mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
d4c82606fb
FreeRTOS have an platform dependent configuration to enable selection task in a optimized way. Provided the platform dependent functions in order to allow the scheduler to use the optimized algorithms by telling to the port layer where to found bitscan instruction i.e. NSAU. This closes IDF-1116 components/freertos: added option to disable the optimized scheduler
452 lines
20 KiB
Plaintext
452 lines
20 KiB
Plaintext
menu "FreeRTOS"
|
|
|
|
config FREERTOS_UNICORE
|
|
# This config variable is also checked in the ESP32 startup code, not only in FreeRTOS.
|
|
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.
|
|
|
|
# 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_NO_AFFINITY
|
|
hex
|
|
default 0x7FFFFFFF
|
|
|
|
choice FREERTOS_CORETIMER
|
|
prompt "Xtensa timer to use as the FreeRTOS tick source"
|
|
default 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_OPTIMIZED_SCHEDULER
|
|
bool "Enable FreeRTOS pĺatform optimized scheduler"
|
|
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 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 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 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.
|
|
|
|
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_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 FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
|
|
bool "Enable static task clean up hook"
|
|
depends on FREERTOS_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 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"
|
|
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
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
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
|
|
|
|
config FREERTOS_TASK_FUNCTION_WRAPPER
|
|
bool "Enclose all task functions in a wrapper function"
|
|
depends on COMPILER_OPTIMIZATION_DEFAULT
|
|
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_DEBUG_OCDAWARE
|
|
bool
|
|
help
|
|
Hidden option, gets selected by CONFIG_ESPxx_DEBUG_OCDAWARE
|
|
|
|
endmenu
|