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@@ -6,6 +6,51 @@ The revived semantic-versioning baseline starts at `v5.0.0`.
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Historical releases that predate this file remain available in Git tags such as
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`v1.0.0`, `v3.0.0`, `v4.0.0-beta`, and `h10`.
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## v6.0.0 - 2026-05-06
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### Breaking Changes
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- Redesign fault handling, protections, and Board bootstrap around explicit fault policies
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This PR changes the public integration contract for applications built on ST-LIB.
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Breaking changes:
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-`Board` now takes the fault policy type as its first template parameter.
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- The global `FAULT` runtime is owned exclusively by `FaultController`.
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- User state machines are now nested under the global `OPERATIONAL` state through `FaultPolicy` or `FaultPolicyNoMachine`.
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- Protections are now compile-time `Board` request objects evaluated through `Board::ProtectionEngine`; the previous `ProtectionManager` and boundary split is no longer the active model.
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- Runtime reporting is unified under `PANIC(...)`, `FAULT(...)`, `WARNING(...)`, and `INFO(...)`.
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- The real bootstrap path is `Board::init()`. Legacy `STLIB::start()`, `STLIB::update()`, `STLIB_LOW::start()`, and `STLIB_HIGH::start()` must not be used as the integration path.
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Migration notes:
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- Declare the board as `Board<YourFaultPolicy, ...>`.
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- Use `FaultPolicy<app_machine, on_fault_enter>` when you want an operational state machine nested under the global runtime.
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- Use `FaultPolicyNoMachine<on_fault_enter>` when you only need a fault-entry callback.
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- Use `DefaultFaultPolicy` when you want neither an operational machine nor a fault-entry callback.
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- Declare protections with `Protections::protection<"name", source>(...)` and pass the resulting request objects to `Board`.
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- In the main loop, drive the runtime through `FaultController::check_transitions()`, `Board::evaluate_protections()`, and `Diagnostics::Hub::flush()`.
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### Features
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- add an ethernet connected check
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- move initialization outside constructor in PWM, DualPWM, Encoder and InputCapture
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- Small refactor of some spi and timerwrapper functionality
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timerwrapper:
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- Add `set_callback(void (*callback)(void*), void* callback_data)` to set the callback and its data instead of needing to call `configurexxbit()` and set the period.
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-`set_limit_value(uint32_t arr)` to set the arr, this will likely be changed to use a `uint32_t` type only when using a 32 bit timer, for now it is just an alias to `instance->tim->ARR = arr;`. Was not added in this pr but also wasn't mentioned before.
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spi:
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- Add `transceive` with ptr + data explicitly instead of using a span since it's sometimes a pain in the ass to use.
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### Fixes
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- Fix incorrect usage of non-volatile buffers in peripherals. This wrong usage was causing undefined behaviour, since the compiler could optimize out reads and writes that should have been going directly to memory.
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There's a minor API change: now the MPU macros for memory regions include the volatile keyword for the non-cached variants.
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- MPUDomain dynamic regions were configured using the linker symbol values instead of their addresses (that is the correct way of using linker symbols). That made non-cached regions cached, and caused harware undefined behaviour.
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