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

config FREERTOS_CORETIMER_2
	bool "Timer 2 (int 16, level 5)"
	help
		Select this to use timer 2

endchoice

config FREERTOS_HZ
	int "Tick rate (Hz)"
	range 1 10000
	default 100
	help
		Select the tick rate at which FreeRTOS does pre-emptive context switching.

choice FREERTOS_CHECK_STACKOVERFLOW
	prompt "Check for stack overflow"
	default FREERTOS_CHECK_STACKOVERFLOW_QUICK
	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_THREAD_LOCAL_STORAGE_POINTERS
	int "Amount of thread local storage pointers"
	range 0 256
	default 0
	help
		FreeRTOS has the ability to store per-thread pointers in the task
		control block. This controls the amount of pointers available;
		0 turns off this functionality.

#This still needs to be implemented.
choice FREERTOS_PANIC
	prompt "Panic handler behaviour"
	default FREERTOS_PANIC_PRINT_REBOOT
	help
		If FreeRTOS detects unexpected behaviour or an unhandled exception, the panic handler is 
		invoked. Configure the panic handlers action here.

config FREERTOS_PANIC_PRINT_HALT
	bool "Print registers and halt"
	help
		Outputs the relevant registers over the serial port and halt the 
		processor. Needs a manual reset to restart.

config FREERTOS_PANIC_PRINT_REBOOT
	bool "Print registers and reboot"
	help
		Outputs the relevant registers over the serial port and immediately
		reset the processor.

config FREERTOS_PANIC_SILENT_REBOOT
	bool "Silent reboot"
	help
		Just resets the processor without outputting anything

config FREERTOS_PANIC_GDBSTUB
	bool "Invoke GDBStub"
	help
		Invoke gdbstub on the serial port, allowing for gdb to attach to it to do a postmortem
		of the crash.
endchoice

config FREERTOS_DEBUG_OCDAWARE
	bool "Make exception and panic handlers JTAG/OCD aware"
	default y
	help
		The FreeRTOS panic and unhandled exception handers can detect a JTAG OCD debugger and
		instead of panicking, have the debugger stop on the offending instruction.

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

endmenu