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History.txt
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History.txt
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Documentation and download available at https://www.FreeRTOS.org/
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Changes between FreeRTOS V10.6.2 and FreeRTOS V11.0.0 released December 18, 2023
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+ SMP merged into the mainline: While FreeRTOS introduced Asymmetric
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Multiprocessing (AMP) support in 2017, FreeRTOS Version 11.0.0 is the
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first to merge Symmetric Multiprocessing (SMP) support into the mainline
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release. SMP enables one instance of the FreeRTOS Kernel to schedule tasks
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across multiple identical processor cores. We thank Mike Bruno and Jerry
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McCarthy of XMOS and, Darian Liang, Sudeep Mohanty and Zim Kalinowski of
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Espressif Systems for their contributions.
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+ Switch MISRA compliance checking from PC Lint to Coverity, and update from
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MISRA C:2004 to MISRA C:2012.
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+ Add a template FreeRTOSConfig.h, inclusive of an abbreviated explanation of
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each configuration item. Application writers can use this template as a
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starting point to create the FreeRTOSConfig.h file for their application.
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+ Add a template FreeRTOS port which can be used as a starting point for
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developing a new FreeRTOS port.
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+ Add bounds checking and obfuscation to internal heap block pointers in
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heap_4.c and heap_5.c to help catch pointer corruptions. The application can
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enable these checks by setting configENABLE_HEAP_PROTECTOR to 1 in their
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FreeRTOSConfig.h. We thank @oliverlavery for their contribution.
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+ Update vTaskList and vTaskGetRunTimeStats APIs to replace the use of sprintf
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with snprintf.
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+ Add trace macros to ports that enable tracing the interaction of ISRs with
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scheduler events. We thank @conara for their contribution.
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+ Add trace macros that enable tracing of entering and exiting all APIs. We
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thank @Techcore123 for their contribution.
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+ Add uxTaskBasePriorityGet and uxTaskBasePriorityGetFromISR APIs to get the
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base priority of a task. The base priority of a task is the priority that
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was last assigned to the task - which due to priority inheritance, may not
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be the current priority of the task.
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+ Add pdTICKS_TO_MS macro to convert time in FreeRTOS ticks to time in
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milliseconds. We thank @Dazza0 for their contribution.
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+ Add default implementations of vApplicationGetIdleTaskMemory and
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vApplicationGetTimerTaskMemory. The application can enable these default
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implementations by setting configKERNEL_PROVIDED_STATIC_MEMORY to 1 in their
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FreeRTOSConfig.h. We thank @mdnr-g for their contribution.
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+ Update vTaskGetInfo to include start and end of the stack whenever both
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values are available. We thank @vinceburns for their contribution.
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+ Prevent tasks waiting for a notification from being resumed by calls to
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vTaskResume or vTaskResumeFromISR. We thank @Moral-Hao for their
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contribution.
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+ Add asserts to validate that the application has correctly installed
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FreeRTOS handlers for PendSV and SVCall interrupts on Cortex-M devices.
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We thank @jefftenney for their contribution.
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+ Rename ARM_CA53_64_BIT and ARM_CA53_64_BIT_SRE ports to Arm_AARCH64 and
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Arm_AARCH64_SRE respectively as these ports are applicable to all AArch64
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architecture. We thank @urutva for their contribution.
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+ Add CMake support to allow the application writer to select the RISC-V
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chip extension. We thank @JoeBenczarski for their contribution.
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+ Add CMake support to allow the application writer to build an application
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with static allocation only. We thank @conara for their contribution.
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+ Make taskYIELD available to unprivileged tasks for ARMv8-M ports.
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+ Update Cortex-M23 ports to not use PSPLIM_NS. We thank @urutva for their
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contribution.
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+ Update the SysTick setup code for ARMv8-M ports to first configure the clock
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source and then enable SysTick. This is needed to address a bug in QEMU
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versions older than 7.0.0, which causes an emulation error if SysTick is
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enabled without first selecting a valid clock source. We thank @jefftenney
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for their contribution.
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+ Add the port-optimized task selection algorithm optionally available for
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ARMv7-M ports to the ARMv8-M ports. We thank @jefftenney for their
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contribution.
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+ Improve the speed of pvPortMalloc in heap_4.c and heap_5.c by removing
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unnecessary steps while splitting a large memory block into two. We thank
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@Moral-Hao for their contribution.
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+ Shorten the critical section in pvPortMalloc in heap_2.c, heap_4.c and
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heap_5.c by moving the size calculation out of the critical section. We thank
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@Moral-Hao for their contribution.
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+ Update xTaskNotifyWait and ulTaskNotifyTake to remove the non-deterministic
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operation of traversing a linked link from a critical section. We thank
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@karver8 for their contribution.
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+ Fix stack end and stack size computation in POSIX port to meet the stack
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alignment requirements on MacOS. We thank @tegimeki for their contribution.
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+ Update the vTaskPrioritySet implementation to use the new priority when the
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task has inherited priority from a mutex it is holding, and the new priority
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is bigger than the inherited priority. We thank @Moral-Hao for their
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contribution.
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+ Add stack alignment adjustment if stack grows upwards. We thank @ivq for
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their contribution.
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+ Fix pxTopOfStack calculation in configINIT_TLS_BLOCK when picolib C is
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selected as the C library implementation to ensure that
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pxPortInitialiseStack does not overwrite the data in the TLS block portion
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of the stack. We thank @bebebib-rs for their contribution.
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+ Fix vPortEndScheduler() for the MSVC port so that the function
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prvProcessSimulatedInterrupts is not stuck in an infinite loop when the
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scheduler is stopped. We thank @Ju1He1 for their contribution.
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+ Add the Pull Request (PR) Process explaining the stages a PR goes through.
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Changes between FreeRTOS V10.6.1 and FreeRTOS V10.6.2 released November 29, 2023
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+ Add the following improvements to the new MPU wrapper (mpu_wrappers_v2.c)
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introduced in version 10.6.0:
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- Introduce Access Control List (ACL) feature to allow the application
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writer to control an unprivileged task’s access to kernel objects.
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- Update the system call entry mechanism to only require one Supervisor
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Call (SVC) instruction.
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- Wrap parameters for system calls with more than four parameters in a
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struct to avoid special handling during system call entry.
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- Fix 2 possible integer overflows.
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- Convert some asserts to run time parameter checks.
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Changes between FreeRTOS V10.6.0 and FreeRTOS V10.6.1 released August 17, 2023
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+ Add runtime parameter checks to functions in mpu_wrappers_v2.c file.
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The same checks are already performed in API implementations using
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asserts.
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We thank the following people for their inputs in these changes:
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- Lan Luo, Zixia Liu of School of Computer Science and Technology,
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Anhui University of Technology, China.
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- Xinwen Fu of Department of Computer Science, University of
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Massachusetts Lowell, USA.
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- Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of
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Computer Science and Engineering, Southeast University, China.
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Changes between FreeRTOS V10.5.1 and FreeRTOS 10.6.0 released July 13, 2023
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+ Add a new MPU wrapper that places additional restrictions on unprivileged
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