= ダウンロード = [[TOC(depth=1, WhatsEV3RT, Download, DevEnv, SampleProgram, UserManual, seminar_text, EV3RTsAPI, EV3RTCXXAPI, EV3RTMAPI, FAQ, Contacts)]] == パッケージ == || リリース || 公開範囲 || 最終更新日 || ファイル || || β7-3 || 一般 || 2019年07月9日 || [http://www.toppers.jp/download.cgi/ev3rt-beta7-3-release.zip ev3rt-beta7-3-release.zip] || || β7-2 || 一般 || 2018年08月2日 || [http://www.toppers.jp/download.cgi/ev3rt-beta7-2-release.zip ev3rt-beta7-2-release.zip] || || β7-1 || 一般 || 2018年04月17日 || [http://www.toppers.jp/download.cgi/ev3rt-beta7-1-release.zip ev3rt-beta7-1-release.zip] || || β7 || 一般 || 2017年04月20日 || [http://www.toppers.jp/download.cgi/ev3rt-beta7-release.zip ev3rt-beta7-release.zip] || || β6-3 || 一般 || 2016年11月07日 || [http://www.toppers.jp/download.cgi/ev3rt-beta6-3-release.zip ev3rt-beta6-3-release.zip] || || β6-2 || 一般 || 2016年03月17日 || [http://www.toppers.jp/download.cgi/ev3rt-beta6-2-release.zip ev3rt-beta6-2-release.zip] || || β6-1 || 一般 || 2016年03月14日 || [http://www.toppers.jp/download.cgi/ev3rt-beta6-1-release.zip ev3rt-beta6-1-release.zip] || || β6 || 一般 || 2016年03月02日 || [http://www.toppers.jp/download.cgi/ev3rt-beta6-release.zip ev3rt-beta6-release.zip] || || β5-2 || 一般 || 2015年12月09日 || [http://www.toppers.jp/download.cgi/ev3rt-beta5-2-release.zip ev3rt-beta5-2-release.zip] || || β5-1 || 一般 || 2015年09月10日 || [http://www.toppers.jp/download.cgi/ev3rt-beta5-1-release.zip ev3rt-beta5-1-release.zip] || || β5 || 一般 || 2015年06月01日 || [http://www.toppers.jp/download.cgi/ev3rt-beta5-release.zip ev3rt-beta5-release.zip] || || β4 || 一般 || 2015年04月22日 || [http://www.toppers.jp/download.cgi/ev3rt-beta4-release.zip ev3rt-beta4-release.zip] || || β3-1 || 一般 || 2015年02月16日 || [http://www.toppers.jp/download.cgi/ev3rt-beta3-1-release.zip ev3rt-beta3-1-release.zip] || || β3 || 一般 || 2015年02月11日 || [http://www.toppers.jp/download.cgi/ev3rt-beta3-release.zip ev3rt-beta3-release.zip] || || β2 || TOPPERS会員&ETロボコン技術委員 || 2014年12月15日 || [http://dev.toppers.jp/trac/ev3/browser/branches/ev3rt-beta2-release ダウンロード先(IDとパスワードが必要)] || == ファイルリスト == || 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。[[BR]]SDカードのルートにコピーしてテストできる。 || || hrp2.tar.xz || EV3RTのアーカイブファイル || || ngki_spec-171.pdf || [http://toppers.jp/documents.html#ngki_spec ​TOPPERS次世代カーネル統合仕様書][[BR]]HRP2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。 || == 変更履歴 == === 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: 10.0.10.1 * 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++ * Imported the newest C++ API library from https://github.com/ETrobocon/etroboEV3/tree/master/Library * 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=' is used to build app module for dynamic loading mode now * 'make img=' 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.