esp-idf/examples/system/gdbstub/sdkconfig.defaults

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#
# GDB Stub
#
CONFIG_ESP_GDBSTUB_ENABLED=y
CONFIG_ESP_GDBSTUB_SUPPORT_TASKS=y
CONFIG_ESP_GDBSTUB_MAX_TASKS=32
# end of GDB Stub
#
# FreeRTOS
#
CONFIG_FREERTOS_UNICORE=y
#
# ESP System Settings
#
# CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT is not set
# CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT is not set
# CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT is not set
CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME=y
CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE=y
# end of ESP System Settings