @Techcore123 for their contribution.
+ Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the
base priority of a task. The base priority of a task is the priority that
was last assigned to the task - which due to priority inheritance, may not
be the current priority of the task.
+ Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in
milliseconds. We thank @Dazza0 for their contribution.
+ Add default implementations of vApplicationGetIdleTaskMemory and
vApplicationGetTimerTaskMemory. The application can enable these default
implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their
FreeRTOSConfig.h. We thank @mdnr-g for their contribution.
+ Update vTaskGetInfo to include start and end of the stack whenever both
values are available. We thank @vinceburns for their contribution.
+ Prevent tasks waiting for a notification from being resumed by calls to
vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their
contribution.
+ Add asserts to validate that the application has correctly installed
FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices.
We thank @jefftenney for their contribution.
+ Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and
Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64
architecture. We thank @urutva for their contribution.
+ Add CMake support to allow the application writer to select the RISC-V
chip extension. We thank @JoeBenczarski for their contribution.
+ Add CMake support to allow the application writer to build an application
with static allocation only. We thank @conara for their contribution.
+ Make taskYIELD available to unprivileged tasks for ARMv8-M ports.
+ Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their
contribution.
+ Update the SysTick setup code for ARMv8-M ports to first configure the clock
source and then enable SysTick. This is needed to address a bug in QEMU
versions older than 7.0.0, which causes an emulation error if SysTick is
enabled without first selecting a valid clock source. We thank @jefftenney
for their contribution.
+ Add the port-optimized task selection algorithm optionally available for
ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their
contribution.
+ Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing
unnecessary steps while splitting a large memory block into two. We thank
@Moral-Hao for their contribution.
+ Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and
heap_5.c by moving the size calculation out of the critical section. We thank
@Moral-Hao for their contribution.
+ Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic
operation of traversing a linked link from a critical section. We thank
@karver8 for their contribution.
+ Fix stack end and stack size computation in POSIX port to meet the stack
alignment requirements on MacOS. We thank @tegimeki for their contribution.
+ Update the vTaskPrioritySet implementation to use the new priority when the
task has inherited priority from a mutex it is holding, and the new priority
is bigger than the inherited priority. We thank @Moral-Hao for their
contribution.
+ Add stack alignment adjustment if stack grows upwards. We thank @ivq for
their contribution.
+ Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is
selected as the C library implementation to ensure that
pxPortInitialiseStack does not overwrite the data in the TLS block portion
of the stack. We thank @bebebib-rs for their contribution.
+ Fix vPortEndScheduler() for the MSVC port so that the function
prvProcessSimulatedInterrupts is not stuck in an infinite loop when the
scheduler is stopped. We thank @Ju1He1 for their contribution.
+ Add the Pull Request (PR) Process explaining the stages a PR goes through.
+ Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c)
introduced in version 10.6.0:
- Introduce Access Control List (ACL) feature to allow the application
writer to control an unprivileged task’s access to kernel objects.
- Update the system call entry mechanism to only require one Supervisor
Call (SVC) instruction.
- Wrap parameters for system calls with more than four parameters in a
struct to avoid special handling during system call entry.
- Fix 2 possible integer overflows.
- Convert some asserts to run time parameter checks.
+ Add runtime parameter checks to functions in mpu_wrappers_v2.c file.
The same checks are already performed in API implementations using
asserts.
We thank the following people for their inputs in these changes:
- Lan Luo, Zixia Liu of School of Computer Science and Technology,
Anhui University of Technology, China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of
Computer Science and Engineering, Southeast University, China.
+ Add a new MPU wrapper that places additional restrictions on unprivileged
tasks. The following is the list of changes introduced with the new MPU
wrapper:
1. Opaque and indirectly verifiable integers for kernel object handles:
All the kernel object handles (for example, queue handles) are now
opaque integers. Previously object handles were raw pointers.
2. Save the task context in Task Control Block (TCB): When a task is
swapped out by the scheduler, the task's context is now saved in its
TCB. Previously the task's context was saved on its stack.
3. Execute system calls on a separate privileged only stack: FreeRTOS
system calls, which execute with elevated privilege, now use a
separate privileged only stack. Previously system calls used the
calling task's stack. The application writer can control the size of
the system call stack using new configSYSTEM_CALL_STACK_SIZE config
macro.
4. Memory bounds checks: FreeRTOS system calls which accept a pointer
and de-reference it, now verify that the calling task has required
permissions to access the memory location referenced by the pointer.
5. System calls restrictions: The following system calls are no longer
available to unprivileged tasks:
- vQueueDelete
- xQueueCreateMutex
- xQueueCreateMutexStatic
- xQueueCreateCountingSemaphore
- xQueueCreateCountingSemaphoreStatic
- xQueueGenericCreate
- xQueueGenericCreateStatic
- xQueueCreateSet
- xQueueRemoveFromSet
- xQueueGenericReset
- xTaskCreate
- xTaskCreateStatic
- vTaskDelete
- vTaskPrioritySet
- vTaskSuspendAll
- xTaskResumeAll
- xTaskGetHandle
- xTaskCallApplicationTaskHook
- vTaskList
- vTaskGetRunTimeStats
- xTaskCatchUpTicks
- xEventGroupCreate
- xEventGroupCreateStatic
- vEventGroupDelete
- xStreamBufferGenericCreate
- xStreamBufferGenericCreateStatic
- vStreamBufferDelete
- xStreamBufferReset
Also, an unprivileged task can no longer use vTaskSuspend to suspend
any task other than itself.
We thank the following people for their inputs in these enhancements:
- David Reiss of Meta Platforms, Inc.
- Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling
of School of Computer Science and Engineering, Southeast University,
China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of
Colorado Boulder, USA.
+ Add Cortex-M35P port. Contributed by @urutva.
+ Add embedded extension (RV32E) support to the IAR RISC-V port.
+ Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by
@chrisnc.
+ Add APIs to get the application supplied buffers from statically
created kernel objects. The following new APIs are added:
- xTaskGetStaticBuffers
- xQueueGetStaticBuffers
- xQueueGenericGetStaticBuffers
- xSemaphoreGetStaticBuffer
- xEventGroupGetStaticBuffer
- xStreamBufferGetStaticBuffers
- xMessageBufferGetStaticBuffers
These APIs enable the application writer to obtain static buffers from
the kernel object and free/reuse them at the time of deletion. Earlier
the application writer had to maintain the association of static buffers
and the kernel object in the application. Contributed by @Dazza0.
+ Add Thread Local Storage (TLS) support using picolibc function. Contributed
by @keith-packard.
+ Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result,
the number of bits in an event group also increases with big data type. Contributed
by @Hadatko.
+ Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready
tasks. Contributed by @Dazza0.
+ Update heap_4 and heap_5 to add padding only if the resulting block is not
already aligned.
+ Fix the scheduler logic in a couple of places to not preempt a task when an
equal priority task becomes ready.
+ Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden.
+ Fix clang compiler warnings. Contributed by @phelter.
+ Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from
interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY.
Contributed by @urutva.
+ Add xPortIsInsideInterrupt API to ARM_CM0 ports.
+ Fix build warning in MSP430X port when large data model is used.
+ Add the ability to use Cortex-R5 port on the parts without FPU.
+ Fix build warning in heap implementations on PIC24/dsPIC.
+ Update interrupt priority asserts for Cortex-M ports so that these do not fire
on QEMU which does not implement PRIO bits.
+ Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority.
configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings
these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc.
+ Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed
by @jacky309.
+ Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain.
+ Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu.
+ Multiple improvements in the CMake support. Contributed by @phelte and @cookpate.
+ Updated the SBOM file.
+ SMP merged into the mainline: While FreeRTOS introduced Asymmetric
Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the
first to merge Symmetric Multiprocessing (SMP) support into the mainline
release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks
across multiple identical processor cores. We thank Mike Bruno and Jerry
McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of
Espressif Systems for their contributions.
+ Switch MISRA compliance checking from PC Lint to Coverity, and update from
MISRA C:2004 to MISRA C:2012.
+ Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of
each configuration item. Application writers can use this template as a
starting point to create the FreeRTOSConfig.h file for their application.
+ Add a template FreeRTOS port which can be used as a starting point for
developing a new FreeRTOS port.
+ Add bounds checking and obfuscation to internal heap block pointers in
heap_4.c and heap_5.c to help catch pointer corruptions. The application can
enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their
FreeRTOSConfig.h. We thank @oliverlavery for their contribution.
+ Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf
with snprintf.
+ Add trace macros to ports that enable tracing the interaction of ISRs with
scheduler events. We thank @conara for their contribution.
+ Add trace macros that enable tracing of entering and exiting all APIs. We
thank @Techcore123 for their contribution.
+ Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the
base priority of a task. The base priority of a task is the priority that
was last assigned to the task - which due to priority inheritance, may not
be the current priority of the task.
+ Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in
milliseconds. We thank @Dazza0 for their contribution.
+ Add default implementations of vApplicationGetIdleTaskMemory and
vApplicationGetTimerTaskMemory. The application can enable these default
implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their
FreeRTOSConfig.h. We thank @mdnr-g for their contribution.
+ Update vTaskGetInfo to include start and end of the stack whenever both
values are available. We thank @vinceburns for their contribution.
+ Prevent tasks waiting for a notification from being resumed by calls to
vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their
contribution.
+ Add asserts to validate that the application has correctly installed
FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices.
We thank @jefftenney for their contribution.
+ Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and
Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64
architecture. We thank @urutva for their contribution.
+ Add CMake support to allow the application writer to select the RISC-V
chip extension. We thank @JoeBenczarski for their contribution.
+ Add CMake support to allow the application writer to build an application
with static allocation only. We thank @conara for their contribution.
+ Make taskYIELD available to unprivileged tasks for ARMv8-M ports.
+ Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their
contribution.
+ Update the SysTick setup code for ARMv8-M ports to first configure the clock
source and then enable SysTick. This is needed to address a bug in QEMU
versions older than 7.0.0, which causes an emulation error if SysTick is
enabled without first selecting a valid clock source. We thank @jefftenney
for their contribution.
+ Add the port-optimized task selection algorithm optionally available for
ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their
contribution.
+ Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing
unnecessary steps while splitting a large memory block into two. We thank
@Moral-Hao for their contribution.
+ Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and
heap_5.c by moving the size calculation out of the critical section. We thank
@Moral-Hao for their contribution.
+ Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic
operation of traversing a linked link from a critical section. We thank
@karver8 for their contribution.
+ Fix stack end and stack size computation in POSIX port to meet the stack
alignment requirements on MacOS. We thank @tegimeki for their contribution.
+ Update the vTaskPrioritySet implementation to use the new priority when the
task has inherited priority from a mutex it is holding, and the new priority
is bigger than the inherited priority. We thank @Moral-Hao for their
contribution.
+ Add stack alignment adjustment if stack grows upwards. We thank @ivq for
their contribution.
+ Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is
selected as the C library implementation to ensure that
pxPortInitialiseStack does not overwrite the data in the TLS block portion
of the stack. We thank @bebebib-rs for their contribution.
+ Fix vPortEndScheduler() for the MSVC port so that the function
prvProcessSimulatedInterrupts is not stuck in an infinite loop when the
scheduler is stopped. We thank @Ju1He1 for their contribution.
+ Add the Pull Request (PR) Process explaining the stages a PR goes through.
+ Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c)
introduced in version 10.6.0:
- Introduce Access Control List (ACL) feature to allow the application
writer to control an unprivileged task’s access to kernel objects.
- Update the system call entry mechanism to only require one Supervisor
Call (SVC) instruction.
- Wrap parameters for system calls with more than four parameters in a
struct to avoid special handling during system call entry.
- Fix 2 possible integer overflows.
- Convert some asserts to run time parameter checks.
+ Add runtime parameter checks to functions in mpu_wrappers_v2.c file.
The same checks are already performed in API implementations using
asserts.
We thank the following people for their inputs in these changes:
- Lan Luo, Zixia Liu of School of Computer Science and Technology,
Anhui University of Technology, China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of
Computer Science and Engineering, Southeast University, China.
+ Add a new MPU wrapper that places additional restrictions on unprivileged
tasks. The following is the list of changes introduced with the new MPU
wrapper:
1. Opaque and indirectly verifiable integers for kernel object handles:
All the kernel object handles (for example, queue handles) are now
opaque integers. Previously object handles were raw pointers.
2. Save the task context in Task Control Block (TCB): When a task is
swapped out by the scheduler, the task's context is now saved in its
TCB. Previously the task's context was saved on its stack.
3. Execute system calls on a separate privileged only stack: FreeRTOS
system calls, which execute with elevated privilege, now use a
separate privileged only stack. Previously system calls used the
calling task's stack. The application writer can control the size of
the system call stack using new configSYSTEM_CALL_STACK_SIZE config
macro.
4. Memory bounds checks: FreeRTOS system calls which accept a pointer
and de-reference it, now verify that the calling task has required
permissions to access the memory location referenced by the pointer.
5. System calls restrictions: The following system calls are no longer
available to unprivileged tasks:
- vQueueDelete
- xQueueCreateMutex
- xQueueCreateMutexStatic
- xQueueCreateCountingSemaphore
- xQueueCreateCountingSemaphoreStatic
- xQueueGenericCreate
- xQueueGenericCreateStatic
- xQueueCreateSet
- xQueueRemoveFromSet
- xQueueGenericReset
- xTaskCreate
- xTaskCreateStatic
- vTaskDelete
- vTaskPrioritySet
- vTaskSuspendAll
- xTaskResumeAll
- xTaskGetHandle
- xTaskCallApplicationTaskHook
- vTaskList
- vTaskGetRunTimeStats
- xTaskCatchUpTicks
- xEventGroupCreate
- xEventGroupCreateStatic
- vEventGroupDelete
- xStreamBufferGenericCreate
- xStreamBufferGenericCreateStatic
- vStreamBufferDelete
- xStreamBufferReset
Also, an unprivileged task can no longer use vTaskSuspend to suspend
any task other than itself.
We thank the following people for their inputs in these enhancements:
- David Reiss of Meta Platforms, Inc.
- Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling
of School of Computer Science and Engineering, Southeast University,
China.
- Xinwen Fu of Department of Computer Science, University of
Massachusetts Lowell, USA.
- Yueqi Chen, Zicheng Wang, Minghao Lin, Jiahe Wang of University of
Colorado Boulder, USA.
+ Add Cortex-M35P port. Contributed by @urutva.
+ Add embedded extension (RV32E) support to the IAR RISC-V port.
+ Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by
@chrisnc.
+ Add APIs to get the application supplied buffers from statically
created kernel objects. The following new APIs are added:
- xTaskGetStaticBuffers
- xQueueGetStaticBuffers
- xQueueGenericGetStaticBuffers
- xSemaphoreGetStaticBuffer
- xEventGroupGetStaticBuffer
- xStreamBufferGetStaticBuffers
- xMessageBufferGetStaticBuffers
These APIs enable the application writer to obtain static buffers from
the kernel object and free/reuse them at the time of deletion. Earlier
the application writer had to maintain the association of static buffers
and the kernel object in the application. Contributed by @Dazza0.
+ Add Thread Local Storage (TLS) support using picolibc function. Contributed
by @keith-packard.
+ Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result,
the number of bits in an event group also increases with big data type. Contributed
by @Hadatko.
+ Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready
tasks. Contributed by @Dazza0.
+ Update heap_4 and heap_5 to add padding only if the resulting block is not
already aligned.
+ Fix the scheduler logic in a couple of places to not preempt a task when an
equal priority task becomes ready.
+ Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden.
+ Fix clang compiler warnings. Contributed by @phelter.
+ Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from
interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY.
Contributed by @urutva.
+ Add xPortIsInsideInterrupt API to ARM_CM0 ports.
+ Fix build warning in MSP430X port when large data model is used.
+ Add the ability to use Cortex-R5 port on the parts without FPU.
+ Fix build warning in heap implementations on PIC24/dsPIC.
+ Update interrupt priority asserts for Cortex-M ports so that these do not fire
on QEMU which does not implement PRIO bits.
+ Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority.
configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings
these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc.
+ Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed
by @jacky309.
+ Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain.
+ Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu.
+ Multiple improvements in the CMake support. Contributed by @phelte and @cookpate.
Timer0 settings to documentation and provided a usage example. No functional change.portPOINTER_SIZE_TYPE.configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1,
APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback()
(and likewise APIs for message buffer) can be used to create a stream buffer
or message buffer instance with application provided callback overrides. When
the option is set to 0, then the default callbacks as defined by
sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain
backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
functionality is currently not supported for MPU enabled ports.configUSE_MINI_LIST_ITEM configuration option. When this
option is set to 1, ListItem_t and MiniLitItem_t remain separate types.
However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t
are both typedefs of the same struct xLIST_ITEM. This addresses some issues
observed when strict-aliasing and link time optimization are enabled.
To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1.prvInitialiseNewTask to memset newly allocated TCB structures
to zero, and remove code that set individual structure members to zero.vTaskGetInfo().cRxLock and cTxLock members of the queue data structure.
These locks count the number items received and sent to the queue while
the queue was locked. These are later used to unblock tasks waiting on
the queue when the queue is unlocked. This PR caps the values of the
cRxLock and cTxLock to the number of tasks in the system because we cannot
unblock more tasks than there are in the system. Note that the same assert
could still be triggered is the application creates more than 127 tasks.uxAutoReload parameter in timer functions to xAutoReload. The
type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
The new function xTimerGetAutoReload() provides the auto-reload state as
a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
original UBaseType_t return value.Timer0 settings to documentation and provided a usage example. No functional change.portPOINTER_SIZE_TYPE.configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1,
APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback()
(and likewise APIs for message buffer) can be used to create a stream buffer
or message buffer instance with application provided callback overrides. When
the option is set to 0, then the default callbacks as defined by
sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain
backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
functionality is currently not supported for MPU enabled ports.configUSE_MINI_LIST_ITEM configuration option. When this
option is set to 1, ListItem_t and MiniLitItem_t remain separate types.
However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t
are both typedefs of the same struct xLIST_ITEM. This addresses some issues
observed when strict-aliasing and link time optimization are enabled.
To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1.prvInitialiseNewTask to memset newly allocated TCB structures
to zero, and remove code that set individual structure members to zero.vTaskGetInfo().cRxLock and cTxLock members of the queue data structure.
These locks count the number items received and sent to the queue while
the queue was locked. These are later used to unblock tasks waiting on
the queue when the queue is unlocked. This PR caps the values of the
cRxLock and cTxLock to the number of tasks in the system because we cannot
unblock more tasks than there are in the system. Note that the same assert
could still be triggered is the application creates more than 127 tasks.uxAutoReload parameter in timer functions to xAutoReload. The
type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
The new function xTimerGetAutoReload() provides the auto-reload state as
a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
original UBaseType_t return value.portPOINTER_SIZE_TYPE.configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1,
APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback()
(and likewise APIs for message buffer) can be used to create a stream buffer
or message buffer instance with application provided callback overrides. When
the option is set to 0, then the default callbacks as defined by
sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain
backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
functionality is currently not supported for MPU enabled ports.configUSE_MINI_LIST_ITEM configuration option. When this
option is set to 1, ListItem_t and MiniLitItem_t remain separate types.
However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t
are both typedefs of the same struct xLIST_ITEM. This addresses some issues
observed when strict-aliasing and link time optimization are enabled.
To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1.prvInitialiseNewTask to memset newly allocated TCB structures
to zero, and remove code that set individual structure members to zero.vTaskGetInfo().cRxLock and cTxLock members of the queue data structure.
These locks count the number items received and sent to the queue while
the queue was locked. These are later used to unblock tasks waiting on
the queue when the queue is unlocked. This PR caps the values of the
cRxLock and cTxLock to the number of tasks in the system because we cannot
unblock more tasks than there are in the system. Note that the same assert
could still be triggered is the application creates more than 127 tasks.uxAutoReload parameter in timer functions to xAutoReload. The
type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
The new function xTimerGetAutoReload() provides the auto-reload state as
a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
original UBaseType_t return value.uxAutoReload parameter in timer functions to xAutoReload. The
type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
The new function xTimerGetAutoReload() provides the auto-reload state as
a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
original UBaseType_t return value.configUSE_MINI_LIST_ITEM configuration option. When this
option is set to 1, ListItem_t and MiniLitItem_t remain separate types.
However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t
are both typedefs of the same struct xLIST_ITEM. This addresses some issues
observed when strict-aliasing and link time optimization are enabled.
To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1.configUSE_SB_COMPLETED_CALLBACK in
FreeRTOSConfig.h. When the option is set to 1, APIs
xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback()
(and likewise APIs from message buffer) can be used to create a stream buffer
or message buffer instance with application provided callback overrides. When
the option is set to 0, then the default callbacks as defined by
sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain
backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
functionality is currently not supported for MPU enabled ports.configSTACK_DEPTH_TYPE which enables developers to define
the type used to hold stack counter variables. Defaults to uint16_t
for backward compatibility. #define configSTACK_DEPTH_TYPE to a type
(for example, uint8_t) in FreeRTOSConfig.h to override the default.configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which
enables developers to prevent critical sections from unprivileged tasks.
It defaults to 1 for backward compatibility. Application should set it to
0 to disable critical sections from unprivileged tasks.