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freertos: Refactor Kconfig options

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This commit refactors FreeRTOS Kconfig options as follows:

- Grouped them into Kernel and Port submenus
- Renamed Kernel option promppts to match upstream names
- Simplified some option descriptions
- Added "Todo" markers related to SMP support
This commit is contained in:
Darian Leung 2022-05-09 18:33:01 +08:00
parent cc37f63e14
commit aa028f018f
1 changed files with 473 additions and 475 deletions
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components/freertos/Kconfig
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menu "FreeRTOS"
config FREERTOS_SMP
bool "Run the SMP FreeRTOS kernel instead (FEATURE UNDER DEVELOPMENT)"
depends on IDF_TARGET_ESP32
default "n"
help
This will cause the FreeRTOS component to compile with the SMP FreeRTOS kernel instead.
THIS FEATURE IS UNDER ACTIVE DEVELOPMENT, users use this at their own risk.
menu "Kernel"
# Upstream FreeRTOS configurations go here
config FREERTOS_UNICORE
bool "Run FreeRTOS only on first core"
default "y" if IDF_TARGET_ESP32S2
select ESP_SYSTEM_SINGLE_CORE_MODE
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.
config FREERTOS_SMP
bool "Run the SMP FreeRTOS kernel instead (FEATURE UNDER DEVELOPMENT)"
depends on IDF_TARGET_ESP32
default "n"
help
This will cause the FreeRTOS component to compile with the SMP FreeRTOS kernel instead.
THIS FEATURE IS UNDER ACTIVE DEVELOPMENT, users use this at their own risk.
# 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_UNICORE
# Todo: Replace with CONFIG_NUM_CORES (IDF-4986)
bool "Run FreeRTOS only on first core"
default "y" if IDF_TARGET_ESP32S2
select ESP_SYSTEM_SINGLE_CORE_MODE
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.
config FREERTOS_HZ
# Todo: Rename to CONFIG_FREERTOS_TICK_RATE_HZ (IDF-4986)
int "configTICK_RATE_HZ"
range 1 1000
default 100
help
Sets the FreeRTOS tick interrupt frequency in Hz (see configTICK_RATE_HZ documentation for more
details).
config FREERTOS_OPTIMIZED_SCHEDULER
# Todo: Not available in SMP FREERTOS (IDF-4986)
# Todo: Rename to CONFIG_FREERTOS_USE_PORT_OPTIMISED_TASK_SELECTION (IDF-4986)
bool "configUSE_PORT_OPTIMISED_TASK_SELECTION"
depends on FREERTOS_UNICORE
default y
help
Enables port specific task selection method. This option can will speed up the search of ready tasks
when scheduling (see configUSE_PORT_OPTIMISED_TASK_SELECTION documentation for more details).
choice FREERTOS_CHECK_STACKOVERFLOW
prompt "configCHECK_FOR_STACK_OVERFLOW"
default FREERTOS_CHECK_STACKOVERFLOW_CANARY
help
Enables FreeRTOS to check for stack overflows (see configCHECK_FOR_STACK_OVERFLOW documentation for
more details).
Note: If users do not provide their own ``vApplicationStackOverflowHook()`` function, a default
function will be provided by ESP-IDF.
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 (Method 1)"
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 (Method 2)"
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 # FREERTOS_CHECK_STACKOVERFLOW
config FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
int "configNUM_THREAD_LOCAL_STORAGE_POINTERS"
range 1 256
default 1
help
Set the number of thread local storage pointers in each task (see
configNUM_THREAD_LOCAL_STORAGE_POINTERS documentation for more details).
Note: In ESP-IDF, 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.
config FREERTOS_IDLE_TASK_STACKSIZE
int "configMINIMAL_STACK_SIZE (Idle task stack size)"
range 768 32768
default 1536
help
Sets the idle task stack size in bytes (see configMINIMAL_STACK_SIZE documentation for more details).
Note:
- ESP-IDF specifies stack sizes in bytes instead of words.
- The default size is enough for most use cases.
- 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.
- Conversely, the stack size can be reduced to the minimum if non of the idle features are used.
config FREERTOS_USE_IDLE_HOOK
bool "configUSE_IDLE_HOOK"
default n
help
Enables the idle task application hook (see configUSE_IDLE_HOOK documentation for more details).
Note:
- The application must provide the hook function ``void vApplicationIdleHook( void );``
- ``vApplicationIdleHook()`` is called from FreeRTOS idle task(s)
- The FreeRTOS idle hook is NOT the same as the ESP-IDF Idle Hook, but both can be enabled
simultaneously.
config FREERTOS_USE_MINIMAL_IDLE_HOOK
bool "Use FreeRTOS minimal idle hook"
depends on FREERTOS_SMP
default n
help
Enables the minimal idle task application hook (see configUSE_IDLE_HOOK documentation for more
details).
Note:
- The application must provide the hook function ``void vApplicationMinimalIdleHook( void );``
- ``vApplicationMinimalIdleHook()`` is called from FreeRTOS minimal idle task(s)
config FREERTOS_USE_TICK_HOOK
bool "configUSE_TICK_HOOK"
default n
help
Enables the tick hook (see configUSE_TICK_HOOK documentation for more details).
Note:
- The application must provide the hook function ``void vApplicationTickHook( void );``
- ``vApplicationTickHook()`` is called from FreeRTOS's tick handling function ``xTaskIncrementTick()``
- The FreeRTOS tick hook is NOT the same as the ESP-IDF Tick Interrupt Hook, but both can be enabled
simultaneously.
config FREERTOS_MAX_TASK_NAME_LEN
int "configMAX_TASK_NAME_LEN"
range 1 256
default 16
help
Sets the maximum number of characters for task names (see configMAX_TASK_NAME_LEN documentation for
more details).
Note: For most uses, the default of 16 characters is sufficient.
config FREERTOS_ENABLE_BACKWARD_COMPATIBILITY
bool "configENABLE_BACKWARD_COMPATIBILITY"
default n
help
Enable backward compatibility with APIs prior to FreeRTOS v8.0.0. (see
configENABLE_BACKWARD_COMPATIBILITY documentation for more details).
config FREERTOS_TIMER_TASK_PRIORITY
int "configTIMER_TASK_PRIORITY"
range 1 25
default 1
help
Sets the timer task's priority (see configTIMER_TASK_PRIORITY documentation for more details).
config FREERTOS_TIMER_TASK_STACK_DEPTH
int "configTIMER_TASK_STACK_DEPTH"
range 1536 32768
default 2048
help
Set the timer task's stack size (see configTIMER_TASK_STACK_DEPTH documentation for more details).
config FREERTOS_TIMER_QUEUE_LENGTH
int "configTIMER_QUEUE_LENGTH"
range 5 20
default 10
help
Set the timer task's command queue length (see configTIMER_QUEUE_LENGTH documentation for more
details).
config FREERTOS_QUEUE_REGISTRY_SIZE
int "configQUEUE_REGISTRY_SIZE"
range 0 20
default 0
help
Set the size of the queue registry (see configQUEUE_REGISTRY_SIZE documentation for more details).
Note: A value of 0 will disable queue registry functionality
config FREERTOS_USE_TRACE_FACILITY
bool "configUSE_TRACE_FACILITY"
default n
help
Enables additional structure members and functions to assist with execution visualization and tracing
(see configUSE_TRACE_FACILITY documentation for more details).
config FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
bool "configUSE_STATS_FORMATTING_FUNCTIONS"
depends on FREERTOS_USE_TRACE_FACILITY
default n
help
Set configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS to 1 to include the
``vTaskList()`` and ``vTaskGetRunTimeStats()`` functions in the build (see
configUSE_STATS_FORMATTING_FUNCTIONS documentation for more details).
config FREERTOS_VTASKLIST_INCLUDE_COREID
# Todo: Remove this once core affinity in stats is supported in SMP FreeRTOS (IDF-4986)
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 "configGENERATE_RUN_TIME_STATS"
default n
select FREERTOS_USE_TRACE_FACILITY
select FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
help
Enables collection of run time statistics for each task (see configGENERATE_RUN_TIME_STATS
documentation for more details).
Note: The clock used for run time statistics can be configured in FREERTOS_RUN_TIME_STATS_CLK.
config FREERTOS_USE_TICKLESS_IDLE
# Todo: Currently not supported in SMP FreeRTOS yet (IDF-4986)
# Todo: Consider whether this option should still be exposed (IDF-4986)
bool "configUSE_TICKLESS_IDLE"
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. To skip unnecessary wake-up initialize a timer with the
"skip_unhandled_events" option as true.
If disabled, automatic light sleep support will be disabled.
config FREERTOS_IDLE_TIME_BEFORE_SLEEP
# Todo: Rename to CONFIG_FREERTOS_EXPECTED_IDLE_TIME_BEFORE_SLEEP (IDF-4986)
int "configEXPECTED_IDLE_TIME_BEFORE_SLEEP"
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.
endmenu # Kernel
menu "Port"
# ESP-IDF FreeRTOS port configurations go here (and HW configurations related to FreeRTOS)
config FREERTOS_TASK_FUNCTION_WRAPPER
bool "Wrap task functions"
depends on COMPILER_OPTIMIZATION_DEFAULT || ESP_COREDUMP_ENABLE || ESP_GDBSTUB_ENABLED
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_WATCHPOINT_END_OF_STACK
bool "Enable stack overflow debug watchpoint"
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 last debug memory watchpoint 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 have one hardware watchpoint
less because the last one is overwritten as soon as a task switch happens.
Another consequence is that due to alignment requirements of the watchpoint, the usable stack size
decreases by up to 60 bytes. This is because the watchpoint region has to be aligned to its size and
the size for the stack watchpoint in IDF is 32 bytes.
This check only triggers if the stack overflow writes within 32 bytes near 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_TLSP_DELETION_CALLBACKS
bool "Enable thread local storage pointers deletion callbacks"
depends on FREERTOS_SMP && (FREERTOS_THREAD_LOCAL_STORAGE_POINTERS > 0)
default y
help
ESP-IDF provides users with the ability to free TLSP memory by registering TLSP deletion callbacks.
These callbacks are automatically called by FreeRTOS when a task is deleted. When this option is turned
on, the memory reserved for TLSPs in the TCB is doubled to make space for storing the deletion
callbacks. If the user does not wish to use TLSP deletion callbacks then this option could be turned
off to save space in the TCB memory.
config FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
# Todo: This is incompatible with SMP FreeRTOS. See if this can be deprecated (IDF-4986)
bool "Enable static task clean up hook"
default n
help
Enable this option to make FreeRTOS call the static task clean up hook when a task is deleted.
Note: Users will need to provide a ``void vPortCleanUpTCB ( void *pxTCB )`` callback
config FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
# Todo: Not supported on SMP FreeRTOS (IDF-4986)
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_ISR_STACKSIZE
int "ISR stack size"
range 2096 32768 if ESP_COREDUMP_DATA_FORMAT_ELF
default 2096 if ESP_COREDUMP_DATA_FORMAT_ELF
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_INTERRUPT_BACKTRACE
# Todo: Consider removing this. Not sure when users will ever want it to be disabled (IDF-4986)
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: higher
level interrupt stack can be traced back to the lower level interrupt. This option adds 4 instructions
to the interrupt dispatching code.
config FREERTOS_FPU_IN_ISR
bool "Use float in Level 1 ISR"
depends on IDF_TARGET_ESP32
default n
help
When enabled, the usage of float type is allowed inside Level 1 ISRs. Note that usage of float types in
higher level interrupts is still not permitted.
config FREERTOS_TICK_SUPPORT_CORETIMER
bool
default y if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2
config FREERTOS_TICK_SUPPORT_SYSTIMER
bool
default y if !FREERTOS_TICK_SUPPORT_CORETIMER
# ESP32-S3, ESP32-C3 and ESP32-H2 can use Systimer for FreeRTOS SysTick
# ESP32S2 also has SYSTIMER but it can not be used for the FreeRTOS SysTick because:
# - It has only one counter, which already in use esp_timer.
# A counter for SysTick should be stall in debug mode but work esp_timer.
# - It is not possible to allocate two handlers for esp_timer and SysTick.
choice FREERTOS_CORETIMER
prompt "Tick timer source (Xtensa Only)"
default FREERTOS_CORETIMER_0 if FREERTOS_TICK_SUPPORT_CORETIMER
default FREERTOS_CORETIMER_SYSTIMER_LVL1 if FREERTOS_TICK_SUPPORT_SYSTIMER
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.
config FREERTOS_CORETIMER_0
bool "Timer 0 (int 6, level 1)"
depends on FREERTOS_TICK_SUPPORT_CORETIMER
help
Select this to use timer 0
config FREERTOS_CORETIMER_1
bool "Timer 1 (int 15, level 3)"
depends on FREERTOS_TICK_SUPPORT_CORETIMER
help
Select this to use timer 1
config FREERTOS_CORETIMER_SYSTIMER_LVL1
bool "SYSTIMER 0 (level 1)"
depends on FREERTOS_TICK_SUPPORT_SYSTIMER
help
Select this to use systimer with the 1 interrupt priority.
config FREERTOS_CORETIMER_SYSTIMER_LVL3
bool "SYSTIMER 0 (level 3)"
depends on FREERTOS_TICK_SUPPORT_SYSTIMER
help
Select this to use systimer with the 3 interrupt priority.
endchoice # FREERTOS_CORETIMER
config FREERTOS_SYSTICK_USES_SYSTIMER
bool
default y if FREERTOS_CORETIMER_SYSTIMER_LVL1 || FREERTOS_CORETIMER_SYSTIMER_LVL3
config FREERTOS_SYSTICK_USES_CCOUNT
bool
default y if FREERTOS_CORETIMER_0 || FREERTOS_CORETIMER_1
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
# Todo: This should be disabled for multi-core due to different CCOUNTs (IDF-4986)
bool "Use CPU Clock for run time stats"
depends on FREERTOS_SYSTICK_USES_CCOUNT
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 ESP_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 # FREERTOS_RUN_TIME_STATS_CLK
config FREERTOS_PLACE_FUNCTIONS_INTO_FLASH
bool "Place FreeRTOS functions into Flash"
default n
help
When enabled the selected Non-ISR FreeRTOS functions will be placed into Flash memory instead of IRAM.
This saves up to 8KB of IRAM depending on which functions are used.
config FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH
bool "Place task snapshot functions into flash"
default n
depends on FREERTOS_ENABLE_TASK_SNAPSHOT && !ESP_PANIC_HANDLER_IRAM
help
When enabled, the functions related to snapshots, such as vTaskGetSnapshot or uxTaskGetSnapshotAll,
will be placed in flash. Note that if enabled, these functions cannot be called when cache is disabled.
config FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
# Todo: Check if we still need this (IDF-4986)
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
config FREERTOS_ASSERT_ON_UNTESTED_FUNCTION
# Todo: Check if we still need this (IDF-4986)
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 functions will throw an ``assert()``.
config FREERTOS_ENABLE_TASK_SNAPSHOT
bool "Enable task snapshot functions"
default y
help
When enabled, the functions related to snapshots, such as vTaskGetSnapshot or uxTaskGetSnapshotAll, are
compiled and linked. Task snapshots are primarily used by GDB Stub and Core dump.
endmenu # Port
# Hidden or compatibility options
config FREERTOS_NO_AFFINITY
# 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.
hex
default 0x7FFFFFFF
config FREERTOS_TICK_SUPPORT_CORETIMER
bool
default y if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2
config FREERTOS_TICK_SUPPORT_SYSTIMER
bool
default y if !FREERTOS_TICK_SUPPORT_CORETIMER
# ESP32-S3, ESP32-C3 and ESP32-H2 can use Systimer for FreeRTOS SysTick
# ESP32S2 also has SYSTIMER but it can not be used for the FreeRTOS SysTick because:
# - It has only one counter, which already in use esp_timer.
# A counter for SysTick should be stall in debug mode but work esp_timer.
# - It is not possible to allocate two handlers for esp_timer and SysTick.
choice FREERTOS_CORETIMER
prompt "Xtensa timer to use as the FreeRTOS tick source"
default FREERTOS_CORETIMER_0 if FREERTOS_TICK_SUPPORT_CORETIMER
default FREERTOS_CORETIMER_SYSTIMER_LVL1 if FREERTOS_TICK_SUPPORT_SYSTIMER
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)"
depends on FREERTOS_TICK_SUPPORT_CORETIMER
help
Select this to use timer 0
config FREERTOS_CORETIMER_1
bool "Timer 1 (int 15, level 3)"
depends on FREERTOS_TICK_SUPPORT_CORETIMER
help
Select this to use timer 1
config FREERTOS_CORETIMER_SYSTIMER_LVL1
bool "SYSTIMER 0 (level 1)"
depends on FREERTOS_TICK_SUPPORT_SYSTIMER
help
Select this to use systimer with the 1 interrupt priority.
config FREERTOS_CORETIMER_SYSTIMER_LVL3
bool "SYSTIMER 0 (level 3)"
depends on FREERTOS_TICK_SUPPORT_SYSTIMER
help
Select this to use systimer with the 3 interrupt priority.
endchoice
config FREERTOS_SYSTICK_USES_SYSTIMER
bool
default y if FREERTOS_CORETIMER_SYSTIMER_LVL1 || FREERTOS_CORETIMER_SYSTIMER_LVL3
config FREERTOS_SYSTICK_USES_CCOUNT
bool
default y if FREERTOS_CORETIMER_0 || FREERTOS_CORETIMER_1
config FREERTOS_OPTIMIZED_SCHEDULER
bool "Enable FreeRTOS pĺatform optimized scheduler"
depends on FREERTOS_UNICORE
default y
help
On most platforms there are instructions can speedup the ready task
searching. Enabling this option the FreeRTOS with this instructions
support will be built.
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 last debug memory
watchpoint 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 have one hardware watchpoint less because the last one is overwritten as soon as a task
switch happens.
Another consequence is that due to alignment requirements of the watchpoint, the usable stack size
decreases by up to 60 bytes. This is because the watchpoint region has to be aligned to its size and the
size for the stack watchpoint in IDF is 32 bytes.
This check only triggers if the stack overflow writes within 32 bytes near 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.
config FREERTOS_TLSP_DELETION_CALLBACKS
bool "Enable thread local storage pointers deletion callbacks"
depends on FREERTOS_SMP && (FREERTOS_THREAD_LOCAL_STORAGE_POINTERS > 0)
default y
help
ESP-IDF provides users with the ability to free TLSP memory by registering TLSP deletion callbacks.
These callbacks are automatically called by FreeRTOS when a task is deleted.
When this option is turned on, the memory reserved for TLSPs in the TCB is doubled
to make space for storing the deletion callbacks. If the user does not wish to use TLSP deletion
callbacks then this option could be turned off to save space in the TCB memory.
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 2096 32768 if ESP_COREDUMP_DATA_FORMAT_ELF
default 2096 if ESP_COREDUMP_DATA_FORMAT_ELF
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_USE_IDLE_HOOK
bool "Use FreeRTOS idle hook"
default n
help
- If enabled, configUSE_IDLE_HOOK will be defined as 1 in FreeRTOS.
- The application must provide the hook function ``void vApplicationIdleHook( void );``
- ``vApplicationIdleHook()`` is called from FreeRTOS idle task(s)
- The FreeRTOS idle hook is NOT the same as the ESP-IDF Idle Hook, but both can be enabled
simultaneously.
config FREERTOS_USE_MINIMAL_IDLE_HOOK
bool "Use FreeRTOS minimal idle hook"
depends on FREERTOS_SMP
default n
help
- The application must provide the hook function ``void vApplicationMinimalIdleHook( void );``
- ``vApplicationMinimalIdleHook()`` is called from FreeRTOS idle task(s)
config FREERTOS_USE_TICK_HOOK
bool "Use FreeRTOS tick hook"
default n
help
- If enabled, configUSE_TICK_HOOK will be defined as 1 in FreeRTOS.
- The application must provide the hook function ``void vApplicationTickHook( void );``
- ``vApplicationTickHook()`` is called from FreeRTOS's tick handling function ``xTaskIncrementTick()``
- The FreeRTOS tick hook is NOT the same as the ESP-IDF Tick Interrupt Hook, but both can be enabled
simultaneously.
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 FREERTOS_ENABLE_BACKWARD_COMPATIBILITY
bool "Support legacy FreeRTOS API"
default n
help
This option enables the configENABLE_BACKWARD_COMPATIBILITY option, thus allowing the usage
of legacy function names and types present in versions prior to FreeRTOS v8.0.0.
config FREERTOS_SUPPORT_STATIC_ALLOCATION
# Always enabled.
# Kconfig option preserved for compatibility with code
# which checked for CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION.
# Always enabled. Kconfig option preserved for compatibility with code which checked for
# CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION.
# Todo: Check if we still need this (IDF-4986)
bool
default y
config FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
bool "Enable static task clean up hook"
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 FREERTOS_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 FREERTOS_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 FREERTOS_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"
depends on FREERTOS_SYSTICK_USES_CCOUNT
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
ESP_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.
To skip unnecessary wake-up initialize a timer with the "skip_unhandled_events" option as true.
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.
config FREERTOS_TASK_FUNCTION_WRAPPER
bool "Enclose all task functions in a wrapper function"
depends on COMPILER_OPTIMIZATION_DEFAULT || ESP_COREDUMP_ENABLE || ESP_GDBSTUB_ENABLED
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
config FREERTOS_PLACE_FUNCTIONS_INTO_FLASH
bool "Place FreeRTOS functions into Flash"
default n
help
When enabled the selected Non-ISR FreeRTOS functions will be placed into Flash memory instead of IRAM.
This saves up to 8KB of IRAM depending on which functions are used.
config FREERTOS_DEBUG_OCDAWARE
bool
help
Hidden option, gets selected by CONFIG_ESP_DEBUG_OCDAWARE
config FREERTOS_FPU_IN_ISR
bool "Allow use of float inside Level 1 ISR (EXPERIMENTAL)"
depends on IDF_TARGET_ESP32
default n
help
When enabled, the usage of float type is allowed inside Level 1
ISRs.
config FREERTOS_ENABLE_TASK_SNAPSHOT
bool "Enable task snapshot functions"
default y
help
When enabled, the functions related to snapshots, such as vTaskGetSnapshot or uxTaskGetSnapshotAll,
are compiled and linked. Task snapshots are primarily used by GDB Stub and Core dump.
config FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH
bool "Place task snapshot functions into flash"
default n
depends on FREERTOS_ENABLE_TASK_SNAPSHOT && !ESP_PANIC_HANDLER_IRAM
help
When enabled, the functions related to snapshots, such as vTaskGetSnapshot or uxTaskGetSnapshotAll,
will be placed in flash. Note that if enabled, these functions cannot be called when cache is disabled.
endmenu
endmenu # FreeRTOS