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 1024 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. The stack size may need to be increased above the default if the app installs idle 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 - 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. 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