318 lines
12 KiB
Text
318 lines
12 KiB
Text
menu "FreeRTOS"
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# This is actually also handled in the ESP32 startup code, not only in FreeRTOS.
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config FREERTOS_UNICORE
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bool "Run FreeRTOS only on first core"
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default n
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help
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This version of FreeRTOS normally takes control of all cores of
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the CPU. Select this if you only want to start it on the first core.
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This is needed when e.g. another process needs complete control
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over the second core.
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choice FREERTOS_CORETIMER
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prompt "Xtensa timer to use as the FreeRTOS tick source"
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default CONFIG_FREERTOS_CORETIMER_0
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help
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FreeRTOS needs a timer with an associated interrupt to use as
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the main tick source to increase counters, run timers and do
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pre-emptive multitasking with. There are multiple timers available
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to do this, with different interrupt priorities. Check
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config FREERTOS_CORETIMER_0
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bool "Timer 0 (int 6, level 1)"
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help
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Select this to use timer 0
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config FREERTOS_CORETIMER_1
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bool "Timer 1 (int 15, level 3)"
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help
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Select this to use timer 1
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endchoice
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config FREERTOS_HZ
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int "Tick rate (Hz)"
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range 1 1000
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default 100
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help
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Select the tick rate at which FreeRTOS does pre-emptive context switching.
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config FREERTOS_ASSERT_ON_UNTESTED_FUNCTION
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bool "Halt when an SMP-untested function is called"
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default y
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help
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Some functions in FreeRTOS have not been thoroughly tested yet when moving to
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the SMP implementation of FreeRTOS. When this option is enabled, these fuctions
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will throw an assert().
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choice FREERTOS_CHECK_STACKOVERFLOW
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prompt "Check for stack overflow"
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default FREERTOS_CHECK_STACKOVERFLOW_CANARY
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help
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FreeRTOS can check for stack overflows in threads and trigger an user function
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called vApplicationStackOverflowHook when this happens.
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config FREERTOS_CHECK_STACKOVERFLOW_NONE
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bool "No checking"
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help
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Do not check for stack overflows (configCHECK_FOR_STACK_OVERFLOW=0)
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config FREERTOS_CHECK_STACKOVERFLOW_PTRVAL
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bool "Check by stack pointer value"
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help
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Check for stack overflows on each context switch by checking if
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the stack pointer is in a valid range. Quick but does not detect
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stack overflows that happened between context switches
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(configCHECK_FOR_STACK_OVERFLOW=1)
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config FREERTOS_CHECK_STACKOVERFLOW_CANARY
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bool "Check using canary bytes"
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help
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Places some magic bytes at the end of the stack area and on each
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context switch, check if these bytes are still intact. More thorough
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than just checking the pointer, but also slightly slower.
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(configCHECK_FOR_STACK_OVERFLOW=2)
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endchoice
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config FREERTOS_WATCHPOINT_END_OF_STACK
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bool "Set a debug watchpoint as a stack overflow check"
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default n
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help
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FreeRTOS can check if a stack has overflown its bounds by checking either the value of
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the stack pointer or by checking the integrity of canary bytes. (See FREERTOS_CHECK_STACKOVERFLOW
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for more information.) These checks only happen on a context switch, and the situation that caused
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the stack overflow may already be long gone by then. This option will use the debug memory
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watchpoint 1 (the second one) to allow breaking into the debugger (or panic'ing) as soon as any
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of the last 32 bytes on the stack of a task are overwritten. The side effect is that using gdb, you
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effectively only have one watchpoint; the 2nd one is overwritten as soon as a task switch happens.
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This check only triggers if the stack overflow writes within 4 bytes of the end of the stack, rather than
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overshooting further, so it is worth combining this approach with one of the other stack overflow check methods.
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When this watchpoint is hit, gdb will stop with a SIGTRAP message. When no OCD is attached, esp-idf
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will panic on an unhandled debug exception.
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config FREERTOS_INTERRUPT_BACKTRACE
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bool "Enable backtrace from interrupt to task context"
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default y
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help
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If this option is enabled, interrupt stack frame will be modified to
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point to the code of the interrupted task as its return address.
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This helps the debugger (or the panic handler) show a backtrace from
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the interrupt to the task which was interrupted. This also works for
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nested interrupts: higer level interrupt stack can be traced back to the
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lower level interrupt.
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This option adds 4 instructions to the interrupt dispatching code.
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config FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
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int "Number of thread local storage pointers"
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range 1 256
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default 1
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help
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FreeRTOS has the ability to store per-thread pointers in the task
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control block. This controls the number of pointers available.
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Value 0 turns off this functionality.
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If using the LWIP TCP/IP stack (with WiFi or Ethernet), this value must be at least 1. See the
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LWIP_THREAD_LOCAL_STORAGE_INDEX config item in LWIP configuration to determine which thread-local-storage
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pointer is reserved for LWIP.
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choice FREERTOS_ASSERT
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prompt "FreeRTOS assertions"
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default FREERTOS_ASSERT_FAIL_ABORT
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help
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Failed FreeRTOS configASSERT() assertions can be configured to
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behave in different ways.
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config FREERTOS_ASSERT_FAIL_ABORT
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bool "abort() on failed assertions"
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help
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If a FreeRTOS configASSERT() fails, FreeRTOS will abort() and
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halt execution. The panic handler can be configured to handle
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the outcome of an abort() in different ways.
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config FREERTOS_ASSERT_FAIL_PRINT_CONTINUE
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bool "Print and continue failed assertions"
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help
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If a FreeRTOS assertion fails, print it out and continue.
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config FREERTOS_ASSERT_DISABLE
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bool "Disable FreeRTOS assertions"
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help
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FreeRTOS configASSERT() will not be compiled into the binary.
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endchoice
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config FREERTOS_BREAK_ON_SCHEDULER_START_JTAG
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bool "Stop program on scheduler start when JTAG/OCD is detected"
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depends on ESP32_DEBUG_OCDAWARE
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default n
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help
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If JTAG/OCD is connected, stop execution when the scheduler is started and the first
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task is executed.
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config FREERTOS_IDLE_TASK_STACKSIZE
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int "Idle Task stack size"
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range 768 32768
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default 1024
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help
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The idle task has its own stack, sized in bytes. The default size is enough for most uses. Size can be reduced
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to 768 bytes if no (or simple) FreeRTOS idle hooks are used. The stack size may need to be increased above the
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default if the app installs idle hooks that use a lot of stack memory.
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config FREERTOS_ISR_STACKSIZE
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int "ISR stack size"
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range 1536 32768
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default 1536
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help
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The interrupt handlers have their own stack. The size of the stack can be defined here.
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Each processor has its own stack, so the total size occupied will be twice this.
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config FREERTOS_LEGACY_HOOKS
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bool "Use FreeRTOS legacy hooks"
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default n
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help
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FreeRTOS offers a number of hooks/callback functions that are called when a timer
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tick happens, the idle thread runs etc. esp-idf replaces these by runtime registerable
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hooks using the esp_register_freertos_xxx_hook system, but for legacy reasons the old
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hooks can also still be enabled. Please enable this only if you have code that for some
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reason can't be migrated to the esp_register_freertos_xxx_hook system.
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if FREERTOS_LEGACY_HOOKS
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config FREERTOS_LEGACY_IDLE_HOOK
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bool "Enable legacy idle hook"
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default n
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help
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If enabled, FreeRTOS will call a function called vApplicationIdleHook when the idle thread
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on a CPU is running. Please make sure your code defines such a function.
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config FREERTOS_LEGACY_TICK_HOOK
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bool "Enable legacy tick hook"
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default n
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help
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If enabled, FreeRTOS will call a function called vApplicationTickHook when a FreeRTOS
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tick is executed. Please make sure your code defines such a function.
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endif #FREERTOS_LEGACY_HOOKS
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config FREERTOS_MAX_TASK_NAME_LEN
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int "Maximum task name length"
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range 1 256
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default 16
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help
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Changes the maximum task name length. Each task allocated will
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include this many bytes for a task name. Using a shorter value
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saves a small amount of RAM, a longer value allows more complex
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names.
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For most uses, the default of 16 is OK.
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config SUPPORT_STATIC_ALLOCATION
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bool "Enable FreeRTOS static allocation API"
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default n
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help
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FreeRTOS gives the application writer the ability to instead provide the memory
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themselves, allowing the following objects to optionally be created without any
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memory being allocated dynamically:
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- Tasks
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- Software Timers
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- Queues
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- Event Groups
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- Binary Semaphores
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- Counting Semaphores
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- Recursive Semaphores
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- Mutexes
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Whether it is preferable to use static or dynamic memory allocation is dependent on
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the application, and the preference of the application writer. Both methods have pros
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and cons, and both methods can be used within the same RTOS application.
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Creating RTOS objects using statically allocated RAM has the benefit of providing the
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application writer with more control: RTOS objects can be placed at specific memory locations.
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The maximum RAM footprint can be determined at link time, rather than run time.
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The application writer does not need to concern themselves with graceful handling of memory allocation failures.
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It allows the RTOS to be used in applications that simply don't allow any dynamic memory allocation
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(although FreeRTOS includes allocation schemes that can overcome most objections).
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config ENABLE_STATIC_TASK_CLEAN_UP_HOOK
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bool "Enable static task clean up hook"
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depends on SUPPORT_STATIC_ALLOCATION
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default n
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help
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Enable this option to make FreeRTOS call the static task clean up hook when a task is deleted.
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Bear in mind that if this option is enabled you will need to implement the following function::
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void vPortCleanUpTCB ( void *pxTCB ) {
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// place clean up code here
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}
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config TIMER_TASK_PRIORITY
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int "FreeRTOS timer task priority"
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range 1 25
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default 1
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help
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The timer service task (primarily) makes use of existing FreeRTOS features, allowing timer
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functionality to be added to an application with minimal impact on the size of the application's
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executable binary.
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Use this constant to define the priority that the timer task will run at.
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config TIMER_TASK_STACK_DEPTH
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int "FreeRTOS timer task stack size"
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range 1536 32768
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default 2048
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help
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The timer service task (primarily) makes use of existing FreeRTOS features, allowing timer
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functionality to be added to an application with minimal impact on the size of the application's
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executable binary.
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Use this constant to define the size (in bytes) of the stack allocated for the timer task.
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config TIMER_QUEUE_LENGTH
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int "FreeRTOS timer queue length"
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range 5 20
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default 10
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help
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FreeRTOS provides a set of timer related API functions. Many of these functions use a standard
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FreeRTOS queue to send commands to the timer service task. The queue used for this purpose is
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called the 'timer command queue'. The 'timer command queue' is private to the FreeRTOS timer
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implementation, and cannot be accessed directly.
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For most uses the default value of 10 is OK.
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menuconfig FREERTOS_DEBUG_INTERNALS
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bool "Debug FreeRTOS internals"
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default n
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help
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Enable this option to show the menu with internal FreeRTOS debugging features.
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This option does not change any code by itself, it just shows/hides some options.
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if FREERTOS_DEBUG_INTERNALS
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config FREERTOS_PORTMUX_DEBUG
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bool "Debug portMUX portENTER_CRITICAL/portEXIT_CRITICAL"
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depends on FREERTOS_DEBUG_INTERNALS
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default n
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help
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If enabled, debug information (including integrity checks) will be printed
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to UART for the port-specific MUX implementation.
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if !FREERTOS_UNICORE
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config FREERTOS_PORTMUX_DEBUG_RECURSIVE
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bool "Debug portMUX Recursion"
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depends on FREERTOS_PORTMUX_DEBUG
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default n
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help
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If enabled, additional debug information will be printed for recursive
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portMUX usage.
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endif #FREERTOS_UNICORE
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endif # FREERTOS_DEBUG_INTERNALS
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endmenu
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