Zephyr v3.5.0 Migration Guide

:orphan:

.. _migration_3.5:

Migration guide to Zephyr v3.5.0
################################

This document describes the changes required or recommended when migrating your
application from Zephyr v3.4.0 to Zephyr v3.5.0.

Any other changes (not directly related to migrating applications) can be found in
the :ref:`release notes<zephyr_3.5>`.

Required changes
****************

Kernel
======

* The kernel :c:func:`k_mem_slab_free` function has changed its signature, now
  taking a ``void *mem`` pointer instead of a ``void **mem`` double-pointer.
  The new signature will not immediately trigger a compiler error or warning,
  instead likely causing a invalid memory access at runtime. A new ``_ASSERT``
  statement, that you can enable with :kconfig:option:`CONFIG_ASSERT`, will
  detect if you pass the function memory not belonging to the memory blocks in
  the slab.

* :c:macro:`CONTAINER_OF` now performs type checking, this was very commonly
  misused to obtain user structure from :c:struct:`k_work` pointers without
  passing from :c:struct:`k_work_delayable`. This would now result in a build
  error and have to be done correctly using
  :c:func:`k_work_delayable_from_work`.

C Library
=========

* The default C library used on most targets has changed from the built-in
  minimal C library to Picolibc. While both provide standard C library
  interfaces and shouldn't cause any behavioral regressions for applications,
  there are a few side effects to be aware of when migrating to Picolibc.

  * Picolibc enables thread local storage
    (:kconfig:option:`CONFIG_THREAD_LOCAL_STORAGE`) where supported. This
    changes some internal operations within the kernel that improve
    performance using some TLS variables. Zephyr places TLS variables in the
    memory reserved for the stack, so stack usage for every thread will
    increase by 8-16 bytes.

  * Picolibc uses the same malloc implementation as the minimal C library, but
    the default heap size depends on which C library is in use. When using the
    minimal C library, the default heap is zero bytes, which means that malloc
    will always fail. When using Picolibc, the default is 16kB with
    :kconfig:option:`CONFIG_MMU` or :kconfig:option:`ARCH_POSIX`, 2kB with
    :kconfig:option:`CONFIG_USERSPACE` and
    :kconfig:option:`CONFIG_MPU_REQUIRES_POWER_OF_TWO_ALIGNMENT`. For all
    other targets, the default heap uses all remaining memory on the system.
    You can change this by adjusting
    :kconfig:option:`CONFIG_COMMON_LIBC_MALLOC_ARENA_SIZE`.

  * Picolibc can either be built as part of the OS build or pulled from the
    toolchain. When building as part of the OS, the build will increase by
    approximately 1000 files.

  * When using the standard C++ library with Picolibc, both of those must come
    from the toolchain as the standard C++ library depends upon the C library
    ABI.

  * Picolibc removes the ``-ffreestanding`` compiler option. This allows
    significant compiler optimization improvements, but also means that the
    compiler will now warn about declarations of `main` which don't conform to
    the Zephyr required type -- ``int main(void)``.

  * Picolibc has four different printf/scanf variants supported in Zephyr,
    'double', 'long long', 'integer', and 'minimal. 'double' offers a
    complete printf implementation with exact floating point in decimal and
    hexadecimal formats, full integer support including long long, C99
    integer size specifiers (j, z, t) and POSIX positional arguments. 'long
    long' mode removes float support, 'integer' removes long long support
    while 'minimal' mode also removes support for format modifiers and
    positional arguments. Building the library as a module allows finer
    control over the feature set provided at each level.

  * Picolibc's default floating point input/output code is larger than the
    minimal C library version (this is necessary to conform with the C
    language "round trip" requirements for these operations). If you use
    :kconfig:option:`CONFIG_CBPRINTF_FP_SUPPORT`, you will see increased
    memory usage unless you also disable
    :kconfig:option:`CONFIG_PICOLIBC_IO_FLOAT_EXACT`, which switches Picolibc
    to a smaller, but inexact conversion algorithm. This requires building
    Picolibc as a module.

Optional Modules
================

The following modules have been made optional and are not downloaded with `west update` by default anymore:

* ``chre``
* ``lz4``
* ``nanopb``
* ``psa-arch-tests``
* ``sof``
* ``tf-m-tests``
* ``tflite-micro``
* ``thrift``
* ``zscilib``

To enable them again use the ``west config manifest.project-filter -- +<module
name>`` command, or ``west config manifest.group-filter -- +optional`` to
enable all optional modules, and then run ``west update`` again.

Device Drivers and Device Tree
==============================

* ``zephyr,memory-region-mpu`` was renamed ``zephyr,memory-attr`` and its type
  moved from 'enum' to 'int'. To have a seamless conversion this is the
  required change in the DT:

  .. code-block:: none

     - "RAM"         -> <( DT_MEM_ARM(ATTR_MPU_RAM) )>
     - "RAM_NOCACHE" -> <( DT_MEM_ARM(ATTR_MPU_RAM_NOCACHE) )>
     - "FLASH"       -> <( DT_MEM_ARM(ATTR_MPU_FLASH) )>
     - "PPB"         -> <( DT_MEM_ARM(ATTR_MPU_PPB) )>
     - "IO"          -> <( DT_MEM_ARM(ATTR_MPU_IO) )>
     - "EXTMEM"      -> <( DT_MEM_ARM(ATTR_MPU_EXTMEM) )>

* Device dependencies (incorrectly referred as "device handles" in some areas)
  are now an optional feature enabled by :kconfig:option:`CONFIG_DEVICE_DEPS`.
  This means that an extra linker stage is no longer necessary if this option is
  not enabled.

* On all STM32 ADC, it is no longer possible to read sensor channels (Vref,
  Vbat or temperature) using the ADC driver. The dedicated sensor driver should
  be used instead. This change is due to a limitation on STM32F4 where the
  channels for temperature and Vbat are identical, and the impossibility of
  determining what we want to measure using solely the ADC API.

* The RAM disk driver has been changed to support multiple instances and instantiation
  using devicetree. As a result, Kconfig option :kconfig:option:`CONFIG_DISK_RAM_VOLUME_SIZE`
  and Kconfig option :kconfig:option:`CONFIG_DISK_RAM_VOLUME_NAME` are removed,
  and the application using the RAM disk must instantiate it using devicetree,
  as in the following example:

  .. code-block:: devicetree

    / {
        ramdisk0 {
            compatible = "zephyr,ram-disk";
            disk-name = "RAM";
            sector-size = <512>;
            sector-count = <192>;
        };
    };

* The :dtcompatible:`goodix,gt911`, :dtcompatible:`xptek,xpt2046` and
  :dtcompatible:`hynitron,cst816s` drivers have been converted from Kscan to
  Input, they can still be used with Kscan applications by adding a
  :dtcompatible:`zephyr,kscan-input` node.

* The ``zephyr,gpio-keys`` binding has been merged into
  :dtcompatible:`gpio-keys` and the callback definition has been renamed from
  ``INPUT_LISTENER_CB_DEFINE`` to :c:macro:`INPUT_CALLBACK_DEFINE`.

* The :dtcompatible:`ti,bq274xx` driver was using incorrect units for capacity
  and power channels, these have been fixed and scaled by x1000 factor from the
  previous implementation, any application using them has to be changed
  accordingly.

* The configuration options for the SSD1306 display driver can now be provided
  via the Devicetree binding :dtcompatible:`solomon,ssd1306fb`. The following
  Kconfig options: ``CONFIG_SSD1306_DEFAULT``,
  ``CONFIG_SSD1306_SH1106_COMPATIBLE``, and ``CONFIG_SSD1306_REVERSE_MODE`` have
  been removed.

  * You can remove ``CONFIG_SSD1306_DEFAULT`` without any other modification.

  * ``CONFIG_SSD1306_SH1106_COMPATIBLE`` was used to assert that the device is
    (compatible with) SH1106. This has been replaced by a dedicated dts
    compatible declaration. You may update an existing sh1106 node to change the
    ``compatible`` designation from :dtcompatible:`solomon,ssd1306fb` to
    :dtcompatible:`sinowealth,sh1106`.

  * ``CONFIG_SSD1306_REVERSE_MODE`` is now set using the ``inversion-on``
    property of the devicetree node.

* GPIO drivers not implementing IRQ related operations must now provide
  ``NULL`` to the relevant operations: ``pin_interrupt_configure``,
  ``manage_callback``, ``get_pending_int``. The public API will return
  ``-ENOSYS`` when these are not available, instead of ``-ENOTSUP``.

* STM32 Ethernet driver was misusing :c:func:`hwinfo_get_device_id` to generate
  last 3 bytes of mac address, resulting in a high risk of collision when using
  SoCs from the same lot. This is now fixed to use the whole range of entropy
  available from the unique ID (96 bits). Devices using unique ID based mac address
  will see last 3 bytes of their MAC address modified by this change.

* On all STM32 (except F1x and F37x series), two new required properties have been
  added to ADC to configure the source clock and the prescaler.
  ``st,adc-clock-source`` allows choosing either synchronous or asynchronous clock source.
  ``st,adc-prescaler`` allows setting the value of the prescaler for the chosen clock source.
  Not all combinations are allowed. Refer to the appropriate RefMan for more information.
  When choosing asynchronous clock, the choice of the kernel source clock is made in the
  ``clocks`` node as it is done for other peripherals, for example, to select
  HSI16 as clock source for STM32G0:

  .. code-block:: devicetree

     &adc {
         clocks = <&rcc STM32_CLOCK_BUS_APB1_2 0x00100000>,
                  <&rcc STM32_SRC_HSI ADC_SEL(2)>;
       };

* On NXP boards with LPC DMA, the DMA controller node used to have its ``dma-channels`` property
  set in the board DTS as a way to configure the amount of structures the driver will allocate.
  This did not match the zephyr dma-controller binding, so this property is now fixed and set
  in the SOC devicetree definition. Downstream boards should not override this property and
  instead use the new driver Kconfig
  :kconfig:option:`CONFIG_DMA_MCUX_LPC_NUMBER_OF_CHANNELS_ALLOCATED`.

* The LPC55XXX series SOC (except LPC55S06) default main clock has been
  updated to PLL1 source from XTAL32K running at 144MHZ. If the new
  kconfig option :kconfig:option:`CONFIG_INIT_PLL1`
  is disabled then the main clock is muxed to FRO_HR as before.

* The Kconfig option ``CONFIG_GPIO_NCT38XX_INTERRUPT`` has been renamed to
  :kconfig:option:`CONFIG_GPIO_NCT38XX_ALERT`.

* The CAN controller timing API functions :c:func:`can_set_timing` and :c:func:`can_set_timing_data`
  no longer fallback to the (Re-)Synchronization Jump Width (SJW) value set in the devicetree
  properties for the given CAN controller upon encountering an SJW value corresponding to
  ``CAN_SJW_NO_CHANGE`` (which is no longer available). The caller will therefore need to fill in
  the ``sjw`` field in :c:struct:`can_timing`. To aid in this, the :c:func:`can_calc_timing` and
  :c:func:`can_calc_timing_data` functions now automatically calculate a suitable SJW. The
  calculated SJW can be overwritten by the caller if needed. The CAN controller API functions
  :c:func:`can_set_bitrate` and :c:func:`can_set_bitrate_data` now also automatically calculate a
  suitable SJW, but their SJW cannot be overwritten by the caller.

* The CAN ISO-TP message configuration in :c:struct:`isotp_msg_id` is changed to use the following
  flags instead of bit fields:

  * :c:macro:`ISOTP_MSG_EXT_ADDR` to enable ISO-TP extended addressing
  * :c:macro:`ISOTP_MSG_FIXED_ADDR` to enable ISO-TP fixed addressing
  * :c:macro:`ISOTP_MSG_IDE` to use extended (29-bit) CAN IDs

  The two new flags :c:macro:`ISOTP_MSG_FDF` and :c:macro:`ISOTP_MSG_BRS` were added for CAN FD
  mode.

* NXP i.MX RT based boards should now enable
  :kconfig:option:`CONFIG_DEVICE_CONFIGURATION_DATA` at the board level when
  using a DCD with the RT bootrom, and enable
  :kconfig:option:`CONFIG_NXP_IMX_EXTERNAL_SDRAM` when using external SDRAM
  via the SEMC

* NXP i.MX RT11xx series SNVS pin control name identifiers have been updated to
  match with the source data for these SOCs. The pin names have had the
  suffix ``dig`` added. For example, ``iomuxc_snvs_wakeup_gpio13_io00`` has
  been renamed to ``iomuxc_snvs_wakeup_dig_gpio13_io00``

Power Management
================

* Platforms that implement power management hooks must explicitly select
  :kconfig:option:`CONFIG_HAS_PM` in Kconfig. This is now a dependency of
  :kconfig:option:`CONFIG_PM`. Before this change all platforms could enable
  :kconfig:option:`CONFIG_PM` because empty weak stubs were provided, however,
  this is no longer supported. As a result of this change, power management
  hooks are no longer defined as weaks.

* Multiple platforms no longer support powering the system off using
  :c:func:`pm_state_force`. The new :c:func:`sys_poweroff` API must be used.
  Migrated platforms include Nordic nRF, STM32, ESP32 and TI CC13XX/26XX. The
  new API is independent from :kconfig:option:`CONFIG_PM`. It requires
  :kconfig:option:`CONFIG_POWEROFF` to be enabled, which depends on
  :kconfig:option:`CONFIG_HAS_POWEROFF`, an option selected by platforms
  implementing the required new hooks.

Bootloader
==========

* The :kconfig:option:`CONFIG_BOOTLOADER_SRAM_SIZE` default value is now ``0`` (was
  ``16``). Bootloaders that use a part of the SRAM should set this value to an
  appropriate size. :github:`60371`

Bluetooth
=========

* The ``accept()`` callback's signature in :c:struct:`bt_l2cap_server` has
  changed to ``int (*accept)(struct bt_conn *conn, struct bt_l2cap_server
  *server, struct bt_l2cap_chan **chan)``,
  adding a new ``server`` parameter pointing to the :c:struct:`bt_l2cap_server`
  structure instance the callback relates to. :github:`60536`

Networking
==========

* A new networking Kconfig option :kconfig:option:`CONFIG_NET_INTERFACE_NAME`
  defaults to ``y``. The option allows user to set a name to a network interface.
  During system startup a default name is assigned to the network interface like
  ``eth0`` to the first Ethernet network interface. The option affects the behavior
  of ``SO_BINDTODEVICE`` BSD socket option. If the Kconfig option is set to ``n``,
  which is how the system worked earlier, then the name of the device assigned
  to the network interface is used by the ``SO_BINDTODEVICE`` socket option.
  If the Kconfig option is set to ``y`` (current default), then the network
  interface name is used by the ``SO_BINDTODEVICE`` socket option.

* Ethernet PHY devicetree bindings were updated to use the standard ``reg``
  property for the PHY address instead of a custom ``address`` property. As a
  result, MDIO controller nodes now require ``#address-cells`` and
  ``#size-cells`` properties. Similarly, Ethernet PHY devicetree nodes and
  corresponding driver were updated to consistently use the node name
  ``ethernet-phy`` instead of ``phy``. Devicetrees and overlays must be updated
  accordingly:

  .. code-block:: devicetree

     mdio {
         compatible = "mdio-controller";
         #address-cells = <1>;
         #size-cells = <0>;

         ethernet-phy@0 {
             compatible = "ethernet-phy";
             reg = <0>;
         };
     };

Other Subsystems
================

* ZBus runtime observers implementation now relies on the HEAP memory instead of a memory slab.
  Thus, zbus' configuration (kconfig) related to runtime observers has changed. To keep your runtime
  observers code working correctly, you need to:

  - Replace the integer ``CONFIG_ZBUS_RUNTIME_OBSERVERS_POOL_SIZE`` with the boolean
    :kconfig:option:`CONFIG_ZBUS_RUNTIME_OBSERVERS`;
  - Set the HEAP size with the :kconfig:option:`CONFIG_HEAP_MEM_POOL_SIZE`.

* The zbus VDED delivery sequence has changed. Check the :ref:`documentation<zbus delivery
  sequence>` to verify if it will affect your code.

* MCUmgr SMP version 2 error codes entry has changed due to a collision with an
  existing response in shell_mgmt. Previously, these errors had the entry ``ret``
  but now have the entry ``err``. ``smp_add_cmd_ret()`` is now deprecated and
  :c:func:`smp_add_cmd_err` should be used instead, ``MGMT_CB_ERROR_RET`` is
  now deprecated and :c:enumerator:`MGMT_CB_ERROR_ERR` should be used instead.
  SMP version 2 error code defines for in-tree modules have been updated to
  replace the ``*_RET_RC_*`` parts with ``*_ERR_*``.

* MCUmgr SMP version 2 error translation (to legacy MCUmgr error code) is now
  handled in function handlers by setting the ``mg_translate_error`` function
  pointer of :c:struct:`mgmt_group` when registering a group. See
  :c:type:`smp_translate_error_fn` for function details. Any SMP version 2
  handlers made for Zephyr 3.4 need to be updated to include these translation
  functions when the groups are registered.

ARM
===

* ARM SoC initialization routines no longer need to call `NMI_INIT()`. The
  macro call has been removed as it was not doing anything useful.

RISC V
======

* The :kconfig:option:`CONFIG_RISCV_MTVEC_VECTORED_MODE` Kconfig option was renamed to
  :kconfig:option:`CONFIG_RISCV_VECTORED_MODE`.

Recommended Changes
*******************

* Setting the GIC architecture version by selecting
  :kconfig:option:`CONFIG_GIC_V1`, :kconfig:option:`CONFIG_GIC_V2` and
  :kconfig:option:`CONFIG_GIC_V3` directly in Kconfig has been deprecated.
  The GIC version should now be specified by adding the appropriate compatible, for
  example :dtcompatible:`arm,gic-v2`, to the GIC node in the device tree.

* Nordic nRF based boards using :kconfig:option:`CONFIG_NFCT_PINS_AS_GPIOS`
  to configure NFCT pins as GPIOs, should instead set the new UICR
  ``nfct-pins-as-gpios`` property in devicetree. It can be set like this in the
  board devicetree files:

  .. code-block:: devicetree

     &uicr {
         nfct-pins-as-gpios;
     };

* Nordic nRF based boards using :kconfig:option:`CONFIG_GPIO_AS_PINRESET`
  to configure reset GPIO as nRESET, should instead set the new UICR
  ``gpio-as-nreset`` property in devicetree. It can be set like this in the
  board devicetree files:

  .. code-block:: devicetree

     &uicr {
         gpio-as-nreset;
     };

* The :kconfig:option:`CONFIG_MODEM_GSM_PPP` modem driver is obsolete.
  Instead the new :kconfig:option:`CONFIG_MODEM_CELLULAR` driver should be used.
  As part of this :kconfig:option:`CONFIG_GSM_MUX` and :kconfig:option:`CONFIG_UART_MUX` are being
  marked as deprecated as well. The new modem subsystem :kconfig:option:`CONFIG_MODEM_CMUX`
  and :kconfig:option:`CONFIG_MODEM_PPP` should be used instead.

* Device drivers should now be restricted to ``PRE_KERNEL_1``, ``PRE_KERNEL_2``
  and ``POST_KERNEL`` initialization levels. Other device initialization levels,
  including ``EARLY``, ``APPLICATION``, and ``SMP``, have been deprecated and
  will be removed in future releases. Note that these changes do not apply to
  initialization levels used in the context of the ``init.h`` API,
  e.g. :c:macro:`SYS_INIT`.

* The following CAN controller devicetree properties are now deprecated in favor specifying the
  initial CAN bitrate using the ``bus-speed``, ``sample-point``, ``bus-speed-data``, and
  ``sample-point-data`` properties:

  * ``sjw``
  * ``prop-seg``
  * ``phase-seg1``
  * ``phase-seg1``
  * ``sjw-data``
  * ``prop-seg-data``
  * ``phase-seg1-data``
  * ``phase-seg1-data``

* ``<zephyr/arch/arm/aarch32/cortex_a_r/cmsis.h>`` and
  ``<zephyr/arch/arm/aarch32/cortex_m/cmsis.h>`` are now deprecated in favor of
  including ``<cmsis_core.h>`` instead. The new header is part of the CMSIS glue
  code in the ``modules`` directory.

* Random API header ``<zephyr/random/rand32.h>`` is deprecated in favor of
  ``<zephyr/random/random.h>``. The old header will be removed in future releases
  and its usage should be avoided.