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. # This invisible config value sets the value of tskNO_AFFINITY in task.h. # Intended to be used as a constant from other Kconfig files. # Value is (32-bit) INT_MAX. config FREERTOS_NO_AFFINITY hex default 0x7FFFFFFF 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. 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_VTASKLIST_INCLUDE_COREID bool "Enable display of xCoreID in vTaskList" depends on FREERTOS_USE_STATS_FORMATTING_FUNCTIONS default n help If enabled, this will include an extra column when vTaskList is called to display the CoreID the task is pinned to (0,1) or -1 if not pinned. 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 config FREERTOS_TASK_FUNCTION_WRAPPER bool "Enclose all task functions in a wrapper function" depends on OPTIMIZATION_LEVEL_DEBUG default y help If enabled, all FreeRTOS task functions will be enclosed in a wrapper function. If a task function mistakenly returns (i.e. does not delete), the call flow will return to the wrapper function. The wrapper function will then log an error and abort the application. This option is also required for GDB backtraces and C++ exceptions to work correctly inside top-level task functions. config FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER bool "Check that mutex semaphore is given by owner task" default y help If enabled, assert that when a mutex semaphore is given, the task giving the semaphore is the task which is currently holding the mutex. config FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE bool "Tests compliance with Vanilla FreeRTOS port*_CRITICAL calls" default n help If enabled, context of port*_CRITICAL calls (ISR or Non-ISR) would be checked to be in compliance with Vanilla FreeRTOS. e.g Calling port*_CRITICAL from ISR context would cause assert failure endmenu