## RTEMS 6.1 Release Notes ### RTEMS Improvements In this section, we discuss public API level changes as well as improvements to the implementation of those API routines. Public API changes usually fall into one of the following categories: * Addition of new methods * Modifications to prototypes * Deletion of obsoleted methods Implementation improvements usually fall into one of the following categories: * Algorithm improvements in execution time or memory usage * Critical section reduction ### API Changes * If the processor set is not large enough to contain the processor set of the scheduler, then `rtems_scheduler_get_processor_set()` returns `RTEMS_INVALID_SIZE` instead of `RTEMS_INVALID_NUMBER`. * If the processor set is not large enough to contain the processor affinity set of the task, then `rtems_task_get_affinity()` returns `RTEMS_INVALID_SIZE` instead of `RTEMS_INVALID_NUMBER`. * If time-of-day argument is `NULL`, then `rtems_timer_fire_when()`, `rtems_timer_server_fire_when()`, and `rtems_task_wake_when()` return `RTEMS_INVALID_ADDRESS` instead of `RTEMS_INVALID_CLOCK`. * The time-of-day arguments in `rtems_timer_fire_when()`, `rtems_timer_server_fire_when()`, and `rtems_task_wake_when()` were constified. * If the entry point is `NULL`, then `rtems_task_start()` returns now `RTEMS_INVALID_ADDRESS`. * If `rtems_task_delete()` is called from within interrupt context, then it returns now `RTEMS_CALLED_FROM_ISR`. * The rate monotonic period statistics are no longer affected by `rtems_cpu_usage_reset()`. * Termios * `txTaskCharsDequeued` has been added to `struct rtems_termios_tty`. With that the size of the structure changed. Libraries and applications that use the structure should be recompiled. * The `l_start` line discipline function now receives the number of characters that have been sent. It is save to ignore the extra parameter for applications that don't need it. * The system termination procedure was simplified and the CPU port provided fatal halt handler was removed. See the section *23.2.2. System Termination Procedure* in the *RTEMS Classic API Guide*. * The fatal extensions are now invoked with maskable interrupts disabled. * The signature of the BSP reset function changed to `RTEMS_NO_RETURN void bsp_reset(rtems_fatal_source source, rtems_fatal_code code)`. This allows BSPs to pass the reset cause to a monitor or save it for the next boot sequence. * The event record version changed (`RTEMS_RECORD_THE_VERSION`). You need the corresponding host tools to work with the record data. The `rtems_record_client_init()` directive returns now a status code. #### API Additions * `RTEMS_ALIGN_UP()` * `RTEMS_ALIGN_DOWN()` * `rtems_get_build_label()` * `rtems_get_target_hash()` * `rtems_interrupt_clear()` * `rtems_interrupt_entry_initialize()` * `RTEMS_INTERRUPT_ENTRY_INITIALIZER()` * `rtems_interrupt_entry_install()` * `rtems_interrupt_entry_remove()` * `rtems_interrupt_get_affinity()` * `rtems_interrupt_get_attributes()` * `rtems_interrupt_get_priority()` * `rtems_interrupt_handler_install()` * `rtems_interrupt_handler_iterate()` * `rtems_interrupt_handler_remove()` * `rtems_interrupt_is_pending()` * `rtems_interrupt_raise()` * `rtems_interrupt_raise_on()` * `rtems_interrupt_server_action_prepend()` * `rtems_interrupt_server_create()` * `rtems_interrupt_server_delete()` * `rtems_interrupt_server_entry_destroy()` * `rtems_interrupt_server_entry_initialize()` * `rtems_interrupt_server_entry_move()` * `rtems_interrupt_server_entry_submit()` * `rtems_interrupt_server_handler_install()` * `rtems_interrupt_server_handler_iterate()` * `rtems_interrupt_server_handler_remove()` * `rtems_interrupt_server_initialize()` * `rtems_interrupt_server_move()` * `rtems_interrupt_server_request_destroy()` * `rtems_interrupt_server_request_initialize()` * `rtems_interrupt_server_request_set_vector()` * `rtems_interrupt_server_request_submit()` * `rtems_interrupt_server_resume()` * `rtems_interrupt_server_set_affinity()` * `rtems_interrupt_server_suspend()` * `rtems_interrupt_set_affinity()` * `rtems_interrupt_set_priority()` * `rtems_interrupt_vector_disable()` * `rtems_interrupt_vector_enable()` * `rtems_interrupt_vector_is_enabled()` * `RTEMS_MESSAGE_QUEUE_BUFFER()` * `rtems_message_queue_construct()` * `RTEMS_PARTITION_ALIGNMENT` * `rtems_record_get_item_count_for_fetch()` * `rtems_record_fetch_initialize()` * `rtems_record_fetch()` * `rtems_task_construct()` * `RTEMS_TASK_STORAGE_SIZE()` * `RTEMS_TASK_STORAGE_ALIGNMENT` #### API Implementation Improvements * The Classic API signal processing was reworked to avoid possible infinite recursions. It is still strongly recommended to use the `RTEMS_NO_ASR` task mode for the signal handler. * Zero size allocation results are now consistent accross directives, for example `malloc( 0 )` and `posix_memalign( &p, align, 0 )` return now a unique pointer (or `NULL` if the heap is empty). In POSIX, zero size memory allocations are implementation-defined behaviour. The implementation has two options: * https://pubs.opengroup.org/onlinepubs/9699919799/functions/malloc.html * https://pubs.opengroup.org/onlinepubs/9699919799/functions/posix_memalign.html Linux and FreeBSD return a unique pointer for zero size memory allocations. This approach is now also used in RTEMS as well throughout the memory allocation directives #### API Deprecations * `rtems_iterate_over_all_threads()`. Use `rtems_task_iterate()` instead. * `_Copyright_Notice` is deprecated. Use `rtems_get_copyright_notice()` instead. * `_RTEMS_version` is deprecated. Use `rtems_get_version_string()` instead. * `RTEMS_COMPILER_NO_RETURN_ATTRIBUTE` is deprecated. Use `RTEMS_NO_RETURN` instead. * `RTEMS_COMPILER_PURE_ATTRIBUTE` is deprecated. Use `RTEMS_PURE` instead. * `RTEMS_COMPILER_DEPRECATED_ATTRIBUTE` is deprecated. Use `RTEMS_DEPRECATED` instead. * `RTEMS_COMPILER_UNUSED_ATTRIBUTE` is deprecated. Use `RTEMS_UNUSED` instead. * `RTEMS_COMPILER_PACKED_ATTRIBUTE` is deprecated. Use `RTEMS_PACKED` instead. #### API Removals * The obsoleted header file was removed. * The never implemented `rtems_interrupt_cause()` directive was removed. * Support for the RTEMS thread model used by GCC versions prior to 6.1 was removed (for example `rtems_gxx_once()`). * The obsoleted `rtems_get_current_processor()` directive was removed. Use `rtems_scheduler_get_processor()` instead. * The obsoleted `rtems_get_processor_count()` directive was removed. Use `rtems_scheduler_get_processor_maximum()` instead. * The obsoleted `boolean` type was removed. Use `bool` instead. * The obsoleted `single_precision` type was removed. Use `float` instead. * The obsoleted `double_precision` type was removed. Use `double` instead. * The obsoleted `proc_ptr` type was removed. Use a proper function pointer type. * The obsoleted `rtems_context` type was removed. * The obsoleted `rtems_context_fp` type was removed. * The obsoleted `rtems_extension` type was removed. Use `void` instead. * The obsoleted `rtems_io_lookup_name()` type was removed. Use `stat()` instead. * The obsoleted `region_information_block` was removed. Use `Heap_Information_block` instead. * The obsoleted `rtems_thread_cpu_usage_t` type was removed. Use `struct timespec` instead. * The obsoleted `rtems_rate_monotonic_period_time_t` type was removed. Use `struct timespec` instead. * The obsoleted `RTEMS_MAXIMUM_NAME_LENGTH` define was removed. Use `sizeof(rtems_name)` instead. * The `rtems_record_drain()` was removed, use `rtems_record_fetch()` instead. * The `rtems_record_writev()` was removed, use `write()` instead. ### SMP Support Improvements * The SMP EDF scheduler affinity handling was improved to ensure FIFO fairness. * The SMP scheduler framework was reworked to fix potential data corruption issues and priority group ordering violations. ### Configuration Changes * Configuration changes: * `CONFIGURE_FILESYSTEM_ALL` no longer includes `CONFIGURE_FILESYSTEM_NFS`. Use `CONFIGURE_FILESYSTEM_NFS` explicitly if it is needed. * New configuration options: * `CONFIGURE_IDLE_TASK_STORAGE_SIZE` * `CONFIGURE_INIT_TASK_CONSTRUCT_STORAGE_SIZE` * `CONFIGURE_MAXIMUM_THREAD_LOCAL_STORAGE_SIZE` * `CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE` * `CONFIGURE_RECORD_INTERRUPTS_ENABLED` * `CONFIGURE_STACK_CHECKER_REPORTER` * `CONFIGURE_TASK_STACK_ALLOCATOR_FOR_IDLE` * Renamed configuration options: * See issues and MRs * Removed configuration options: * See issues and MRs ## RTEMS Shell Improvements The following improvements were made to the RTEMS Shell: * See issues and MRs ## General * The obsolete libmisc/serdbg was removed. Use libdebugger instead. This functionality was not built as part of the 5 release series in anticipation of its removal. ## Architectures Removed obsoleted architectures: * Epiphany * PowerPC SPE Obsoleted architectures: * Blackfin (bfin) * Lattice Mico 32 (lm32) * SPARC64 * SuperH (sh) * V850 ## BSPs and Device Drivers * General * See issues and MRs * New Architectures * aarch64 * microblaze * New BSPs * `aarch64/a53_ilp32_qemu` * `aarch64/a53_lp64_qemu` * `aarch64/a72_ilp32_qemu` * `aarch64/a72_lp64_qemu` * `aarch64/raspberrypi4b` * `aarch64/versal_aiedge` * `aarch64/versal_qemu` * `aarch64/versal_vck190` * `aarch64/zynqmp_qemu_ilp32` * `aarch64/zynqmp_apu_ilp32` * `aarch64/zynqmp_apu` * `aarch64/zynqmp_cfc400x` * `aarch64/zynqmp_qemu` * `arm/bbxm` * `arm/fvp` * `arm/fvp_r52` * `arm/imxrt1052` * `arm/imxrt1166-cm7-saltshaker` * `arm/nucleo-h743zi` * `arm/nucleo-h755zi` * `arm/stm32h7` * `arm/stm32h747i-disco` * `arm/stm32h747i-disco-m4` * `arm/stm32h750b-dk` * `arm/stm32h757i-eval` * `arm/stm32h757i-eval-m4` * `arm/stm32h7b3i-dk` * `arm/tms570lc4357_hdk` * `arm/tms570lc4357_hdk_sdram` * `arm/xilinx_zynq_microzed` * `arm/xilinx_zynq_picozed` * `arm/xilinx_zynq_pynq` * `arm/xilinx_zynq_zybo` * `arm/xilinx_zynq_zybo_z7` * `arm/zynqmp_rpu_lock_step` * `arm/zynqmp_rpu_split_0` * `arm/zynqmp_rpu_split_1` * `microblaze/kcu105` * `microblaze/kcu105_qemu` * `powerpc/mvme2700` * `riscv/niosvc10lp` * `riscv/noel32im` * `riscv/noel32imafd` * `riscv/noel64imac` * `riscv/noel64imafd` * `riscv/noel64imafdc` * `riscv/kendrytek210` * `riscv/mpfs64imafdc` * `x86_64/amd64efi` * Significant updates to existing BSPs * `ARCH/BSP`: See issues and MRs * Removal of obsoleted BSPs * `arm/tms570ls3137_hdk_with_loader` * `epiphany/epiphany_sim` * `powerpc/brs5l` * `powerpc/brs6l` * `powerpc/dp2` * `powerpc/haleakala` * `powerpc/mpc5566evb_spe` * `powerpc/mpc5643l_dpu` * `powerpc/mpc5643l_evb` * `powerpc/mpc5674f_ecu508_app` * `powerpc/mpc5674f_ecu508_boot` * `powerpc/mpc5674fevb_spe` * `powerpc/mpc5674f_rsm6` * `riscv/rv32i_clang` * `riscv/rv32iac_clang` * `riscv/rv32im_clang` * `riscv/rv32imac_clang` * `riscv/rv32imafc_clang` * `riscv/rv32imafd_clang` * `riscv/rv32imafdc_clang` * `riscv/rv64imac_medany` * `riscv/rv64imafd_medany` * `riscv/rv64imafdc_clang` * `riscv/rv64imafdc_medany` * Obsoleted BSPs * `bfin/TLL6527M` * `bfin/bf537Stamp` * `bfin/eZKit533` * `lm32/lm32_evr` * `lm32/lm32_evr_gdbsim` * `lm32/milkymist` * `m68k/gen68302` * `m68k/csb360` * `m68k/gen68340` * `m68k/gen68360` * `m68k/gen68360_040` * `m68k/pgh360` * `m68k/mcf5206elite` * `m68k/mcf52235` * `m68k/mcf5225x` * `m68k/mrm332` * `m68k/mvme147` * `m68k/mvme147s` * `m68k/mvme162` * `m68k/mvme162lx` * `m68k/mvme167` * `m68k/ods68302` * `powerpc/mbx8xx` * `sparc64/niagara` * `sparc64/usiii` * `sh/gensh1` * `sh/gensh2` * `sh/gensh4` * `sh/simsh1` * `sh/simsh2` * `sh/simsh2e` * `sh/simsh4` * `v850/v850e1sim` * `v850/v850e2sim` * `v850/v850e2v3sim` * `v850/v850esim` * `v850/v850essim` * `v850/v850sim` * Drivers * See issues and MRs ## Newlib Changes * Add `futimens()` and `utimensat()` ## Ecosystem * Improved GCOV support for RTEMS and embedded systems in general. See GCC options `-fprofile-info-section` and `-fprofile-update=atomic`. The `libgcov` provides now the `__gcov_info_to_gcda()` function to dump the GCOV information. ## Debugger Improvements * `rtems-gdb` now supports auto-loading of Python - allowing for pretty-printing support. All C++ STL Structures are now pretty-printed, and support for additional structures (including RTEMS SCORE) can be added using Python.