We are pleased to announce the release of Zephyr RTOS version 2.2.0.
Major enhancements with this release include:
We added initial support for 64-bit ARMv8-A architecture (Experimental).
CANopen protocol support through 3rd party CANopenNode stack
LoRa support was added through integration of the Semtech LoRaWAN endpoint stack and addition of a new SX1276 LoRa modem driver.
The following sections provide detailed lists of changes by component.
Deprecated in this release¶
SETTINGS_USE_BASE64, encoding values in base64 is marked for removal.
Stable API changes in this release¶
GPIO API has been reworked to support flags known from Linux DTS GPIO bindings. They will typically be defined in the board DTS file
GPIO_ACTIVE_LOW, GPIO_ACTIVE_HIGH used to set pin active level
GPIO_OPEN_DRAIN, GPIO_OPEN_SOURCE used to configure pin as open drain or open source
GPIO_PULL_UP, GPIO_PULL_DOWN used to configure pin bias
Reading / writing of pin logical level is supported by gpio_pin_get, gpio_pin_set functions.
Reading / writing of pin physical level is supported by gpio_pin_get_raw, gpio_pin_set_raw functions.
New set of port functions that operate simultaneously on multiple pins that belong to the same controller.
Interrupts should be configured by a dedicated gpio_pin_interrupt_configure() function. Configuring interrupts via gpio_pin_configure() is still supported but this feature will be removed in future releases.
New set of flags allows to set arbitrary interrupt configuration (if supported by the driver) based on pin physical or logical levels.
New set of flags to configure pin as input, output or in/out as well as set output initial state.
Majority of the old GPIO API has been deprecated. While the care was taken to preserve backward compatibility due to the scope of the work it was not possible to fully achieve this goal. We recommend to switch to the new GPIO API as soon as possible.
Areas where the deprecated API may behave differently to the original old implementation are:
Configuration of pin interrupts, especially involving GPIO_INT_ACTIVE_LOW and GPIO_POL_INV flags.
Behavior of gpio_pin_configure() when invoked without interrupt related flags. In the new implementation of this deprecated functionality the interrupts remain unmodified. In the original implementation some of the GPIO drivers would disable the interrupts.
Several drivers that rely on the functionality provided by the GPIO API were reworked to honor pin active level. Any external users of these drivers will have to update their DTS board files.
majority of the sensor drivers
The pwm_pin_set_cycles(), pwm_pin_set_usec(), and pwm_pin_set_nsec() functions now take a flags parameter. The newly introduced flags are PWM_POLARITY_NORMAL and PWM_POLARITY_INVERTED for specifying the polarity of the PWM signal. The flags parameter can be set to 0 if no flags are required (the default is PWM_POLARITY_NORMAL).
Similarly, the pwm_pin_set_t PWM driver API function function now takes a flags parameter. The PWM controller driver must check the value of the flags parameter and return -ENOTSUP if any unsupported flag is set.
The usb_enable() function, which was previously invoked automatically by the USB stack, now needs to be explicitly called by the application in order to enable the USB subsystem.
The usb_enable() function now takes a parameter, usb_dc_status_callback which can be set by the application to a callback to receive status events from the USB stack. The parameter can also be set to NULL if no callback is required.
nRF flash driver
The nRF Flash driver has changed its default write block size to 32-bit aligned. Previous emulation of 8-bit write block size can be selected using the CONFIG_SOC_FLASH_NRF_EMULATE_ONE_BYTE_WRITE_ACCESS Kconfig option. Usage of 8-bit write block size emulation is only recommended for compatibility with older storage contents.
The callback prototype (clock_control_cb_t) has now additional argument (clock_control_subsys_t) indicating which clock subsystem got started.
Removed APIs in this release¶
SHELL_CREATE_STATIC_SUBCMD_SET (deprecated), replaced by SHELL_STATIC_SUBCMD_SET_CREATE
SHELL_CREATE_DYNAMIC_CMD (deprecated), replaced by SHELL_DYNAMIC_CMD_CREATE
- Newtron Flash File System (NFFS) was removed. NFFS was removed since it has
serious issues, not fixed since a long time. Where it was possible NFFS usage was replaced by LittleFS usage as the better substitute.
Addressed some race conditions observed on SMP-enabled systems
Propagate a distinct error code if a workqueue item is submitted that has already been completed
Disable preemption when handing fatal errors
Fix an issue with the sytsem call stack frame if the system call is preempted and then later tries to Z_OOPS()
add k_thread_stack_space_get() system call for analyzing thread stack space. Older methods which had problems in some cases or on some architectures like STACK_ANALYZE() are now deprecated.
Many kernel object APIs now optionally return runtime error values instead of relying on assertions. Whether these return values, fail assertions, or do no checking at all is controlled by the new Kconfig options ASSERT_ON_ERRORS, NO_RUNTIME_CHECKS, RUNTIME_ERROR_CHECKS.
Cleanups to the arch_cpu_start() API
Spinlock validation now dumps the address of the incorrectly used spinlock
Various improvements to the assertion mechanism
k_poll() may be passed 0 events, in which case it just puts the caller to sleep
Add k_thread_foreach_unlocked() API
Add an assertion if k_sleep() is called from an ISR
Numerous 64-bit fixes, mostly related to data type sizes
k_mutex_unlock() is now correctly a rescheduling point
Calling k_thread_suspend() on the current thread now correctly invokes the scheduler
Calling k_thread_suspend() on any thread cancels any pending timeouts for that thread
Fix edge case in meta-IRQ preemption of co-operative threads
Fixed several irq-handling related issues
Added initial support for ARMv8-A 64-bit architecture (Experimental)
Added support for Direct Dynamic Interrupts in ARM Cortex-M
Fixed several critical bugs in ARM Cortex-R architecture port
Fixed several critical bugs in Stack Limit checking for ARMv8-M
Added QEMU emulation support for ARM Cortex-A53
Enhanced QEMU emulation support for ARM Cortex-R architecture
Enhanced test coverage for ARM-specific kernel features
Added support for GIC SGI and PPI interrupt types
Refactored GIC driver to support multiple GIC versions
Fix an issue with Kconfig values larger than INT_MAX
Fix an issue where callee-saved registers could be unnecessarily saved on the stack when handling exceptions on x86_64
Fix a potential race with saving RFLAGS on context switch on x86_64
Enable 64-bit mode and X2APIC for the ‘acrn’ target
Add a poison value of 0xB9 to RIP if a thread is dispatched on multiple cores
Implement CONFIG_USERSPACE on x86_64
Fix an issue where reserved memory could be overwritten when loading the Zephyr image on qemu_x86_64
x86_64 will now exit QEMU when encountering a fatal error, much like 32-bit already does
Cleanups and improvements to exception debug messages
Boards & SoC Support¶
Added support for these SoC series:
NXP i.MX RT1011
Silicon Labs EFM32GG11B
Silicon Labs EFM32JG12B
Intel Apollolake Audio DSP
Added support for these Xtensa boards:
Up Squared board Audio DSP
Added support for these ARM boards:
Atmel SAM 4E Xplained Pro
Atmel SAM E54 Xplained Pro
Atmel SAM V71 Xplained Ultra
Cortex-A53 Emulation (QEMU)
Google Kukui EC
NXP i.MX RT1010 Evaluation Kit
Silicon Labs EFM32 Giant Gecko GG11
Silicon Labs EFM32 Jade Gecko
ST Nucleo F767ZI
ST Nucleo G474RE
ST Nucleo L152RE
ST Nucleo L452RE
ST STM32G0316-DISCO Discovery kit
Removed support for these ARM boards:
Added support for these following shields:
ST7789V Display generic shield
TI LMP90100 Sensor Analog Frontend (AFE) Evaluation Board (EVB)
Removed support for these following shields:
Link board CAN
Drivers and Sensors¶
Added LMP90xxx driver with GPIO
Update SPI driver to new GPIO API
Minor fixes to H:5 (Three-wire UART) driver
Support for CAN_2 on STM32, but no simultaneous use of CAN_1 and CAN_2.
Support for STM32F3 and STM32F4 series
Added SocketCAN support to mcux flexcan driver
Fixed bit timing conversion in stm32 driver
Introduced can-primary device tree alias
Modified driver for nRF platform to use single device with multiple subsystems, one for each clock source.
The counter_read() API function is deprecated in favor of counter_get_value(). The new API function adds a return value for indicating whether the counter was read successfully.
Added missing syscalls
Added AES GCM, ECB, and CBC support to crypto_mtls_shim
Added stm32 CRYP driver
Added generic display driver sample
Added support for BGR565 pixel format
Added support for LVGL v6.1
Introduced KSCAN based ft5336 touch panel driver
Added support for LVGL touch input device
dw: renaming cavs drivers into DesignWare
stm32: improvements over channels support
Added EEPROM driver for STM32L0 and STM32L1 SoC series
Added EEPROM simulator (replacing native_posix EEPROM driver)
Added support for sam0
Added LiteX PRBS module driver
Support for SiLabs Giant Gecko GG11 Ethernet driver
Fixed Ethernet networking for LiteX VexRiscv
Added Nordic JEDEC QSPI NOR flash driver
Unified native_posix flash driver with drivers/flash/flash_simulator
fixed: erase native_posix flash in initialization
extend MCUX flash drive to support LPC55xxx devices
stm32: Replace register accesses for Flash driver to use STM32Cube
Nios2: qspi unaligned read support
sam0: Add support for SAME54
Added the flash driver of the stm32f1x family
Updated all drivers to the new API
Added LiteX GPIO driver
Enabled interrupts by default in stm32 driver
Added I2C shell with scan command
Added LiteX I2C controller driver
Added STM32G0X support to stm32 driver
Added support for bus idle timeout property to mcux lpspi driver
Added support for SAME54 to sam0 driver
Add support for IEEE 802.15.4 rf2xxx driver
Added support for multiple GIC versions
Renamed s1000 driver to cavs
Added SweRV Programmable Interrupt Controller driver
Fixed invalid channel bug for RV32M1 interrupt controller
Added ft5336 touch panel driver
Fixed up ws2812 driver
Added APIs and drivers needed to support LoRa technology by reusing the LoRaMac-node library.
Add support for generic GSM modem
Removed CC2650 driver
Added RV32M1 timer/PWM driver
Added LiteX PWM peripheral driver
Added support for intverted PWM signals
Fixed DRDY interrupt in lis3mdl driver
Added nxp kinetis temperature sensor driver
Reworked ccs811 driver
Fixed tmp007 driver to use i2c_burst_read
Introduced sensor shell module
Added ms5607 driver
nRF UARTE driver support TX only mode with receiver permanently disabled.
Enabled shared interrupts support in uart_pl011 driver
Implemented configure API in ns16550 driver
Removed cc2650 driver
Added async API system calls
Added support for samv71 to sam driver
Added support for same54 support to sam0 driver
Added PM busy state support in DW driver
Added Gecko SPI driver
Added mcux flexcomm driver
Optimized reads of MTIME/MTIMECMP on 64-bit RISC-V
Added per-core ARM architected timer driver
Added support for same54 to sam0 rtc timer driver
Add support for SAMV71 SoC
Add support for SAME54 SoC
Extend USB device support to all NXP IMX RT boards
Added SiLabs Gecko watchdog driver
Added system calls
Fixed callback call on stm32 wwdg enable
Reworked offloading mechanism in eswifi and simplelink drivers
Add support to configure OpenThread Sleepy End Device (SED)
Add 64-bit support to net_buf APIs
Add support for IEEE 802.15.4 rf2xxx driver
Add TLS secure renegotiation support
Add support for Timestamp and Record Route IPv4 options. They are only used for ICMPv4 Echo-Request packets.
Add sample cloud application that shows how to connect to Azure cloud
Add optional timestamp resource to some of the LWM2M IPSO objects
Add support to poll() which can now return immediately when POLLOUT is set
Add support to PPP for enabling connection setup to Windows
Add signed certificate support to echo-server sample application
Add support for handling multiple simultaneous mDNS requests
Add support for SiLabs Giant Gecko GG11 Ethernet driver
Add support for generic GSM modem which uses PPP to connect to data network
Add UTC offset and timezone support to LWM2M
Add RX time statistics support to packet socket
Update ACK handling in IEEE 802.154 nrf5 driver and OpenThread
Update MQTT PINGREQ count handling
Update wpan_serial sample to support more boards
Update Ethernet e1000 driver debugging prints
Update OpenThread to use settings subsystem
Update IPv6 to use interface prefix in routing
Update socket offloading support to support multiple registered interfaces
Fix checks when waiting network interface to come up in configuration
Fix zperf sample issue when running out of network buffers
Fix PPP IPv4 Control Protocol (IPCP) handling
Fix native_posix Ethernet driver to read data faster
Fix PPP option handling
Fix MQTT to close connection faster
Fix 6lo memory corruption during uncompression
Fix echo-server sample application accept handling
Fix Websocket to receive data in small chunks
Fix Virtual LAN (VLAN) support to add link local address to network interface
Various fixes to new TCP stack implementation
Remove NATS sample application
CANopen protocol support through 3rd party CANopenNode stack.
Added native ISO-TP subsystem.
Introduced CAN-PRIMARY alias.
SocketCAN for MCUX flexcan.
GAP: Add dynamic LE scan listener API
GAP: Pre-allocate connection objects for connectable advertising and whitelist initiator.
GAP: Fixes for multi-identity support
GAP: RPA timeout handling fixes
GAP: Add remote version information
GATT: Add return value to cfg_write callback
L2CAP: move channel processing to the system workqueue
L2CAP: multiple fixes for credit-based flowcontrol
SMP: Add pairing_accept callback
SMP: Fix Security Manager timeout handling
Add support for Mesh Configuration Database
Multiple fixes to Friendship feature
Add support for sending segmented control messages
Add support for sending reliable model publication messages
BLE split software Controller:
Multiple fixes, including all those required to pass qualification
Implemented software-deferred privacy for platforms without built-in address resolution support
Added dynamic TX power control, including a set of vendor-specific commands to read and write the TX power
Added a Kconfig option, BT_CTLR_PARAM_CHECK, to enable addtional parameter checking
Added basic support for SMI (Stable Modulation Index)
Ticker: Implemented dynamic rescheduling
Nordic: switched to using a single clock device for clock control
openisa: Added encryption and decryption support
BLE legacy software Controller:
Added dynamic TX power control support
USB Device Stack¶
API: Add support for user device status callback
Rework switching to alternate interface
Make USB Descriptor power options configurable
Derive USB device Serial Number String from HWINFO (required by USB MSC)
Move USB transfer functions to appropriate file as preparation for the rework
Windows OS compatibility: Set USB version to 2.1 when using BOS descriptor
Convert VBUS control to new GPIO API
CDC ACM: Memory and performance improvements, avoid ZLP during IN transactions
DFU: Limit upload length during DFU_UPLOAD to the request buffer size
Loopback: Re-trigger usb_write after interface configuration event
Build and Infrastructure¶
The minimum Python version supported by Zephyr’s build system and tools is now 3.6.
devicetree.conf, along with various related identifiers. Including
generated_dts_board.hnow generates a warning saying to include
Libraries / Subsystems¶
LoRa support was added through official LoRaMac-node reference implementation.
Improvements in immediate mode: less interrupts locking, better RTT usage, logging from thread context.
Improved notification about missing log_strdup.
mbedTLS updated to 2.16.4
HALs are now moved out of the main tree as external modules and reside in their own standalone repositories.
settings: include missing API subgoups into the documentation
Documentation for new boards and samples.
Improvements and clarity of API documentation.
Tests and Samples¶
Added sample for show settings subsystem API usage