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.
Allow the stats formatting functions to be built in without stdio.h being included inside tasks.c.
Kernel port code:
- Slight change to the Cortex-A GIC-less port to move all non portable code to the application level.
SAMA5D4 demo project:
- Update the Atmel provided library to V1.1.
- Create a DDR build configuration.
- Ensure interrupts are all edge sensitive.
- Update the regtest code to use all 32 flop registers.
+ Change how queues are allocated and deleted so only one pvPortMalloc() or vPortFree() is required in place of the previous 2.
+ Where the TCB is allocated in relation to the stack is now dependent on the stack growth direction. The stack will not grow into the TCB.
+ Introduce the configAPPLICATION_ALLOCATED_HEAP constant to allow the application to provide the array used by heap_4.c as its heap. This allows the application writer to use qualifiers on the array to, for example, force the memory into faster RAM.
Demo application:
+ Add demo for SAMA5D4 using IAR.
+ Introduce xSemaphoreGenericGiveFromISR() as an optimisation when giving semaphores and mutexes from an interrupt.
Demo applications:
+ Update IntSemTest.c to provide more code coverage in xSemaphoreGenericGiveFromISR().
+ Ensure the MMU is turned on in the RZ IAR demo. It was already on in the RZ ARM demo.
- Re-introduce the ability to give a mutex from an ISR.
Common demo code:
- Add additional tests into the GenQTest files for priority inheritance and using a mutex from an ISR.
Add additional asserts to the Keil CM3 and CM4F ports (other CM3/4 ports already updated).
Add the additional yield necessitated by the mutex held count to the case when configUSE_QUEUE_SETS is 0.
Helper updates to allow a count of the number of mutexes held to be added.
Updates to the CCS Cortex-R4 implementation necessitated by a change in compiler semantics.
Update PIC32MX and MZ ports to assert if a non ISR safe function is called from an ISR.
Fix issue in and simplify the xTaskRemoveFromUnorderedEventList() function. The function is new to the V8 release candidates so does not effect official released code.
Replace LDMFD with POP instructions in IAR and RVDS Cortex-A9 ports.
Replace branch to address with indirect branch and exchange to address in register in the IAR and RVDS Cortex-A9 ports.
Change INCLUDE_xTimerPendFunctionCallFromISR to INCLUDE_xTimerPendFunctionCall
Update event group trace macros to match the new trace recorder code.
Ensure parameter name consistency by renaming any occurrences of xBlockTime and xBlockTimeTicks to xTicksToWait.
Continue work on GCC/RL78 port - still a work in progress.
Adjust how the critical section was used in xQueueAddToSet.
Remove obsolete extern declaration of vTaskSwitchContext() from the MPX430X IAR portmacro.h (other older portmacro.h header files contain the same declaration).
When a task is unblocked the need for a context switch is only signalled if the unblocked task has a priority higher than the currently running task, instead of higher than or equal to the priority of the currently running task.
Replace #define types with typedefs.
Rename all typedefs to have a _t extension.
Add #defines to automatically convert old FreeRTOS specific types to their new names (with the _t).
Introduce xPortRunning variable into Win32 simulator port layer.
Add port optimised task selection macro for the GCC Win32 port layer (the MSVC version has had one for a while).
Ensure the event list item value does not get modified by code in tasks.c (priority inheritance, or priority change) when it is in use by the event group implementation.
Reset the expected block time variable when a task is suspended or deleted in case the value held in the variables was associated with the task just suspended or deleted.
Add a task pre-delete hook to allow the insertion of any port specific clean up when a task is deleted.
Increase use of 'const' qualifiers.
Add vPortCloseRunningThread() into the Win32 port layer to attempt to allow Windows threads to be closed more gracefully when a task deletes itself.
Correct header comments in the UARTCommandConsole.c file used in the SmartFusion2 demo.
Exercise the new xQueueSpacesAvailable() function in the MSVC demo.
Add defaults for the new traceMALLOC and traceFREE trace macros.
Catch tasks trying to exit their functions in the Cortex-M0 ports.
Add additional comments to timers.c in response to a support forum question.
Initialise _impure_ptr prior to the first task being started.
Prior to V7.5.0 a yield pended in the tick hook would have occurred during the same tick interrupt. Return pdTRUE from xTaskIncrementTick() if a yield is pending to revert to that behaviour.
Relegate the vTaskList() and vTaskGetRunTimeStats() functions to "sample" functions demonstrating how to use xTaskGetSystemState() to generate human readable status information.
Introduce and default configINCLUDE_STATS_FORMATTING_FUNCTIONS which must now be defined to use vTaskList() and vTaskGetRunTimeStats().
Add eTaskConfirmSleepModeStatus() (not yet tested).
Only call prvQueueUnregisterQueue() when a queue or semaphore is deleted if configQUEUE_REGISTRY_SIZE > 0.
Back out change that checks the configUSE_PORT_OPTMISED_TASK_SELECTION value before uxPriorityUsedOnEntry is set in vTaskPrioritySet as it generated more warnings (with other compilers) than it fixed.
Made queue function prototypes consistent so xQueueHandle parameters are always xQueue, and xQUEUE * parameters pxQueue.
Likewise make the task API using px for pointers to TCBs, and just x for task handles.
Heap_x functions now automatically align the start of the heap without using the portDOUBLE union member.
Queue.c now includes queue.h.
Changed eTaskStateGet() to eTaskGetState() and added #define to ensure backward compatibility.
Added configEXPECTED_IDLE_TIME_BEFORE_SLEEP definition - was previously hard coded to 2.
Slight change to the default CM3 tickless sleep function to allow the idle time to be set to zero in the pre-sleep processing macro.
Changed stack alignment for the FreeRTOS-MPU port to ensure it didn't trigger the assert() in the generic create function.
Move location of traceTASK_CREATE() macro call.
Remove obsolete handling of trmCOMMAND_PROCESS_TIMER_OVERFLOW as the command was never used in release versions.
Replaced the #error that traps configMAX_SYSCALL_INTERRUPT_PRIORITY being set to 0 with a configASSERT() for GCC Cortex-M3/4 ports as the #error does not work if configMAX_SYSCALL_INTERRUPT_PRIORITY includes any casting. Not a problem for other compilers as they cannot have casting anyway as that would break the assembly code.
