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# What's New In This Release ## Highlights * Feature 1 * Feature 2 * Feature 3 ## Major Changes to Core OS ### New Features ### Bug Fixes ## Major Changes to the Build System ### New Features ### Bug Fixes ## Architectural Support ### New Architecture ### Architectures with significant improvements #### ARM * [#4522](https://github.com/apache/incubator-nuttx/pull/#4522) arch/arm: Add ARCH_CORTEXM55 Kconfig for cortex-m55 * [#3759](https://github.com/apache/incubator-nuttx/pull/#3759) arm/v7-a/fpu: add VFP-v3 D32 support #### CXD56XX #### STM32 * [#3543](https://github.com/apache/incubator-nuttx/pull/#3543) feat(esp32c3): Support esp32c3 ble function * [#3761](https://github.com/apache/incubator-nuttx/pull/#3761) ET-STM32 Stamp: An STM32F103RET6 target for NuttX #### STM32L4 #### STM32L5 #### S32K1XX * [#3850](https://github.com/apache/incubator-nuttx/pull/#3850) UCANS32K146 add support for B revision #### IMX6 #### IMXRT #### RP2040 * [#4049#4643](https://github.com/apache/incubator-nuttx/pull/#4049#4643) RaspipicoS32K1xx smparch: Add * [#3996(optional) support for SPI native/hardware chip select * [#4634](https://github.com/apache/incubator-nuttx/pull/#3996) Support for Waveshare Pico-LCD-1.x module#4634) S32K1XX arch: gpioread may also be used for output pins #### IMX6 #### IMXRT #### RP2040 * [#3917#4049](https://github.com/apache/incubator-nuttx/pull/#3917#4049) arm/rp2040:USB device controller Raspipico smp * [#3996](https://github.com/apache/incubator-nuttx/pull/#3996) Support for Waveshare Pico-LCD-1.x module * [#3917](https://github.com/apache/incubator-nuttx/pull/#3917) arm/rp2040:USB device controller support #### RTL8720C * [#4076](https://github.com/apache/incubator-nuttx/pull/#4076) AmebaZ2: Add soc src code #### NRF52 #### STM32H7 #### STM32F7 #### Renesas #### RX65N #### Risc-V * [#3770](https://github.com/apache/incubator-nuttx/pull/#3770) Add support for PolarFire SoC and icicle board * [#3846](https://github.com/apache/incubator-nuttx/pull/#3846) risc-v/rv32m1: Basic port to rv32m1 ri5cy * [#4146](https://github.com/apache/incubator-nuttx/pull/#4146) risc-v/bl602: add boardctl support * [#3911](https://github.com/apache/incubator-nuttx/pull/#3911) Add i2c driver to PolarFire SoC and Icicle board * [#3905](https://github.com/apache/incubator-nuttx/pull/#3905) Add SPI driver to PolarFire SoC and Icicle board * [#3933](https://github.com/apache/incubator-nuttx/pull/#3933) riscv/mpfs: add i2c reset handler * [#3920](https://github.com/apache/incubator-nuttx/pull/#3920) add dma support for PolarFire SoC #### RV64 #### ESP32C3 #### BL602 #### Xtensa #### ESP32 ### * [#4638](https://github.com/apache/incubator-nuttx/pull/#4638) esp32xx_rom.ld: Strongly declare some of the libgcc.a functions that are ROM resident ### Minor changes ## Simulator ### New Features ### Bug Fixes ## Documentation ### New Features * [#3970](https://github.com/apache/incubator-nuttx/pull/#3970) libc: Implement fesetround & fegetround for arm ### Improvements ##### Driver Support * [#3842](https://github.com/apache/incubator-nuttx/pull/#3842) Added automatic log rotation, when log file is opened. * [#3837](https://github.com/apache/incubator-nuttx/pull/#3837) SYSLOG channel add functions return handle to the channel. * [#3848](https://github.com/apache/incubator-nuttx/pull/#3848) Syslog file rotations number is configurable. * [#3808](https://github.com/apache/incubator-nuttx/pull/#3808) Ramlog: recover last crash log from ram buffer. ### Bug Fixes ### * [#4641](https://github.com/apache/incubator-nuttx/pull/#4641) drivers/mtd/m25px.c: add support for MT25Q256 SPI NOR ### Bug Fixes ### New Driver Support * [#3727](https://github.com/apache/incubator-nuttx/pull/#3727) Add basic support for MCP23017 I/O Expander * [#3859](https://github.com/apache/incubator-nuttx/pull/#3859) Add Holtek HT16K33 14-segment display driver ## Board Support ### New Board Support ### Boards With Significant Improvements #### ARM #### CXD56 * [#3833](https://github.com/apache/incubator-nuttx/pull/#3833) Spresense new memorymap #### IMX6 #### IMXRT * [#3982](https://github.com/apache/incubator-nuttx/pull/#3982) boards/arm/imxrt/teensy-4.x: added board level support for GPIO driver * [#3929](https://github.com/apache/incubator-nuttx/pull/#3929) Added encoder support for Teensy 4.x * [#3980](https://github.com/apache/incubator-nuttx/pull/#3980) FlexPWM support for iMXRT MCU #### LPC17XX_40XX #### NRF52 #### RP2040 * [#3917](https://github.com/apache/incubator-nuttx/pull/#3917) arm/rp2040:USB device controller support * [#3857](https://github.com/apache/incubator-nuttx/pull/#3857) boards: rp2040: Add user gpio driver #### SAM34 * [#3732](https://github.com/apache/incubator-nuttx/pull/#3732) board: Add support for Adafruit Circuit Express * [#3840](https://github.com/apache/incubator-nuttx/pull/#3840) Add ST7789 LCD controller support for SAMV71 XPlained Ultra board #### STM32 * [#4350](https://github.com/apache/incubator-nuttx/pull/#4350) arch/arm/src/stm32l4/Kconfig: add new STM32L4+ chip types * [#3944](https://github.com/apache/incubator-nuttx/pull/#3944) boards/arm/stm32/nucleo-f446re: added support for DAC driver * [#3880](https://github.com/apache/incubator-nuttx/pull/#3880) boards/arm/stm32/nucleo-f446re: added support for GPIO driver * [#3909](https://github.com/apache/incubator-nuttx/pull/#3909) Added basic support for nucleo-g431kb board. * [#3922](https://github.com/apache/incubator-nuttx/pull/#3922) Adds PWM example to nucleo-g431kb board. * [#3914](https://github.com/apache/incubator-nuttx/pull/#3914) oards: added support for EMW3162 Wi-Fi board * [#3878](https://github.com/apache/incubator-nuttx/pull/#3878) Add FOC support for B-G431-ESC1 board #3878 #### STM32L4 #### STM32F4 #### STM32F7 #### STM32H7 #### KINETIS #### RISC-V #### BL602 #### C906 #### ESP32C3 * [#3794 * [#3637](https://github.com/apache/incubator-nuttx/pull/#3637) boards/arm/stm32/nucleo-f446re: added support for PWM * [#3660](https://github.com/apache/incubator-nuttx/pull/#3660) stm32_pwm: improvements for PULSECOUNT support #### STM32L4 * [#3668](https://github.com/apache/incubator-nuttx/pull/#3668) arch/arm/src/stm32l4/hardware/stm32l4xrxx: pinmap alternative function for SPI2 #### STM32F4 #### STM32F7 * [#3646](https://github.com/apache/incubator-nuttx/pull/#3646) boards/stm32f7: Add i2c and mpu60x0 support to nucleo-144 and fix bitmask bug in mpu60x0 * [#3650](https://github.com/apache/incubator-nuttx/pull/#3650) stm32{H7|F7} Disables/Enabled the use of GPIO_OTG_ID pin * [#3669](https://github.com/apache/incubator-nuttx/pull/#3669) STM32 {F7|H7} Use 250 Ms Data path timeout, regardless of Card Clock frequency * [#3651](https://github.com/apache/incubator-nuttx/pull/#3651) Use inttypes in stm32{f7|h7}, Kinetis, s32k drivers. #### STM32H7 #### KINETIS #### RISC-V #### BL602 #### C906 #### ESP32C3 * [#3794](https://github.com/apache/incubator-nuttx/pull/#3794) risc-v/esp32c3: Support ESP32-C3 RTC driver * [#3883](https://github.com/apache/incubator-nuttx/pull/#3883) risc-v/esp32c3: Support ESP32-C3 RSA accelerator * [#3881](https://github.com/apache/incubator-nuttx/pull/#3881) risc-v/esp32c3: Support ESP32-C3 efuse * [#3935](https://github.com/apache/incubator-nuttx/pull/#3935) risc-v/esp32c3: Support ESP32-C3 SHA accelerator * [#3882](https://github.com/apache/incubator-nuttx/pull/#3882) riscv/esp32c3: Use the RTC memory as another heap. * [#3945](https://github.com/apache/incubator-nuttx/pull/#3945) boards/esp32c3: Add romfs configuration * [#3925](https://github.com/apache/incubator-nuttx/pull/#3925) risc-v/esp32-c3: Adds I2C polled support * [#3823](https://github.com/apache/incubator-nuttx/pull/#3823) risc-v/esp32-c3: Add support for HW flow control. * [#3822](https://github.com/apache/incubator-nuttx/pull/#3822) ESP32-C3: Add DMA support for SPI Slave * [#3543](https://github.com/apache/incubator-nuttx/pull/#3543) feat(esp32c3): Support esp32c3 ble function * [#3667](https://github.com/apache/incubator-nuttx/pull/#3794#3667) risc-v/esp32c3: SupportAdd ESP32-C3 RTC driver (G)DMA driver and testing * [#3883#4605](https://github.com/apache/incubator-nuttx/pull/#3883#4605) risc-v/esp32c3esp32-c3: improvements Supportand ESP32-C3fix RSA acceleratorto esp32c3_rt_timer.c * [#3881#4611](https://github.com/apache/incubator-nuttx/pull/#3881#4611) riscESP32-v/esp32c3: Support ESP32-C3 efuse C3: Add support for booting NuttX from MCUboot * [#3935#3656](https://github.com/apache/incubator-nuttx/pull/#3935#3656) risc-v/esp32c3: Support ESP32-C3 SHA acceleratoresp32-c3: Adds freerun wrapper #### XTENSA #### ESP32 * [#3882#3940](https://github.com/apache/incubator-nuttx/pull/#3882#3940) riscvxtensa/esp32c3esp32: UseSupport theESP32 RTC memory as another heap.driver * [#3945#4003](https://github.com/apache/incubator-nuttx/pull/#3945#4003) boardsxtensa/esp32c3esp32: Adds Addsupport romfs configurationfor SERIAL_TXDMA. * [#3925#3912](https://github.com/apache/incubator-nuttx/pull/#3925#3912) risc-vxtensa/esp32-c3: Adds I2C polled support. * [#3823#3803](https://github.com/apache/incubator-nuttx/pull/#3823) risc-v/esp32-c3:#3803) Add support forto HWESP32-S2 flow control. and ESP32S2-SAOLA-1 Board * [#3822#3824](https://github.com/apache/incubator-nuttx/pull/#3822#3824) ESP32xtensa/esp32-C3s2: Add DMA support for SPI Slave #### XTENSA #### ESP32serial HW flow control. * [#3940#4604](https://github.com/apache/incubator-nuttx/pull/#4604) xtensa/esp32: Support ESP32 RTC driver Enable build system to download or build binaries from source * [#4003#3642](https://github.com/apache/incubator-nuttx/pull/#3642) xtensa/esp32: Addsseveral support for SERIAL_TXDMA.uart fixes * [#3912#3648](https://github.com/apache/incubator-nuttx/pull/) xtensa/esp32: Adds I2C polled support.#3648)tools/esp32/mk_qemu_img.sh: Refactor the dd commands. * [#3803#4625](https://github.com/apache/incubator-nuttx/pull/#4625) Add support to ESP32-S2 and ESP32S2-SAOLA-1 Boardesp32-c3/esp32-s2: Fix the sequence of commands to set the alarm value on rt timer. * [#3824#4610](https://github.com/apache/incubator-nuttx/pull/#4610) xtensa/esp32-s2ESP32-S2: Add support for booting serialNuttX from HWMCUboot flow control. #### TIVA ### **Minor Board Changes** #### ARM #### CXD56 #### Xtensa ## File System ### Bug Fixes ### Significant Improvements ## Networking ### Improvements ### Bug Fixes # Security Issues Fixed In This Release # Compatibility Concerns ## Changes to Kconfig The names of some Kconfig settings have been changed to improve the naming consistency. Here is the list: | Old | New | |:------------------:| -----------------: | |LIB_BOARDCTL |BOARDCTL | |LIB_CRC64_FAST |LIBC_CRC64_FAST | |LIB_ENVPATH |LIBC_ENVPATH | |LIB_HEX2BIN |LIBC_HEX2BIN | |LIB_HOMEDIR |LIBC_HOMEDIR | |LIB_HOSTNAME |LIBC_HOSTNAME | |LIB_KBDCODEC |LIBC_KBDCODEC | |LIB_RAND_ORDER |LIBC_RAND_ORDER | |LIB_SLCDCODEC |LIBC_SLCDCODEC | |LIB_USRWORK |LIBC_USRWORK | |LIB_USRWORKPRIORITY |LIBC_USRWORKPRIORITY | |LIB_USRWORKSTACKSIZE|LIBC_USRWORKSTACKSIZE| |LIB_ZONEINFO |LIBC_ZONEINFO | |LIB_ZONEINFO_ROMFS |LIBC_ZONEINFO_ROMFS | When they appear in code, these identifiers begin with a `CONFIG_*` prefix (e.g., `CONFIG_LIB_BOARDCTL` is renamed to `CONFIG_BOARDCTL`). All in-tree boards have been updated, but users who maintain their own out-of-tree boards will have to update all instances of these identifiers. See PR-4266 https://github.com/apache/incubator-nuttx/pull/4266 and PR-4267 https://github.com/apache/incubator-nuttx/pull/4267 in the main NuttX repository. See also PR-820 https://github.com/apache/incubator-nuttx-apps/pull/820 and PR-821 https://github.com/apache/incubator-nuttx-apps/pull/821 in the NuttX apps repository. ## Changes to MTD subsystem MTDIOC_XIPBASE, MTDIOC_FLUSH and MTDIOC_PARTINFO is removed and replace with BIOC_XIPBASE, BIOC_FLUSH and BIOC_PARTINFO: * Simplify the general driver(e.g. partition, flt) implementation * Reduce the confusion with the same IOCTL in the different layer See PR-4325 https://github.com/apache/incubator-nuttx/pull/4325 ## Changes to Build System ### LD Now Called Through GCC When building NuttX with GCC toolchains, the linker is now called through $(CROSSDEV)gcc rather than $(CROSSDEV)ld. This requires all linker options to be prefixed with `-Wl,` (dash, capital W, lower-case L, comma). All boards in the NuttX tree have been updated, but any custom out-of-tree boards will need to apply this change in the relevant parts of their build scripts. The reason for this change is that GNU Binutils 2.36.x has added new error checking on command line arguments. This has had the effect that the NuttX build suddenly broke on host OS distributions that updated to the 2.36.x release line. Reports included Arch, Manjaro, and Ubuntu. Other host OSes are likely to be affected as well. #### Symptoms Your toolchain and board are affected if you see errors from LD like: ``` arm-none-eabi-ld: Error: unable to disambiguate: -nostartfiles (did you mean --nostartfiles ?) ``` or (following this change in NuttX) errors from GCC like: ``` arm-none-eabi-gcc: error: unrecognized command line option '--gc-sections'; did you mean '--data-sections'? ``` #### What to change The most common change expected to affect most boards: Change: ``` NXFLATLDFLAGS1 = -r -d -warn-common NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections ``` to: ``` NXFLATLDFLAGS1 = -r -Wl,-d -Wl,-warn-common NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -Wl,-no-check-sections ``` If doing a kernel build, you may need changes in your board's `kernel/Makefile` like: Change: ``` USER_LDFLAGS = --undefined=$(ENTRYPT) --entry=$(ENTRYPT) $(USER_LDSCRIPT) ``` to: ``` USER_LDFLAGS = -Wl,--undefined=$(ENTRYPT) -Wl,--entry=$(ENTRYPT) $(USER_LDSCRIPT) -nostartfiles -nodefaultlibs ``` Change: ``` $(Q) $(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) $(OBJS) --start-group $(USER_LDLIBS) --end-group $(USER_LIBGCC) ``` to: ``` $(Q) $(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) $(OBJS) -Wl,--start-group $(USER_LDLIBS) -Wl,--end-group $(USER_LIBGCC) ``` Depending on your board's customized build scripts, you may need to look out for other `make` variables in your board's `Makefile` or `Make.defs`. Some variables to look for: - `ARCHSCRIPT` - `ARCH_LIBS` - `CCLINKFLAGS` - `EXTRALINKCMDS` - `LDELFFLAGS` - `LDENDGROUP` - `LDFLAGS` - `LDLINKFLAGS` - `LDMODULEFLAGS` - `LDSTARTGROUP` - `NXFLATLDFLAGS1` - `NXFLATLDFLAGS2` - `USER_LDFLAGS` Anything that executes LD, such as: ``` $(Q) $(LD) --entry=__start $(LDFLAGS) $(LIBPATHS) $(EXTRA_LIBPATHS) \ ``` Anything that processes LD flags, such as: ``` $(LIBPATHS) "-(" $(LDLIBS) "-)" $(LDFLAGS) -Map="$(TOPDIR)$(DELIM)nuttx.map" ``` In general, any command line options destined for LD must be prefixed with `-Wl,` (dash, capital W, lower-case L, comma) since they are now being passed through GCC. #### Examples Change: ``` EXTRALINKCMDS += @$(TOPDIR)/syscall/syscall_wraps.ldcmd ``` to: ``` EXTRALINKCMDS += -Wl,@$(TOPDIR)/syscall/syscall_wraps.ldcmd ``` Change: ``` LDFLAGS += -gc-sections ``` to: ``` LDFLAGS += -Wl,-gc-sections ``` Change: ``` $(LIBPATHS) "-(" $(LDLIBS) "-)" $(LDFLAGS) -Map="$(TOPDIR)$(DELIM)nuttx.map" ``` to: ``` $(LIBPATHS) "-(" $(LDLIBS) "-)" $(LDFLAGS) -Wl,-Map="$(TOPDIR)$(DELIM)nuttx.map" ``` Change: ``` NXFLATLDFLAGS1 = -r -d -warn-common ``` to: ``` NXFLATLDFLAGS1 = -r -Wl,-d -Wl,-warn-common ``` Change: ``` ifeq ($(CONFIG_CYGWIN_WINTOOL),y) LDFLAGS += -Map="${shell cygpath -w $(TOPDIR)/nuttx.map}" --cref else LDFLAGS += -Map=$(TOPDIR)/nuttx.map --cref endif ``` to: ``` ifeq ($(CONFIG_CYGWIN_WINTOOL),y) LDFLAGS += -Wl,-Map="${shell cygpath -w $(TOPDIR)/nuttx.map}" -Wl,--cref else LDFLAGS += -Wl,-Map=$(TOPDIR)/nuttx.map -Wl,--cref endif ``` Also, if you have assigned the LD variable, it would need to change as well: Change: ``` LD = $(CROSSDEV)ld ``` to: ``` LD = $(CROSSDEV)gcc ``` #### References * Git commit # 45672c269db13f59bdaa417e564837e8bbb6c8c1 in the NuttX main repository: - https://github.com/apache/incubator-nuttx/commit/45672c269db13f59bdaa417e564837e8bbb6c8c1 * PR-3836 in the NuttX main repository: - https://github.com/apache/incubator-nuttx/pull/3836 * Issues 3209 and 3826 in the NuttX issue tracker: - https://github.com/apache/incubator-nuttx/issues/3209 - https://github.com/apache/incubator-nuttx/issues/3826 * Description of the change on Binutils mailing list: - https://sourceware.org/pipermail/binutils/2021-June/116826.html * Description of -Wl,option in the GCC manual: - https://gcc.gnu.org/onlinedocs/gcc/Link-Options.html |
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