This commit backports the following features from FreeRTOS v9.0.0 - uxSemaphoreGetCount() - vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime() - xTimerCreateStatic() - xEventGroupCreateStatic() - uxSemaphoreGetCount() Functions backported previously - xTaskCreateStatic() - xQueueCreateStatic() - xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic() - xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic() - pcQueueGetName() - vTaskSetThreadLocalStoragePointer() - pvTaskGetThreadLocalStoragePointer() Unit tests were also written for the functions above (except for pcQueueGetName which is tested in a separate Queue Registry MR). The original tlsp and del cb test case was deleted and integrated into the test cases of this MR.
384 lines
16 KiB
Text
384 lines
16 KiB
Text
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 (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 || FREERTOS_GENERATE_RUN_TIME_STATS
|
|
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
|
|
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
|
|
|
|
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
|