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Zephyr Kernel 1.6.0 Release Notes

We are pleased to announce the release of Zephyr kernel version 1.6.0. This release introduces a the unified Kernel replacing the separate nano- and micro-kernels and simplifying the overall Zephyr architecture and programming interfaces. Support for the ARM Cortex-M0/M0+ family was added and board support for Cortex-M was expanded. Additionally, this release adds many improvements for documentation, build infrastructure, and testing.

Major enhancements included with the release:

  • Introduced the Unified Kernel; the nano and micro kernel were removed.
  • The legacy API is still supported but deprecated.
  • Legacy tests and samples were moved to tests/legacy and samples/legacy.
  • Unified kernel documentation was added and legacy nanokernel/microkernel documentation was removed.
  • Added support for several ARM Cortex-M boards
  • Added support for USB mass storage and access to the filesystem.
  • Added native Bluetooth Controller support. Currently nRF51 & nRF52 are supported.

A detailed list of changes since v1.5.0 by component follows:

Kernel

  • Introduced the unified kernel.
  • Removed deprecated Tasks IRQs.
  • Removed deprecated dynamic interrupt API.
  • Added DLIST to operate in all elements of a doubly-linked list.
  • SLIST: Added sys_slist_get() to fetch and remove the head, also Added append_list and merge_slist.
  • Added nano_work_pending to check if it is pending execution.
  • Unified: Added support for k_malloc and k_free.
  • Renamed kernel objects event to alert and memory map to memory slab.
  • Changed memory pool, memory maps, message queues and event handling APIs.

Architectures

  • ARC: Removed CONFIG_TIMER0_CLOCK_FREQ.
  • ARC: Unified linker scripts.
  • ARC: Removed dynamic interrupts.
  • ARM: Added choice to use floating point ABI.
  • ARM: Added NXP Kinetis kconfig options to configure clocks.
  • ARM: Removed dynamic interrupts and exceptions.
  • ARM: Atmel: Added constants and structures for watchdog registers.
  • ARM: Added support for ARM Cortex-M0/M0+.
  • x86: Removed dynamic interrupts and exceptions.
  • x86: Declared internal API for interrupt controllers.
  • x86: Changed IRQ controller to return -1 if cannot determine source vector.
  • x86: Grouped Quark SoC's under intel_quark family.
  • x86: Optimized and simplified IRQ and exception stubs.

Boards

  • Renamed board Quark SE devboard to Quark SE C1000 devboard.
  • Renamed board Quark SE SSS devboard to Quark SE C1000 SS devboard.
  • Quark SE C1000: Disabled IPM and enabled UART0 on the Sensor SubSytem.
  • Removed basic_cortex_m3 and basic_minuteia boards.
  • Arduino 101: Removed backup/restore scripts. To restore original bootloader use flashpack utility instead.
  • Renamed nRF52 Nitrogen to 96Boards Nitrogen.
  • Added ARM LTD Beetle SoC and V2M Beetle board.
  • Added Texas Instruments CC3200 LaunchXL support.
  • Added support for Nordic Semiconductor nRF51822.
  • Added support for NXP Hexiwear board.

Drivers and Sensors

  • SPI: Fixed typos in SPI port numbers.
  • Pinmux: Removed Quark dev unused file.
  • I2C: Added KSDK shim driver.
  • Ethernet: Added KSDK shim driver.
  • Flash: Added KSDK shim driver
  • I2C: Changed config parameters to SoC specific.
  • QMSI: Implemented suspend and resume functions QMSI shim drivers
  • Added HP206C sensor.
  • Changed config_info pointers to const.
  • Added support for SoCWatch driver.
  • Added FXOS8700 accelerometer / magnetometer sensor driver.

Networking

  • Minor fixes to uIP networking stack (This will be deprecated in 1.7)

Bluetooth

  • Added native Bluetooth Controller support. Currently nRF51 & nRF52 are supported.
  • New location for Controller & Host implementations: subsys/bluetooth/
  • Added raw HCI API to enable physical HCI transport for a Controller-only build.
  • Added sample raw HCI apps for USB and UART.
  • Added cross-transport pairing support for the Security Manager Protocol.
  • Added RFCOMM support (for Bluetooth Classic)
  • Added basic persistent storage support (filesystem-backed)
  • Renamed bt_driver API to bt_hci_driver, in anticipation of Bluetooth radio drivers.

Build Infrastructure

  • Makefile: Changed outdir into board-specific directory to avoid build collisions.
  • Makefile: Changed to use HOST_OS environment variable.
  • Makefile: Added support for third party build systems.
  • Sanity: Added support to filter using environment variables.
  • Sanity: Added support for multiple toolchains.
  • Sanity: Added ISSM and ARM GCC embedded toolchains to the supported toolchains.
  • Sanity: Added extra arguments to be passed to the build.
  • Sanity: Removed linker VMA/LMA offset check.
  • Sysgen: Added --kernel_type argument.
  • Modified build infrastructure to support unified kernel.
  • SDK: Zephyr: Added check for minimum required version.
  • Imported get_maintainer.pl from Linux kernel.

Libraries

  • libc: Added subset of standard types in inttypes.h.
  • libc: Added support for 'z' length specifier.
  • libc: Removed stddef.h which is provided by the compiler.
  • libc: printf: Improved code for printing.
  • printk: Added support for modifiers.
  • Added CoAP implementation for Zephyr.
  • File system: Added API to grow or shrink a file.
  • File system: Added API to get volume statistics.
  • File system: Added API to flush cache of an opened file.

HALs

  • QMSI: Updated to version 1.3.1.
  • HAL: Imported CC3200 SDK.
  • Imported Nordic MDK nRF51 files.
  • Imported Kinetis SDK Ethernet phy driver.
  • Imported SDK RNGA driver.

Documentation

  • Drivers: Improved Zephyr Driver model.
  • Updated device power management API.
  • Unified Kernel primer.
  • Moved supported board information to the wiki.zephyrproject.org site.
  • Revised documentation for Kernel Event logger and Timing.

Test and Samples

  • Fixed incorrect printk usage.
  • Removed test for dynamic exceptions.
  • Added USB sample.
  • Added tests and samples for CoAP client and server.
  • Added philosophers unified sample.
  • Removed printf/printk wrappers.
  • Added Unified kernel API samples.
  • Imported tinycrypt test cases for CTR, ECC DSA and ECC DH algorithm.

Deprecations

  • Deprecated microkernel and nanokernel APIs.
  • Removed dynamic IRQs and exceptions.
  • Removed Tasks IRQs.

JIRA Related Items

  • [ZEP-308] - Build System cleanup and Kernel / Application build separation
  • [ZEP-334] - Unified Kernel
  • [ZEP-766] - USB Mass Storage access to internal filesystem
  • [ZEP-1090] - CPU x86 save/restore using new QMSI bootloader flow
  • [ZEP-1173] - Add support for bonding remove
  • [ZEP-48] - define API for interrupt controllers
  • [ZEP-181] - Persistent storage APIs
  • [ZEP-233] - Support USB mass storage device class
  • [ZEP-237] - Support pre-built host tools
  • [ZEP-240] - printk/printf usage in samples
  • [ZEP-248] - Add a BOARD/SOC porting guide
  • [ZEP-342] - USB DFU
  • [ZEP-451] - Quark SE output by default redirected to IPM
  • [ZEP-521] - ARM - add choice to floating point ABI selection
  • [ZEP-546] - UART interrupts not triggered on ARC
  • [ZEP-584] - warn user if SDK is out of date
  • [ZEP-592] - Sanitycheck support for multiple toolchains
  • [ZEP-605] - SMP over BR/EDR
  • [ZEP-614] - Port tinycrypt 2.0 test cases to Zephyr
  • [ZEP-622] - Add FS API to truncate/shrink a file
  • [ZEP-627] - Port Trickle support from Contiki into current stack
  • [ZEP-635] - Add FS API to grow a file
  • [ZEP-636] - Add FS API to get volume total and free space
  • [ZEP-640] - Remove dynamic IRQs/exceptions from Zephyr
  • [ZEP-653] - QMSI shim driver: Watchdog: Implement suspend and resume callbacks
  • [ZEP-654] - QMSI shim driver: I2C: Implement suspend and resume callbacks
  • [ZEP-657] - QMSI shim driver: AONPT: Implement suspend and resume callbacks
  • [ZEP-661] - QMSI shim driver: SPI: Implement suspend and resume callbacks
  • [ZEP-688] - unify duplicated sections of arch linker scripts
  • [ZEP-715] - Add K64F clock configurations
  • [ZEP-716] - Add Hexiwear board support
  • [ZEP-717] - Add ksdk I2C shim driver
  • [ZEP-718] - Add ksdk ethernet shim driver
  • [ZEP-721] - Add FXOS8700 accelerometer/magnetometer sensor driver
  • [ZEP-737] - Update host tools from upstream: fixdep.c
  • [ZEP-740] - PWM API: Check if 'flags' argument is really required
  • [ZEP-745] - Revisit design of PWM Driver API
  • [ZEP-750] - Arduino 101 board should support one configuration using original bootloader
  • [ZEP-758] - Rename Quark SE Devboard to its official name: Quark SE C1000
  • [ZEP-767] - Add FS API to flush cache of an open file
  • [ZEP-775] - Enable USB CDC by default on Arduino 101 and redirect serial to USB
  • [ZEP-783] - ARM Cortex-M0/M0+ support
  • [ZEP-784] - Add support for Nordic Semiconductor nRF51822 SoC
  • [ZEP-850] - remove obsolete boards basic_minuteia and basic_cortex_m3
  • [ZEP-906] - [unified] Add scheduler time slicing support
  • [ZEP-907] - Test memory pool support (with mailboxes)
  • [ZEP-908] - Add task offload to fiber support
  • [ZEP-909] - Adapt tickless idle + power management for ARM
  • [ZEP-910] - Adapt tickless idle for x86
  • [ZEP-912] - Finish renaming kernel object types
  • [ZEP-916] - Eliminate kernel object API anomalies
  • [ZEP-920] - Investigate malloc/free support
  • [ZEP-921] - Miscellaneous documentation work
  • [ZEP-922] - Revise documentation for Kernel Event Logger
  • [ZEP-923] - Revise documentation for Timing
  • [ZEP-924] - Revise documentation for Interrupts
  • [ZEP-925] - API changes to message queues
  • [ZEP-926] - API changes to memory pools
  • [ZEP-927] - API changes to memory maps
  • [ZEP-928] - API changes to event handling
  • [ZEP-930] - Cutover to unified kernel
  • [ZEP-933] - Unified kernel ARC port
  • [ZEP-934] - NIOS_II port
  • [ZEP-935] - Kernel logger support (validation)
  • [ZEP-954] - Update device PM API to allow setting additional power states
  • [ZEP-957] - Create example sample for new unified kernel API usage
  • [ZEP-959] - sync checkpatch.pl with upstream Linux
  • [ZEP-966] - need support for EM7D SOC on em_starterkit
  • [ZEP-975] - DNS client port to new IP stack
  • [ZEP-981] - Add doxygen documentation to both include/kernel.h and include/legacy.h
  • [ZEP-989] - Cache next ready thread instead of finding out the long way
  • [ZEP-993] - Quark SE (x86): Refactor save/restore execution context feature
  • [ZEP-994] - Quark SE (ARC): Add PMA sample
  • [ZEP-996] - Refactor save/restore feature from i2c_qmsi driver
  • [ZEP-997] - Refactor save/restore feature from spi_qmsi driver
  • [ZEP-998] - Refactor save/restore feature from uart_qmsi driver
  • [ZEP-999] - Refactor save/restore feature from gpio_qmsi driver
  • [ZEP-1000] - Refactor save/restore feature from rtc_qmsi driver
  • [ZEP-1001] - Refactor save/restore feature from wdt_qmsi driver
  • [ZEP-1002] - Refactor save/restore feature from counter_qmsi_aonpt driver
  • [ZEP-1004] - Extend counter_qmsi_aon driver to support save/restore peripheral context
  • [ZEP-1005] - Extend dma_qmsi driver to support save/restore peripheral context
  • [ZEP-1006] - Extend soc_flash_qmsi driver to support save/restore peripheral context
  • [ZEP-1008] - Extend pwm_qmsi driver to support save/restore peripheral context
  • [ZEP-1023] - workq in Kernel primer for unified kernel
  • [ZEP-1030] - Enable QMSI shim drivers of SoC peripherals on the sensor subsystem
  • [ZEP-1043] - Update QMSI to 1.2
  • [ZEP-1045] - Add/Enhance shim layer to wrap SOC specific PM implementations
  • [ZEP-1046] - Implement RAM sharing between bootloader and Zephyr
  • [ZEP-1047] - Adapt to new PM related boot flow changes in QMSI boot loader
  • [ZEP-1106] - Fix all test failures from TCF
  • [ZEP-1107] - Update QMSI to 1.3
  • [ZEP-1109] - Texas Instruments CC3200 LaunchXL Support
  • [ZEP-1119] - move top level usb/ to sys/usb
  • [ZEP-1120] - move top level fs/ to sys/fs
  • [ZEP-1121] - Add config support for enabling SoCWatch in Zephyr
  • [ZEP-1140] - Add a unified kernel version of power_mgr sample app for testing PM code with the new kernel
  • [ZEP-1188] - Add an API to retrieve pending interrupts for wake events
  • [ZEP-1191] - Create wiki page for Hexiwear board
  • [ZEP-1235] - Basic shell support for file system browsing
  • [ZEP-1245] - ARM LTD V2M Beetle Support
  • [ZEP-1313] - porting and user guides must include a security section
  • [ZEP-1386] - Revise power management document to reflect latest changes
  • [ZEP-199] - Zephyr driver model is undocumented
  • [ZEP-436] - Test case tests/kernel/test_mem_safe fails on ARM hardware
  • [ZEP-471] - Ethernet packet with multicast address is not working
  • [ZEP-472] - Ethernet packets are getting missed if sent in quick succession.
  • [ZEP-517] - build on windows failed "zephyr/Makefile:869: *** multiple target patterns"
  • [ZEP-528] - ARC has 2 almost identical copies of the linker script
  • [ZEP-577] - Sample application source does not compile on Windows
  • [ZEP-601] - enable CONFIG_DEBUG_INFO
  • [ZEP-602] - unhandled CPU exceptions/interrupts report wrong faulting vector if triggered by CPU
  • [ZEP-615] - Un-supported flash erase size listed in SPI flash w25qxxdv driver header file
  • [ZEP-639] - device_pm_ops structure should be defined as static
  • [ZEP-686] - docs: Info in "Application Development Primer" and "Developing an Application and the Build System" is largely duplicated
  • [ZEP-698] - samples/task_profiler issues
  • [ZEP-707] - mem_safe test stomps on top of .data and bottom of .noinit
  • [ZEP-724] - build on windows failed: 'make: execvp: uname: File or path name too long'
  • [ZEP-733] - Minimal libc shouldn't be providing stddef.h
  • [ZEP-762] - unexpected "abspath" and "notdir" from mingw make system
  • [ZEP-777] - samples/driver/i2c_stts751: kconfig build warning from "select DMA_QMSI"
  • [ZEP-778] - Samples/drivers/i2c_lsm9ds0: kconfig build warning from "select DMA_QMSI"
  • [ZEP-779] - Using current MinGW gcc version 5.3.0 breaks Zephyr build on Windows
  • [ZEP-845] - UART for ARC on Arduino 101 behaves unexpectedly
  • [ZEP-905] - hello_world compilation for arduino_due target fails when using CROSS_COMPILE
  • [ZEP-940] - Fail to get ATT response
  • [ZEP-950] - USB: Device is not listed by USB20CV test suite
  • [ZEP-961] - samples: other cases cannot execute after run aon_counter case
  • [ZEP-967] - Sanity doesnt build 'samples/usb/dfu' with assertions (-R)
  • [ZEP-970] - Sanity doesnt build 'tests/kernel/test_build' with assertions (-R)
  • [ZEP-982] - Minimal libc has EWOULDBLOCK != EAGAIN
  • [ZEP-1014] - [TCF] tests/bluetooth/init build fail
  • [ZEP-1025] - Unified kernel build sometimes breaks on a missing .d dependency file.
  • [ZEP-1027] - Doccumentation for GCC ARM is not accurate
  • [ZEP-1031] - qmsi: dma: driver test fails with LLVM
  • [ZEP-1048] - grove_lcd sample: sample does not work if you disable serial
  • [ZEP-1051] - mpool allocation failed after defrag twice...
  • [ZEP-1062] - Unified kernel isn't compatible with CONFIG_NEWLIB_LIBC
  • [ZEP-1074] - ATT retrying misbehaves when ATT insufficient Authentication is received
  • [ZEP-1076] - "samples/philosophers/unified" build failed with dynamic stack
  • [ZEP-1077] - "samples/philosophers/unified" build warnings with NUM_PHIL<6
  • [ZEP-1079] - Licensing not clear for imported components
  • [ZEP-1097] - ENC28J60 driver fails on concurrent tx and rx
  • [ZEP-1098] - ENC28J60 fails to receive big data frames
  • [ZEP-1100] - Current master still identifies itself as 1.5.0
  • [ZEP-1101] - SYS_KERNEL_VER_PATCHLEVEL() and friends artificially limit version numbers to 4 bits
  • [ZEP-1124] - tests/kernel/test_sprintf/microkernel/testcase.ini#test failure on frdm_k64f
  • [ZEP-1130] - region 'RAM' overflowed occurs while building test_hmac_prng
  • [ZEP-1138] - Recived packets not being passed to upper layer from IP stack when using ENC28J60 driver
  • [ZEP-1139] - Fix build error when power management is built with unified kernel
  • [ZEP-1141] - Tinycrypt SHA256 test fails with system crash using unified kernel type
  • [ZEP-1144] - Tinycrypt AES128 fixed-key with variable-text test fails using unified kernel type
  • [ZEP-1145] - system hang after tinycrypt HMAC test
  • [ZEP-1146] - zephyrproject.org home page needs technical scrub for 1.6 release
  • [ZEP-1149] - port ztest framework to unified kernel
  • [ZEP-1154] - tests/samples failing with unified kernel
  • [ZEP-1155] - Fix filesystem API namespace
  • [ZEP-1163] - LIB_INCLUDE_DIR is clobbered in Makefile second pass
  • [ZEP-1164] - ztest skip waiting the test case to finish its execution
  • [ZEP-1179] - Build issues when compiling with LLVM from ISSM (icx)
  • [ZEP-1182] - kernel.h doxygen show unexpected "asm" blocks
  • [ZEP-1183] - btshell return "panic: errcode -1" when init bt
  • [ZEP-1195] - Wrong ATT error code passed to the application
  • [ZEP-1199] - [L2CAP] No credits to receive packet
  • [ZEP-1219] - [L2CAP] Data sent exceeds maximum PDU size
  • [ZEP-1221] - Connection Timeout during pairing
  • [ZEP-1226] - cortex M7 port assembler error
  • [ZEP-1227] - ztest native testing not working in unified kernel
  • [ZEP-1232] - Daily build is failing asserts
  • [ZEP-1234] - Removal of fiber* APIs due to unified migration breaks USB mass storage patchset
  • [ZEP-1247] - Test tests/legacy/benchmark/latency_measure is broken for daily sanitycheck
  • [ZEP-1252] - Test test_chan_blen_transfer does not build for quark_d2000_crb
  • [ZEP-1277] - Flash driver (w25qxxdv) erase function is not checking for offset alignment
  • [ZEP-1278] - Incorrect boundary check in flash driver (w25qxxdv) for erase offset
  • [ZEP-1287] - ARC SPI 1 Port is not working
  • [ZEP-1289] - Race condition with k_sem_take
  • [ZEP-1291] - libzephyr.a dependency on phony "gcc" target
  • [ZEP-1293] - ENC28J60 driver doesn't work on Arduino 101
  • [ZEP-1295] - incorrect doxygen comment in kernel.h:k_work_pending()
  • [ZEP-1297] - test/legacy/kernel/test_mail: failure on ARC platforms
  • [ZEP-1299] - System can't resume completely with DMA suspend and resume operation
  • [ZEP-1302] - ENC28J60 fails with rx/tx of long frames
  • [ZEP-1303] - Configuration talks about >32 thread prios, but the kernel does not support it
  • [ZEP-1309] - ARM uses the end of memory for its init stack
  • [ZEP-1310] - ARC uses the end of memory for its init stack
  • [ZEP-1312] - ARC: software crashed at k_mbox_get() with async sending a message
  • [ZEP-1319] - Zephyr is unable to compile when CONFIG_RUNTIME_NMI is enabled on ARM platforms
  • [ZEP-1341] - power_states test app passes wrong value as power state to post_ops functions
  • [ZEP-1343] - tests/drivers/pci_enum: failing on QEMU ARM and X86 due to missing commit
  • [ZEP-1345] - cpu context save and restore could corrupt stack
  • [ZEP-1349] - ARC sleep needs to pass interrupt priority threshold when interrupts are enabled
  • [ZEP-1353] - FDRM k64f Console output broken on normal flash mode

Known Issues

  • [ZEP-1405] - function l2cap_br_conn_req in /subsys/bluetooth/host/l2cap_br.c references uninitialized pointer