415 lines
17 KiB
Plaintext
415 lines
17 KiB
Plaintext
menu "FreeRTOS"
|
|
|
|
# This is actually also handled in the ESP32 startup code, not only in FreeRTOS.
|
|
config FREERTOS_UNICORE
|
|
bool "Run FreeRTOS only on first core"
|
|
default n
|
|
help
|
|
This version of FreeRTOS normally takes control of all cores of
|
|
the CPU. Select this if you only want to start it on the first core.
|
|
This is needed when e.g. another process needs complete control
|
|
over the second core.
|
|
|
|
|
|
choice FREERTOS_CORETIMER
|
|
prompt "Xtensa timer to use as the FreeRTOS tick source"
|
|
default CONFIG_FREERTOS_CORETIMER_0
|
|
help
|
|
FreeRTOS needs a timer with an associated interrupt to use as
|
|
the main tick source to increase counters, run timers and do
|
|
pre-emptive multitasking with. There are multiple timers available
|
|
to do this, with different interrupt priorities. Check
|
|
|
|
config FREERTOS_CORETIMER_0
|
|
bool "Timer 0 (int 6, level 1)"
|
|
help
|
|
Select this to use timer 0
|
|
|
|
config FREERTOS_CORETIMER_1
|
|
bool "Timer 1 (int 15, level 3)"
|
|
help
|
|
Select this to use timer 1
|
|
|
|
endchoice
|
|
|
|
config FREERTOS_HZ
|
|
int "Tick rate (Hz)"
|
|
range 1 1000
|
|
default 100
|
|
help
|
|
Select the tick rate at which FreeRTOS does pre-emptive context switching.
|
|
|
|
config FREERTOS_ASSERT_ON_UNTESTED_FUNCTION
|
|
bool "Halt when an SMP-untested function is called"
|
|
default y
|
|
help
|
|
Some functions in FreeRTOS have not been thoroughly tested yet when moving to
|
|
the SMP implementation of FreeRTOS. When this option is enabled, these fuctions
|
|
will throw an assert().
|
|
|
|
choice FREERTOS_CHECK_STACKOVERFLOW
|
|
prompt "Check for stack overflow"
|
|
default FREERTOS_CHECK_STACKOVERFLOW_CANARY
|
|
help
|
|
FreeRTOS can check for stack overflows in threads and trigger an user function
|
|
called vApplicationStackOverflowHook when this happens.
|
|
|
|
config FREERTOS_CHECK_STACKOVERFLOW_NONE
|
|
bool "No checking"
|
|
help
|
|
Do not check for stack overflows (configCHECK_FOR_STACK_OVERFLOW=0)
|
|
|
|
config FREERTOS_CHECK_STACKOVERFLOW_PTRVAL
|
|
bool "Check by stack pointer value"
|
|
help
|
|
Check for stack overflows on each context switch by checking if
|
|
the stack pointer is in a valid range. Quick but does not detect
|
|
stack overflows that happened between context switches
|
|
(configCHECK_FOR_STACK_OVERFLOW=1)
|
|
|
|
config FREERTOS_CHECK_STACKOVERFLOW_CANARY
|
|
bool "Check using canary bytes"
|
|
help
|
|
Places some magic bytes at the end of the stack area and on each
|
|
context switch, check if these bytes are still intact. More thorough
|
|
than just checking the pointer, but also slightly slower.
|
|
(configCHECK_FOR_STACK_OVERFLOW=2)
|
|
endchoice
|
|
|
|
config FREERTOS_WATCHPOINT_END_OF_STACK
|
|
bool "Set a debug watchpoint as a stack overflow check"
|
|
default n
|
|
help
|
|
FreeRTOS can check if a stack has overflown its bounds by checking either the value of
|
|
the stack pointer or by checking the integrity of canary bytes. (See FREERTOS_CHECK_STACKOVERFLOW
|
|
for more information.) These checks only happen on a context switch, and the situation that caused
|
|
the stack overflow may already be long gone by then. This option will use the debug memory
|
|
watchpoint 1 (the second one) to allow breaking into the debugger (or panic'ing) as soon as any
|
|
of the last 32 bytes on the stack of a task are overwritten. The side effect is that using gdb, you
|
|
effectively only have one watchpoint; the 2nd one is overwritten as soon as a task switch happens.
|
|
|
|
This check only triggers if the stack overflow writes within 4 bytes of the end of the stack, rather than
|
|
overshooting further, so it is worth combining this approach with one of the other stack overflow check methods.
|
|
|
|
When this watchpoint is hit, gdb will stop with a SIGTRAP message. When no JTAG OCD is attached, esp-idf
|
|
will panic on an unhandled debug exception.
|
|
|
|
config FREERTOS_INTERRUPT_BACKTRACE
|
|
bool "Enable backtrace from interrupt to task context"
|
|
default y
|
|
help
|
|
If this option is enabled, interrupt stack frame will be modified to
|
|
point to the code of the interrupted task as its return address.
|
|
This helps the debugger (or the panic handler) show a backtrace from
|
|
the interrupt to the task which was interrupted. This also works for
|
|
nested interrupts: higer level interrupt stack can be traced back to the
|
|
lower level interrupt.
|
|
This option adds 4 instructions to the interrupt dispatching code.
|
|
|
|
config FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
|
|
int "Number of thread local storage pointers"
|
|
range 1 256
|
|
default 1
|
|
help
|
|
FreeRTOS has the ability to store per-thread pointers in the task
|
|
control block. This controls the number of pointers available.
|
|
|
|
This value must be at least 1. Index 0 is reserved for use by the pthreads API
|
|
thread-local-storage. Other indexes can be used for any desired purpose.
|
|
|
|
choice FREERTOS_ASSERT
|
|
prompt "FreeRTOS assertions"
|
|
default FREERTOS_ASSERT_FAIL_ABORT
|
|
help
|
|
Failed FreeRTOS configASSERT() assertions can be configured to
|
|
behave in different ways.
|
|
|
|
config FREERTOS_ASSERT_FAIL_ABORT
|
|
bool "abort() on failed assertions"
|
|
help
|
|
If a FreeRTOS configASSERT() fails, FreeRTOS will abort() and
|
|
halt execution. The panic handler can be configured to handle
|
|
the outcome of an abort() in different ways.
|
|
|
|
config FREERTOS_ASSERT_FAIL_PRINT_CONTINUE
|
|
bool "Print and continue failed assertions"
|
|
help
|
|
If a FreeRTOS assertion fails, print it out and continue.
|
|
|
|
config FREERTOS_ASSERT_DISABLE
|
|
bool "Disable FreeRTOS assertions"
|
|
help
|
|
FreeRTOS configASSERT() will not be compiled into the binary.
|
|
|
|
endchoice
|
|
|
|
config FREERTOS_IDLE_TASK_STACKSIZE
|
|
int "Idle Task stack size"
|
|
range 768 32768
|
|
default 1536
|
|
help
|
|
The idle task has its own stack, sized in bytes. The default size is enough for most uses. Size can be reduced
|
|
to 768 bytes if no (or simple) FreeRTOS idle hooks are used and pthread local storage or FreeRTOS local storage
|
|
cleanup callbacks are not used.
|
|
|
|
The stack size may need to be increased above the default if the app installs idle or thread local storage
|
|
cleanup hooks that use a lot of stack memory.
|
|
|
|
config FREERTOS_ISR_STACKSIZE
|
|
int "ISR stack size"
|
|
range 1536 32768
|
|
default 1536
|
|
help
|
|
The interrupt handlers have their own stack. The size of the stack can be defined here.
|
|
Each processor has its own stack, so the total size occupied will be twice this.
|
|
|
|
config FREERTOS_LEGACY_HOOKS
|
|
bool "Use FreeRTOS legacy hooks"
|
|
default n
|
|
help
|
|
FreeRTOS offers a number of hooks/callback functions that are called when a timer
|
|
tick happens, the idle thread runs etc. esp-idf replaces these by runtime registerable
|
|
hooks using the esp_register_freertos_xxx_hook system, but for legacy reasons the old
|
|
hooks can also still be enabled. Please enable this only if you have code that for some
|
|
reason can't be migrated to the esp_register_freertos_xxx_hook system.
|
|
|
|
if FREERTOS_LEGACY_HOOKS
|
|
|
|
config FREERTOS_LEGACY_IDLE_HOOK
|
|
bool "Enable legacy idle hook"
|
|
default n
|
|
help
|
|
If enabled, FreeRTOS will call a function called vApplicationIdleHook when the idle thread
|
|
on a CPU is running. Please make sure your code defines such a function.
|
|
|
|
config FREERTOS_LEGACY_TICK_HOOK
|
|
bool "Enable legacy tick hook"
|
|
default n
|
|
help
|
|
If enabled, FreeRTOS will call a function called vApplicationTickHook when a FreeRTOS
|
|
tick is executed. Please make sure your code defines such a function.
|
|
|
|
endif #FREERTOS_LEGACY_HOOKS
|
|
|
|
config FREERTOS_MAX_TASK_NAME_LEN
|
|
int "Maximum task name length"
|
|
range 1 256
|
|
default 16
|
|
help
|
|
Changes the maximum task name length. Each task allocated will
|
|
include this many bytes for a task name. Using a shorter value
|
|
saves a small amount of RAM, a longer value allows more complex
|
|
names.
|
|
|
|
For most uses, the default of 16 is OK.
|
|
|
|
config SUPPORT_STATIC_ALLOCATION
|
|
bool "Enable FreeRTOS static allocation API"
|
|
default n
|
|
help
|
|
FreeRTOS gives the application writer the ability to instead provide the memory
|
|
themselves, allowing the following objects to optionally be created without any
|
|
memory being allocated dynamically:
|
|
|
|
- Tasks
|
|
- Software Timers (Daemon task is still dynamic. See documentation)
|
|
- Queues
|
|
- Event Groups
|
|
- Binary Semaphores
|
|
- Counting Semaphores
|
|
- Recursive Semaphores
|
|
- Mutexes
|
|
|
|
Whether it is preferable to use static or dynamic memory allocation is dependent on
|
|
the application, and the preference of the application writer. Both methods have pros
|
|
and cons, and both methods can be used within the same RTOS application.
|
|
|
|
Creating RTOS objects using statically allocated RAM has the benefit of providing the
|
|
application writer with more control: RTOS objects can be placed at specific memory locations.
|
|
The maximum RAM footprint can be determined at link time, rather than run time.
|
|
The application writer does not need to concern themselves with graceful handling of memory allocation failures.
|
|
It allows the RTOS to be used in applications that simply don't allow any dynamic memory allocation
|
|
(although FreeRTOS includes allocation schemes that can overcome most objections).
|
|
|
|
config ENABLE_STATIC_TASK_CLEAN_UP_HOOK
|
|
bool "Enable static task clean up hook"
|
|
depends on SUPPORT_STATIC_ALLOCATION
|
|
default n
|
|
help
|
|
Enable this option to make FreeRTOS call the static task clean up hook when a task is deleted.
|
|
|
|
Bear in mind that if this option is enabled you will need to implement the following function::
|
|
|
|
void vPortCleanUpTCB ( void *pxTCB ) {
|
|
// place clean up code here
|
|
}
|
|
|
|
config TIMER_TASK_PRIORITY
|
|
int "FreeRTOS timer task priority"
|
|
range 1 25
|
|
default 1
|
|
help
|
|
The timer service task (primarily) makes use of existing FreeRTOS features, allowing timer
|
|
functionality to be added to an application with minimal impact on the size of the application's
|
|
executable binary.
|
|
|
|
Use this constant to define the priority that the timer task will run at.
|
|
|
|
config TIMER_TASK_STACK_DEPTH
|
|
int "FreeRTOS timer task stack size"
|
|
range 1536 32768
|
|
default 2048
|
|
help
|
|
The timer service task (primarily) makes use of existing FreeRTOS features, allowing timer
|
|
functionality to be added to an application with minimal impact on the size of the application's
|
|
executable binary.
|
|
|
|
Use this constant to define the size (in bytes) of the stack allocated for the timer task.
|
|
|
|
config TIMER_QUEUE_LENGTH
|
|
int "FreeRTOS timer queue length"
|
|
range 5 20
|
|
default 10
|
|
help
|
|
FreeRTOS provides a set of timer related API functions. Many of these functions use a standard
|
|
FreeRTOS queue to send commands to the timer service task. The queue used for this purpose is
|
|
called the 'timer command queue'. The 'timer command queue' is private to the FreeRTOS timer
|
|
implementation, and cannot be accessed directly.
|
|
|
|
For most uses the default value of 10 is OK.
|
|
|
|
config FREERTOS_QUEUE_REGISTRY_SIZE
|
|
int "FreeRTOS queue registry size"
|
|
range 0 20
|
|
default 0
|
|
help
|
|
FreeRTOS uses the queue registry as a means for kernel aware debuggers to locate queues, semaphores,
|
|
and mutexes. The registry allows for a textual name to be associated with a queue for easy identification
|
|
within a debugging GUI. A value of 0 will disable queue registry functionality, and a value larger than 0
|
|
will specify the number of queues/semaphores/mutexes that the registry can hold.
|
|
|
|
config FREERTOS_USE_TRACE_FACILITY
|
|
bool "Enable FreeRTOS trace facility"
|
|
default n
|
|
help
|
|
If enabled, configUSE_TRACE_FACILITY will be defined as 1 in FreeRTOS.
|
|
This will allow the usage of trace facility functions such as
|
|
uxTaskGetSystemState().
|
|
|
|
config FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
|
|
bool "Enable FreeRTOS stats formatting functions"
|
|
depends on FREERTOS_USE_TRACE_FACILITY
|
|
default n
|
|
help
|
|
If enabled, configUSE_STATS_FORMATTING_FUNCTIONS will be defined as 1 in
|
|
FreeRTOS. This will allow the usage of stats formatting functions such
|
|
as vTaskList().
|
|
|
|
config FREERTOS_GENERATE_RUN_TIME_STATS
|
|
bool "Enable FreeRTOS to collect run time stats"
|
|
default n
|
|
select FREERTOS_USE_TRACE_FACILITY
|
|
select FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
|
|
help
|
|
If enabled, configGENERATE_RUN_TIME_STATS will be defined as 1 in
|
|
FreeRTOS. This will allow FreeRTOS to collect information regarding the
|
|
usage of processor time amongst FreeRTOS tasks. Run time stats are
|
|
generated using either the ESP Timer or the CPU Clock as the clock
|
|
source (Note that run time stats are only valid until the clock source
|
|
overflows). The function vTaskGetRunTimeStats() will also be available
|
|
if FREERTOS_USE_STATS_FORMATTING_FUNCTIONS and
|
|
FREERTOS_USE_TRACE_FACILITY are enabled. vTaskGetRunTimeStats() will
|
|
display the run time of each task as a % of the total run time of all
|
|
CPUs (task run time / no of CPUs) / (total run time / 100 )
|
|
|
|
|
|
choice FREERTOS_RUN_TIME_STATS_CLK
|
|
prompt "Choose the clock source for run time stats"
|
|
depends on FREERTOS_GENERATE_RUN_TIME_STATS
|
|
default FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
|
|
help
|
|
Choose the clock source for FreeRTOS run time stats. Options are CPU0's
|
|
CPU Clock or the ESP Timer. Both clock sources are 32 bits. The CPU
|
|
Clock can run at a higher frequency hence provide a finer resolution
|
|
but will overflow much quicker. Note that run time stats are only valid
|
|
until the clock source overflows.
|
|
|
|
config FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
|
|
bool "Use ESP TIMER for run time stats"
|
|
help
|
|
ESP Timer will be used as the clock source for FreeRTOS run time stats.
|
|
The ESP Timer runs at a frequency of 1MHz regardless of Dynamic
|
|
Frequency Scaling. Therefore the ESP Timer will overflow in
|
|
approximately 4290 seconds.
|
|
|
|
config FREERTOS_RUN_TIME_STATS_USING_CPU_CLK
|
|
bool "Use CPU Clock for run time stats"
|
|
help
|
|
CPU Clock will be used as the clock source for the generation of run
|
|
time stats. The CPU Clock has a frequency dependent on
|
|
ESP32_DEFAULT_CPU_FREQ_MHZ and Dynamic Frequency Scaling (DFS).
|
|
Therefore the CPU Clock frequency can fluctuate between 80 to 240MHz.
|
|
Run time stats generated using the CPU Clock represents the number of
|
|
CPU cycles each task is allocated and DOES NOT reflect the amount of
|
|
time each task runs for (as CPU clock frequency can change). If the CPU
|
|
clock consistently runs at the maximum frequency of 240MHz, it will
|
|
overflow in approximately 17 seconds.
|
|
|
|
endchoice
|
|
|
|
config FREERTOS_USE_TICKLESS_IDLE
|
|
bool "Tickless idle support"
|
|
depends on PM_ENABLE
|
|
default n
|
|
help
|
|
If power management support is enabled, FreeRTOS will be able to put
|
|
the system into light sleep mode when no tasks need to run for a number
|
|
of ticks. This number can be set using FREERTOS_IDLE_TIME_BEFORE_SLEEP option.
|
|
This feature is also known as "automatic light sleep".
|
|
|
|
Note that timers created using esp_timer APIs may prevent the system from
|
|
entering sleep mode, even when no tasks need to run.
|
|
|
|
If disabled, automatic light sleep support will be disabled.
|
|
|
|
config FREERTOS_IDLE_TIME_BEFORE_SLEEP
|
|
int "Minimum number of ticks to enter sleep mode for"
|
|
depends on FREERTOS_USE_TICKLESS_IDLE
|
|
default 3
|
|
range 2 4294967295
|
|
# Minimal value is 2 because of a check in FreeRTOS.h (search configEXPECTED_IDLE_TIME_BEFORE_SLEEP)
|
|
help
|
|
FreeRTOS will enter light sleep mode if no tasks need to run for this number
|
|
of ticks.
|
|
|
|
menuconfig FREERTOS_DEBUG_INTERNALS
|
|
bool "Debug FreeRTOS internals"
|
|
default n
|
|
help
|
|
Enable this option to show the menu with internal FreeRTOS debugging features.
|
|
This option does not change any code by itself, it just shows/hides some options.
|
|
|
|
if FREERTOS_DEBUG_INTERNALS
|
|
|
|
config FREERTOS_PORTMUX_DEBUG
|
|
bool "Debug portMUX portENTER_CRITICAL/portEXIT_CRITICAL"
|
|
depends on FREERTOS_DEBUG_INTERNALS
|
|
default n
|
|
help
|
|
If enabled, debug information (including integrity checks) will be printed
|
|
to UART for the port-specific MUX implementation.
|
|
|
|
if !FREERTOS_UNICORE
|
|
config FREERTOS_PORTMUX_DEBUG_RECURSIVE
|
|
bool "Debug portMUX Recursion"
|
|
depends on FREERTOS_PORTMUX_DEBUG
|
|
default n
|
|
help
|
|
If enabled, additional debug information will be printed for recursive
|
|
portMUX usage.
|
|
endif #FREERTOS_UNICORE
|
|
|
|
endif # FREERTOS_DEBUG_INTERNALS
|
|
|
|
endmenu
|