リリース 公開範囲 最終更新日 ファイル 備考
1.1 一般 2021年06月25日
1.0 一般 2020年04月15日 アプリ開発時の違いはこちら
β7-3 一般 2019年07月9日
β7-2 一般 2018年08月2日
β7-1 一般 2018年04月17日
β7 一般 2017年04月20日
β6-3 一般 2016年11月07日
β6-2 一般 2016年03月17日
β6-1 一般 2016年03月14日
β6 一般 2016年03月02日
β5-2 一般 2015年12月09日
β5-1 一般 2015年09月10日
β5 一般 2015年06月01日
β4 一般 2015年04月22日
β3-1 一般 2015年02月16日
β3 一般 2015年02月11日
β2 TOPPERS会員&ETロボコン技術委員 2014年12月15日 ev3rt-beta2-release IDとパスワードが必要


ファイル/ディレクトリ名 内容
Changelog.txt 変更履歴
EV3RT_C_API_Reference EV3RT C言語APIリファレンス(index.html)
EV3RT_CPP_API_Reference EV3RT C++言語APIリファレンス(index.html)
sdcard ビルド済みのApp Loaderと各種サンプルアプリケーションの実行ファイル。
hrp3.tar.xz EV3RTのアーカイブファイル
ngki_spec-340.pdf TOPPERS次世代カーネル統合仕様書
HRP3カーネルのAPIに関しては、「第4章 カーネルAPI仕様」を参照してください。


2021-01-17 Version 1.1

  • Miscellaneous
    • Fix access permissions for tlsf.o in stand-alone mode

2020-03-13 Version 1.0

  • Kernel
    • Update to TOPPERS/HRP3

2019-07-09 Version Beta 7-3

  • Bluetooth
    • Support 'TurnOff' for Bluetooth configuration in rc.conf.ini (e.x. TurnOff=1 is set in [Bluetooth] section of rc.conf.ini, then Bluetooth will be turned off)
  • USB
    • Improve stability

2018-07-31 Version Beta 7-2

  • Miscellaneous
    • Improve stability
    • PIL (Platform Interface Layer) version is updated to 8

2018-04-17 Version Beta 7-1

  • Motors
    • ev3_motor_steer() behaves the same as LabView now
    • ev3_motor_rotate() will stop unfinished operation (e.g. nonblocking rotation)
    • ev3_motor_reset_counts() will reset both motor and tacho sensor counts
  • Sensors
    • Support HiTechnic color sensor
      • Add test in HelloEV3
  • Miscellaneous
    • Support low battery warning (which can be toggled in rc.conf.ini)
    • Fix some warnings for recent compiler
    • PIL (Platform Interface Layer) version is upated to 7
    • Remove some legacy code

2017-04-12 Version Beta 7

  • Sensors
    • Support IR (infrared) sensor
      • Add test in HelloEV3
    • Ultrasonic sensor test in HelloEV3 supports resetting
    • ev3_sensor_config() will not enter sleep now
      • 2ms busy-waiting for analog sensors
  • Bluetooth
    • Bluetooth PAN (Personal Area Network) is supported
      • NAP (Network Access Point) mode with DHCP server
      • Default IP address:
    • Experimental support for SPP master
      • Allow communication between EV3 bricks
      • Bluetooth device address will be shown at startup
    • Enable DMA mode by default to reduce CPU usage
  • Application Loader
    • Support loading from HTTP via Bluetooth PAN
      • Add 'make upload' command under workspace
  • Miscellaneous
    • Support compilation with GCC 6.3.1 (gcc-arm-none-eabi-6-2017-q1-update)
    • Fix compilation error when global destructors are used
      • Currently, global destructors can exist but WILL NOT be called
    • PIL (Platform Interface Layer) version is updated to 6
    • Remove some legacy code

2016-11-07 Version Beta 6-3

  • Sample programs
    • Add sample program 'periodic-task'
    • Fix task priorities in HelloEV3
  • Miscellaneous
    • Support sub directories in each project directory

2016-03-16 Version Beta 6-2

  • Sensors
    • Configuring analog sensor with ev3_sensor_config() will wait 2ms to ensure that sensor value is updated
  • Miscellaneous
    • SIO_PORT_DEFAULT can be set to LCD, BT or UART in rc.conf.ini now
    • Optimize BTstack database cache flush overhead, and this can also speed up USB eject handling
    • PIL (Platform Interface Layer) version is upated to 5
    • Remove some legacy code

2016-03-14 Version Beta 6-1

  • Sensors
    • Fix a bug that analog sensors won't work until port is configured as UART sensor port
  • SD card
    • Fix a bug that causes unformatted SD card error in USB mode with some SD card >= 8 GiB
    • Optimize performance by supporting multiple block operations
  • Bluetooth
    • Working in USB mode is supported by caching database in memory
    • Improve stability by handling TX interrupt more properly
  • Experimental USB support
    • Unplugging the cable physically is no longer needed for app loader
    • Shutdown now requires USB to be ejected for preventing filesystem corruption
    • Optimize USB I/O performance by using data buffers
  • Development in C++
  • Miscellaneous
    • Support compilation with GCC 5.2.1 (gcc-arm-none-eabi-5_2-2015q4)
    • Optimize application load time
    • Print EV3RT version and Bluetooth chip information in boot messages
    • Add Bluetooth test in HelloEV3
    • ev3api.h includes configuration header (module_cfg.h/kernel_cfg.h) now

2016-03-02 Version Beta 6

  • Sensors
    • Support RGB-RAW mode of EV3 color sensor
    • Support I2C sensors
      • Add API for HiTechnic NXT Acceleration Sensor
      • Add API for NXT Temperature Sensor (9749)
  • Application Loader
    • CRE_DTQ/CRE_PDQ/CRE_MTX are supported in dynamic loading mode
  • Bluetooth
    • Support chip CC2560A used by recent EV3 models
  • Experimental USB support
    • EV3 brick can act as SD card reader by connecting the PC port (mini USB)
    • Application will be terminated if USB is connected
      • Note 1: Bluetooth may not work when USB is connected
      • Note 2: Unplugging the USB cable without ejecting the SD card may prevent
    • USB function from working until EV3 is restarted. (especially in OS X)
  • Miscellaneous
    • Boot much faster by optimizing initialize_sections()
    • Source code in GitHub is used from this release, some changes including:
      • workspace is located in 'hrp2/sdk/workspace' now
        • 'make app=<app_dir_name>' is used to build app module for dynamic loading mode now
        • 'make img=<app_dir_name>' is used to build uImage for standalone mode now
    • Updated NGKI specification to release 1.7.1 from release 1.7.0.

2015-12-04 Version Beta 5-2

  • Application Loader
    • Fixed a bug that flags and semaphores can't be accessed (E_OACV) in dynamic loading mode.

2015-09-09 Version Beta 5-1

  • Bluetooth
    • Fixed a bug that reserves HCI packet buffer when it is unavailable.

2015-06-01 Version Beta 5

  • Update Application Loader
    • The file list can display up to 100 applications now
    • Hide some non-executable files (such as *.wav) from the file list
  • Development in C++
    • Added a C++ API library
  • Sample programs
    • Added sample program 'ev3way-cpp'
    • Fixed a bug in 'linetrace' that 'lasterror' will not be updated correctly.
  • Miscellaneous
    • Updated HRP2 kernel to release 2.2.1
    • Fixed a bug that causes OS X to improper static library
    • Port 1 works as a sensor port by default now and can still be configured as a serial port in rc.conf.ini (DisablePort1=1)
    • The C++ API reference and TOPPERS New Generation Kernel Specification are included in the release package now

2015-04-22 Version Beta 4

  • Development in C++
    • Supported global constructors
    • However, calling functions which may BLOCK (e.g. wai_sem) in global constructors cause undefined behaviour.
  • Added EV3RT console feature
    • Long-press BACK button to show the console
    • Syslog can be viewed from LCD screen now
    • 'stdout' (for printf) is EV3RT console now
    • Merged with Application Loader
  • Bluetooth
    • Supported Windows 8.1 (Generic Bluetooth Radio)
    • Added 'ev3_bluetooth_is_connected()' API
    • Bluetooth SIO port will be opened and closed automatically according to the status of connection now.
    • Reading or writing a closed Bluetooth port will not block now. Instead, ZERO will be returned by read() and write() functions.
    • CR ('\r') will not be automatically added before LF ('\n') now.
    • Link keys will be stored to micro SD card now.
    • Local name and PIN code can be configured in '/ev3rt/etc/rc.conf.ini' now.
    • Updated BTstack to r3253
  • Supported static libraries initially
    • Static libs are stored in 'workspace/common/lib'
    • Both C and C++ are supported
    • See 'test-cpp' for usage
    • Added C++ API library provided by ET-Robocon technical committee. See 'test-cppev3' for usage.
  • Miscellaneous
    • Fixed a bug in unloading application that causes leaks in app heap memory
    • Fixed a bug in EDMA driver that causes MMC/SD and LCD to freeze
    • Fixed a bug in Makefile.lum that causes OS X to build improper static library
    • Replaced 'PRU_SUART_Emulation.bin' with 'PRU_SUART.bin'. This might fixed the problem that UART sensors don't work on port 3 & 4 of some EV3 bricks.
    • Fixed a bug that _dmloader_rmv_ldm() function doesn't delete semaphores and flags correctly.
    • Fixed a bug in loader that causes infinite loop when canceling receiving.
    • Optimized initialization stage of EV3RT platform
    • Supported GCC ARM Embedded 4.9 update 1. Use PORTABLE_STRNICMP to replace deprecated istrnicmp.
    • Removed some unused files

2015-02-14 Version Beta 3-1

  • Development in C++
    • Supported multiple source files (*.cpp)

2015-02-11 Version Beta 3

  • Updated EV3 API for C language
    • Added API for battery
  • Update Application Loader
    • Received files are stored in '/ev3rt/apps/' now. (overwrite existing)
  • Removed 'ev3_power_off()' API. EV3 can be powered off by:
    • Holding BACK+LEFT+RIGHT buttons
    • Using Application Loader
  • New sample programs
    • HaWe brickbench (workspace/hwbrickbench)
  • Miscellaneous
    • Added missing libraries (-lm -lc) in dynamic loading mode
    • Source and header files of API are prefixed with 'ev3api_' now
    • PIL (Platform interface layer) version is upated to 3

2014-12-15 Version Beta 2

  • Updated EV3 API for C language
    • Added API for LCD (draw string, display image, etc.)
    • Added API for EV3 cyclic handlers
    • Updated API for buttons
      • ev3_button_is_pressed()
    • Updated API for motors
      • ev3_motor_get_power()
  • Supported development in C++
    • Both standalone & dynamic loading mode are supported
    • Modified linker script to compile properly
  • New sample programs
    • Sample for C++ (workspace/test-cpp)
    • Sample for Trike (workspace/trike)
  • Programs in GUI
    • HelloEV3 & dynamic loader have a GUI menu now
    • Gyroboy uses LCD to show connection of ports
  • RTOS features
    • Static API EV3_CRE_CYC is supported to create EV3 cyclic handlers
      • Both standalone & dynamic loading mode are supported
    • CRE_SEM and CRE_FLG are also supported in dynamic loading mode now
  • Application development
    • Standalone & dynamic loading mode share the same cfg file (app.cfg) now
      • app_mod.cfg (for dynamic loading in Beta 1) is no longer used
    • Dynamic loader can recover from application crashes now
  • New core services (or device drivers)
    • Implemented ST7586 LCD driver
      • Auto refresh (frame rate: 25 fps by default)
        • DMA is used to reduced the overhead of refreshing to a very low level
    • Implemented service for EV3 cyclic handlers
  • Miscellaneous
    • EV3 can be powered off by holding back, left and right buttons now
    • PIL (Platform interface layer) version is upated to 2
    • Updated installation guide and user manual.

2014-10-22 Version Beta 1

  • Released Beta 1.
Last modified 3 years ago Last modified on Jun 25, 2021, 7:13:57 PM
Note: See TracWiki for help on using the wiki.