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1 | 1 | Documentation and download available at https://www.FreeRTOS.org/ |
2 | 2 |
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| 3 | +Changes between FreeRTOS V10.5.1 and FreeRTOS 10.6.0 released July 13, 2023 |
| 4 | + |
| 5 | + + Add a new MPU wrapper that places additional restrictions on unprivileged |
| 6 | + tasks. The following is the list of changes introduced with the new MPU |
| 7 | + wrapper: |
| 8 | + |
| 9 | + 1. Opaque and indirectly verifiable integers for kernel object handles: |
| 10 | + All the kernel object handles (for example, queue handles) are now |
| 11 | + opaque integers. Previously object handles were raw pointers. |
| 12 | + 2. Save the task context in Task Control Block (TCB): When a task is |
| 13 | + swapped out by the scheduler, the task's context is now saved in its |
| 14 | + TCB. Previously the task's context was saved on its stack. |
| 15 | + 3. Execute system calls on a separate privileged only stack: FreeRTOS |
| 16 | + system calls, which execute with elevated privilege, now use a |
| 17 | + separate privileged only stack. Previously system calls used the |
| 18 | + calling task's stack. The application writer can control the size of |
| 19 | + the system call stack using new configSYSTEM_CALL_STACK_SIZE config |
| 20 | + macro. |
| 21 | + 4. Memory bounds checks: FreeRTOS system calls which accept a pointer |
| 22 | + and de-reference it, now verify that the calling task has required |
| 23 | + permissions to access the memory location referenced by the pointer. |
| 24 | + 5. System calls restrictions: The following system calls are no longer |
| 25 | + available to unprivileged tasks: |
| 26 | + - vQueueDelete |
| 27 | + - xQueueCreateMutex |
| 28 | + - xQueueCreateMutexStatic |
| 29 | + - xQueueCreateCountingSemaphore |
| 30 | + - xQueueCreateCountingSemaphoreStatic |
| 31 | + - xQueueGenericCreate |
| 32 | + - xQueueGenericCreateStatic |
| 33 | + - xQueueCreateSet |
| 34 | + - xQueueRemoveFromSet |
| 35 | + - xQueueGenericReset |
| 36 | + - xTaskCreate |
| 37 | + - xTaskCreateStatic |
| 38 | + - vTaskDelete |
| 39 | + - vTaskPrioritySet |
| 40 | + - vTaskSuspendAll |
| 41 | + - xTaskResumeAll |
| 42 | + - xTaskGetHandle |
| 43 | + - xTaskCallApplicationTaskHook |
| 44 | + - vTaskList |
| 45 | + - vTaskGetRunTimeStats |
| 46 | + - xTaskCatchUpTicks |
| 47 | + - xEventGroupCreate |
| 48 | + - xEventGroupCreateStatic |
| 49 | + - vEventGroupDelete |
| 50 | + - xStreamBufferGenericCreate |
| 51 | + - xStreamBufferGenericCreateStatic |
| 52 | + - vStreamBufferDelete |
| 53 | + - xStreamBufferReset |
| 54 | + Also, an unprivileged task can no longer use vTaskSuspend to suspend |
| 55 | + any task other than itself. |
| 56 | + |
| 57 | + We thank the following people for their inputs in these enhancements: |
| 58 | + - David Reiss of Meta Platforms, Inc. |
| 59 | + - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling |
| 60 | + of School of Computer Science and Engineering, Southeast University, |
| 61 | + China. |
| 62 | + - Xinwen Fu of Department of Computer Science, University of |
| 63 | + Massachusetts Lowell, USA. |
| 64 | + - Yuequi Chen, Zicheng Wang, Minghao Lin of University of Colorado |
| 65 | + Boulder, USA. |
| 66 | + + Add Cortex-M35P port. Contributed by @urutva. |
| 67 | + + Add embedded extension (RV32E) support to the IAR RISC-V port. |
| 68 | + + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by |
| 69 | + @chrisnc. |
| 70 | + + Add APIs to get the application supplied buffers from statically |
| 71 | + created kernel objects. The following new APIs are added: |
| 72 | + - xTaskGetStaticBuffers |
| 73 | + - xQueueGetStaticBuffers |
| 74 | + - xQueueGenericGetStaticBuffers |
| 75 | + - xSemaphoreGetStaticBuffer |
| 76 | + - xEventGroupGetStaticBuffer |
| 77 | + - xStreamBufferGetStaticBuffers |
| 78 | + - xMessageBufferGetStaticBuffers |
| 79 | + These APIs enable the application writer to obtain static buffers from |
| 80 | + the kernel object and free/reuse them at the time of deletion. Earlier |
| 81 | + the application writer had to maintain the association of static buffers |
| 82 | + and the kernel object in the application. Contributed by @Dazza0. |
| 83 | + + Add Thread Local Storage (TLS) support using picolibc function. Contributed |
| 84 | + by @keith-packard. |
| 85 | + + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result, |
| 86 | + the number of bits in an event group also increases with big data type. Contributed |
| 87 | + by @Hadatko. |
| 88 | + + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready |
| 89 | + tasks. Contributed by @Dazza0. |
| 90 | + + Update heap_4 and heap_5 to add padding only if the resulting block is not |
| 91 | + already aligned. |
| 92 | + + Fix the scheduler logic in a couple of places to not preempt a task when an |
| 93 | + equal priority task becomes ready. |
| 94 | + + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden. |
| 95 | + + Fix clang compiler warnings. Contributed by @phelter. |
| 96 | + + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from |
| 97 | + interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY. |
| 98 | + Contributed by @urutva. |
| 99 | + + Add xPortIsInsideInterrupt API to ARM_CM0 ports. |
| 100 | + + Fix build warning in MSP430X port when large data model is used. |
| 101 | + + Add the ability to use Cortex-R5 port on the parts without FPU. |
| 102 | + + Fix build warning in heap implementations on PIC24/dsPIC. |
| 103 | + + Update interrupt priority asserts for Cortex-M ports so that these do not fire |
| 104 | + on QEMU which does not implement PRIO bits. |
| 105 | + + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority. |
| 106 | + configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings |
| 107 | + these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc. |
| 108 | + + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed |
| 109 | + by @jacky309. |
| 110 | + + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain. |
| 111 | + + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu. |
| 112 | + + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate. |
| 113 | + |
3 | 114 | Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022 |
4 | 115 | + Updated the kernel version in manifest and SBOM |
5 | 116 |
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