433 lines
20 KiB
Text
433 lines
20 KiB
Text
menu "FreeRTOS"
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config FREERTOS_UNICORE
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bool "Run FreeRTOS only on first core"
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default "y" if IDF_TARGET_ESP32S2
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select ESP_SYSTEM_SINGLE_CORE_MODE
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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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# This invisible config value sets the value of tskNO_AFFINITY in task.h.
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# Intended to be used as a constant from other Kconfig files.
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# Value is (32-bit) INT_MAX.
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config FREERTOS_NO_AFFINITY
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hex
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default 0x7FFFFFFF
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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 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_OPTIMIZED_SCHEDULER
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bool "Enable FreeRTOS pĺatform optimized scheduler"
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depends on FREERTOS_UNICORE
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default y
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help
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On most platforms there are instructions can speedup the ready task
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searching. Enabling this option the FreeRTOS with this instructions
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support will be built.
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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
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methods.
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When this watchpoint is hit, gdb will stop with a SIGTRAP message. When no JTAG 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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This value must be at least 1. Index 0 is reserved for use by the pthreads API
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thread-local-storage. Other indexes can be used for any desired purpose.
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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_IDLE_TASK_STACKSIZE
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int "Idle Task stack size"
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range 768 32768
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default 1536
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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
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reduced to 768 bytes if no (or simple) FreeRTOS idle hooks are used and pthread local storage or FreeRTOS
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local storage cleanup callbacks are not used.
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The stack size may need to be increased above the default if the app installs idle or thread local storage
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cleanup 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 2100 32768 if ESP32_COREDUMP_DATA_FORMAT_ELF
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default 2100 if ESP32_COREDUMP_DATA_FORMAT_ELF
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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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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 FREERTOS_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 (Daemon task is still dynamic. See documentation)
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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 application writer
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with more control: RTOS objects can be placed at specific memory locations. The maximum RAM footprint can
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be determined at link time, rather than run time. The application writer does not need to concern
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themselves with graceful handling of memory allocation failures. It allows the RTOS to be used in
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applications that simply don't allow any dynamic memory allocation (although FreeRTOS includes allocation
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schemes that can overcome most objections).
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config FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
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bool "Enable static task clean up hook"
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depends on FREERTOS_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 FREERTOS_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 FREERTOS_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 FREERTOS_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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config FREERTOS_QUEUE_REGISTRY_SIZE
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int "FreeRTOS queue registry size"
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range 0 20
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default 0
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help
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FreeRTOS uses the queue registry as a means for kernel aware debuggers to locate queues, semaphores,
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and mutexes. The registry allows for a textual name to be associated with a queue for easy identification
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within a debugging GUI. A value of 0 will disable queue registry functionality, and a value larger than 0
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will specify the number of queues/semaphores/mutexes that the registry can hold.
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config FREERTOS_USE_TRACE_FACILITY
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bool "Enable FreeRTOS trace facility"
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default n
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help
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If enabled, configUSE_TRACE_FACILITY will be defined as 1 in FreeRTOS.
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This will allow the usage of trace facility functions such as
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uxTaskGetSystemState().
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config FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
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bool "Enable FreeRTOS stats formatting functions"
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depends on FREERTOS_USE_TRACE_FACILITY
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default n
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help
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If enabled, configUSE_STATS_FORMATTING_FUNCTIONS will be defined as 1 in
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FreeRTOS. This will allow the usage of stats formatting functions such
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as vTaskList().
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config FREERTOS_VTASKLIST_INCLUDE_COREID
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bool "Enable display of xCoreID in vTaskList"
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depends on FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
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default n
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help
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If enabled, this will include an extra column when vTaskList is called
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to display the CoreID the task is pinned to (0,1) or -1 if not pinned.
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config FREERTOS_GENERATE_RUN_TIME_STATS
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bool "Enable FreeRTOS to collect run time stats"
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default n
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select FREERTOS_USE_TRACE_FACILITY
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select FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
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help
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If enabled, configGENERATE_RUN_TIME_STATS will be defined as 1 in
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FreeRTOS. This will allow FreeRTOS to collect information regarding the
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usage of processor time amongst FreeRTOS tasks. Run time stats are
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generated using either the ESP Timer or the CPU Clock as the clock
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source (Note that run time stats are only valid until the clock source
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overflows). The function vTaskGetRunTimeStats() will also be available
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if FREERTOS_USE_STATS_FORMATTING_FUNCTIONS and
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FREERTOS_USE_TRACE_FACILITY are enabled. vTaskGetRunTimeStats() will
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display the run time of each task as a % of the total run time of all
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CPUs (task run time / no of CPUs) / (total run time / 100 )
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choice FREERTOS_RUN_TIME_STATS_CLK
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prompt "Choose the clock source for run time stats"
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depends on FREERTOS_GENERATE_RUN_TIME_STATS
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default FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
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help
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Choose the clock source for FreeRTOS run time stats. Options are CPU0's
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CPU Clock or the ESP Timer. Both clock sources are 32 bits. The CPU
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Clock can run at a higher frequency hence provide a finer resolution
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but will overflow much quicker. Note that run time stats are only valid
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until the clock source overflows.
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config FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
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bool "Use ESP TIMER for run time stats"
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help
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ESP Timer will be used as the clock source for FreeRTOS run time stats.
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The ESP Timer runs at a frequency of 1MHz regardless of Dynamic
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Frequency Scaling. Therefore the ESP Timer will overflow in
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approximately 4290 seconds.
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config FREERTOS_RUN_TIME_STATS_USING_CPU_CLK
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bool "Use CPU Clock for run time stats"
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help
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CPU Clock will be used as the clock source for the generation of run
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time stats. The CPU Clock has a frequency dependent on
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ESP32_DEFAULT_CPU_FREQ_MHZ and Dynamic Frequency Scaling (DFS).
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Therefore the CPU Clock frequency can fluctuate between 80 to 240MHz.
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Run time stats generated using the CPU Clock represents the number of
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CPU cycles each task is allocated and DOES NOT reflect the amount of
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time each task runs for (as CPU clock frequency can change). If the CPU
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clock consistently runs at the maximum frequency of 240MHz, it will
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overflow in approximately 17 seconds.
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endchoice
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config FREERTOS_USE_TICKLESS_IDLE
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bool "Tickless idle support"
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depends on PM_ENABLE
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default n
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help
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If power management support is enabled, FreeRTOS will be able to put
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the system into light sleep mode when no tasks need to run for a number
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of ticks. This number can be set using FREERTOS_IDLE_TIME_BEFORE_SLEEP option.
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This feature is also known as "automatic light sleep".
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Note that timers created using esp_timer APIs may prevent the system from
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entering sleep mode, even when no tasks need to run.
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If disabled, automatic light sleep support will be disabled.
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config FREERTOS_IDLE_TIME_BEFORE_SLEEP
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int "Minimum number of ticks to enter sleep mode for"
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depends on FREERTOS_USE_TICKLESS_IDLE
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default 3
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range 2 4294967295
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# Minimal value is 2 because of a check in FreeRTOS.h (search configEXPECTED_IDLE_TIME_BEFORE_SLEEP)
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help
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FreeRTOS will enter light sleep mode if no tasks need to run for this number
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of ticks.
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config FREERTOS_TASK_FUNCTION_WRAPPER
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bool "Enclose all task functions in a wrapper function"
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depends on COMPILER_OPTIMIZATION_DEFAULT
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default y
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help
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If enabled, all FreeRTOS task functions will be enclosed in a wrapper function.
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If a task function mistakenly returns (i.e. does not delete), the call flow will
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return to the wrapper function. The wrapper function will then log an error and
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abort the application. This option is also required for GDB backtraces and C++
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exceptions to work correctly inside top-level task functions.
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config FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
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bool "Check that mutex semaphore is given by owner task"
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default y
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help
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If enabled, assert that when a mutex semaphore is given, the task giving the
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semaphore is the task which is currently holding the mutex.
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config FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
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bool "Tests compliance with Vanilla FreeRTOS port*_CRITICAL calls"
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default n
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help
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If enabled, context of port*_CRITICAL calls (ISR or Non-ISR)
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would be checked to be in compliance with Vanilla FreeRTOS.
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e.g Calling port*_CRITICAL from ISR context would cause assert failure
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config FREERTOS_DEBUG_OCDAWARE
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bool
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help
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Hidden option, gets selected by CONFIG_ESPxx_DEBUG_OCDAWARE
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config FREERTOS_FPU_IN_ISR
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bool "Allow use of float inside Level 1 ISR (EXPERIMENTAL)"
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depends on IDF_TARGET_ESP32
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default n
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help
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When enabled, the usage of float type is allowed inside Level 1
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ISRs.
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endmenu
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