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+******************************************************************************

+*** ChibiOS 16.1.0 Release Notes.                                          ***

+******************************************************************************

+

+ChibiOS 16.1.0 is composed of several independent but inter-operable

+sub-projects: RT, NIL, HAL.

+

+*** ChibiOS 16.1.0 highlighs ****

+

+This release has been developed with focus mainly on the HAL subsystem and

+general STM32 support. RT and NIL received minor bug fixes that have also

+been back-ported to previous stable branches.

+

+*** ChibiOS 16.1.0 general improvements ***

+

+- ChibiOS release version number redefined as <year>.<month>.<release> in order

+  to not confuse release version numbers with products version numbers.

+- Improved ARMCMx GCC rules.ld supporting multiple RAM regions. It is now

+  possible to assign stacks, data, bss, etc ot any of the defined RAM regions.

+  - Added capability to allocate initialized, zeroed and not initialized data

+    to any of the defined RAM regions.

+

+*** What's new in RT 3.1.0 ***

+

+- Added new function chVTGetTimersStateI() returning the state of the

+  timers list. This is useful to assess if it is convenient to transition

+  to lower power modes.

+- Added CodeWarrior compiler support to the e200 port.

+- Minor bugs fixed.

+

+*** What's new in HAL 4.0.0 ***

+

+- New watchdog (WDG) driver.

+- Added support for STM32L0xx, STM32L4xx, STM32F7xx, STM32F446, STM32F030xC,

+  STM32F070x6, STM32F070xB, STM32F091xC, STM32F098xx devices.

+- Improved USB driver.

+  - Modified the driver to have a separate USB_SUSPENDED state, this

+    allows the application to detect if the USB is communicating or if

+    it is disconnected or powered down.

+  - Added synchronous API.

+  - Removed queued API.

+  - Improved USB support for STM32 USBv1, OTGv1.

+  - Isochronous support for STM32 USBv1, OTGv1.

+  - STM32 USBv1/OTGv1 buffers and queues do not more require to be aligned in

+    position and size.

+- Improved Serial-USB driver.

+  - New buffers queue object.

+  - Modified thedriver to reject write/read attempts if the

+    underlying USB is not in active state. In case of disconnection the

+    SDU driver broadcasts a CHN_DISCONNECTED event.

+- Improved CAN driver.

+  - Better errors reporting for STM32 CANv1.

+- Improved UART driver.

+  - Added synchronous API.

+- Improved PAL driver.

+  - Added "lines" handling to PAL driver, lines are identifiers of both

+    ports and pins encoded in a single value. Added a set of macros

+    operating on lines.

+  - Added GPIOv3 driver for STM32L4xx.

+- I2S support added for STM32 SPIv2 peripheral.

+- Board files an demos for STM32 Nucleo32 boards.

+- Added latest CMSIS headers for all STM32 families.

+- STM32 DMA drivers have been unified and consolidated in DMAv1 and DMAv2.

+  - DMA channels selection now supported on all devices with the new mux

+    mechanism.

+- Added serial driver support for USART 3..6 on STM32F030xC devices.

+- Added support for differential mode to the STM32F3xx ADC driver.

+- STM32 GPT, ICU and PWM driver enhancements. Now it is possible to

+  suppress default ISRs by defining STM32_TIMx_SUPPRESS_ISR.

+  The application is now able to define custom handlers if required

+  or simply save space if the driver callbacks are not used.

+  Now the functions xxx_lld_serve_interrupts() have global scope, this

+  way custom ISRs can call them from outside the driver module.

+- Added TIM units use cross-check in STM32 GPT, ICU, PWM and ST drivers,

+  now use collisions are explicitly reported.

+- Added support for I2C3 and I2C4 to the STM32 I2Cv2 I2C driver.

+- Added support for SPI4...SPI6 to the STM32 SPIv2 SPI driver.

+- Added support for UART4...UART8 to the STM32 UARTv2 UART driver.

+- Added support for UART7 and UART8,LPUART1 to the STM32 UARTv2 serial

+  driver.

+- New STM32 ADCv3 driver supporting middle STM32 devices (F3, L4).

+- New STM32 ADCv2 driver supporting large STM32 devices (F2, F4, F7).

+- New STM32 ADCv1 driver supporting small STM32 devices (F0, L0).

+- Introduced support for TIM21 and TIM22 in STM32 ST driver.

+

+*** What's new in NIL 1.1.0 ***

+

+- Minor bugs fixed.