kopia lustrzana https://github.com/espressif/esp-idf
504 wiersze
25 KiB
Plaintext
504 wiersze
25 KiB
Plaintext
menu "FreeRTOS"
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menu "Kernel"
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# Upstream FreeRTOS configurations go here
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config FREERTOS_SMP
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bool "Run the Amazon SMP FreeRTOS kernel instead (FEATURE UNDER DEVELOPMENT)"
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default "n"
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help
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Amazon has released an SMP version of the FreeRTOS Kernel which can be found via the following link:
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https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp
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IDF has added an experimental port of this SMP kernel located in
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components/freertos/FreeRTOS-Kernel-SMP. Enabling this option will cause IDF to use the Amazon SMP
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kernel. Note that THIS FEATURE IS UNDER ACTIVE DEVELOPMENT, users use this at their own risk.
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Leaving this option disabled will mean the IDF FreeRTOS kernel is used instead, which is located in:
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components/freertos/FreeRTOS-Kernel. Both kernel versions are SMP capable, but differ in
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their implementation and features.
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config FREERTOS_UNICORE
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# Todo: Replace with CONFIG_NUM_CORES (IDF-4986)
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bool "Run FreeRTOS only on first core"
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default "y" if IDF_TARGET_ESP32S2 || IDF_TARGET_LINUX
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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 the CPU. Select this if you only want
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to start it on the first core. This is needed when e.g. another process needs complete control over the
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second core.
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config FREERTOS_HZ
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# Todo: Rename to CONFIG_FREERTOS_TICK_RATE_HZ (IDF-4986)
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int "configTICK_RATE_HZ"
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range 1 1000
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default 100
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help
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Sets the FreeRTOS tick interrupt frequency in Hz (see configTICK_RATE_HZ documentation for more
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details).
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config FREERTOS_OPTIMIZED_SCHEDULER
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# Todo: Not available in SMP FREERTOS (IDF-3733)
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bool "configUSE_PORT_OPTIMISED_TASK_SELECTION"
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depends on FREERTOS_UNICORE && !FREERTOS_SMP
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default y
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help
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Enables port specific task selection method. This option can speed up the search of ready tasks
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when scheduling (see configUSE_PORT_OPTIMISED_TASK_SELECTION documentation for more details).
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choice FREERTOS_CHECK_STACKOVERFLOW
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prompt "configCHECK_FOR_STACK_OVERFLOW"
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default FREERTOS_CHECK_STACKOVERFLOW_CANARY
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help
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Enables FreeRTOS to check for stack overflows (see configCHECK_FOR_STACK_OVERFLOW documentation for
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more details).
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Note: If users do not provide their own ``vApplicationStackOverflowHook()`` function, a default
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function will be provided by ESP-IDF.
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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 (Method 1)"
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help
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Check for stack overflows on each context switch by checking if the stack pointer is in a valid
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range. Quick but does not detect 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 (Method 2)"
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help
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Places some magic bytes at the end of the stack area and on each context switch, check if these
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bytes are still intact. More thorough than just checking the pointer, but also slightly slower.
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(configCHECK_FOR_STACK_OVERFLOW = 2)
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endchoice # FREERTOS_CHECK_STACKOVERFLOW
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config FREERTOS_THREAD_LOCAL_STORAGE_POINTERS
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int "configNUM_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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Set the number of thread local storage pointers in each task (see
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configNUM_THREAD_LOCAL_STORAGE_POINTERS documentation for more details).
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Note: In ESP-IDF, 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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config FREERTOS_IDLE_TASK_STACKSIZE
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int "configMINIMAL_STACK_SIZE (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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Sets the idle task stack size in bytes (see configMINIMAL_STACK_SIZE documentation for more details).
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Note:
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- ESP-IDF specifies stack sizes in bytes instead of words.
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- The default size is enough for most use cases.
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- The stack size may need to be increased above the default if the app installs idle or thread local
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storage cleanup hooks that use a lot of stack memory.
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- Conversely, the stack size can be reduced to the minimum if non of the idle features are used.
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config FREERTOS_USE_IDLE_HOOK
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bool "configUSE_IDLE_HOOK"
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default n
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help
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Enables the idle task application hook (see configUSE_IDLE_HOOK documentation for more details).
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Note:
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- The application must provide the hook function ``void vApplicationIdleHook( void );``
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- ``vApplicationIdleHook()`` is called from FreeRTOS idle task(s)
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- The FreeRTOS idle hook is NOT the same as the ESP-IDF Idle Hook, but both can be enabled
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simultaneously.
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config FREERTOS_USE_MINIMAL_IDLE_HOOK
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bool "Use FreeRTOS minimal idle hook"
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depends on FREERTOS_SMP
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default n
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help
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Enables the minimal idle task application hook (see configUSE_IDLE_HOOK documentation for more
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details).
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Note:
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- The application must provide the hook function ``void vApplicationMinimalIdleHook( void );``
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- ``vApplicationMinimalIdleHook()`` is called from FreeRTOS minimal idle task(s)
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config FREERTOS_USE_TICK_HOOK
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bool "configUSE_TICK_HOOK"
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default n
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help
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Enables the tick hook (see configUSE_TICK_HOOK documentation for more details).
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Note:
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- The application must provide the hook function ``void vApplicationTickHook( void );``
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- ``vApplicationTickHook()`` is called from FreeRTOS's tick handling function ``xTaskIncrementTick()``
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- The FreeRTOS tick hook is NOT the same as the ESP-IDF Tick Interrupt Hook, but both can be enabled
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simultaneously.
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config FREERTOS_MAX_TASK_NAME_LEN
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int "configMAX_TASK_NAME_LEN"
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range 1 256
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default 16
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help
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Sets the maximum number of characters for task names (see configMAX_TASK_NAME_LEN documentation for
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more details).
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Note: For most uses, the default of 16 characters is sufficient.
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config FREERTOS_ENABLE_BACKWARD_COMPATIBILITY
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bool "configENABLE_BACKWARD_COMPATIBILITY"
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default n
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help
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Enable backward compatibility with APIs prior to FreeRTOS v8.0.0. (see
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configENABLE_BACKWARD_COMPATIBILITY documentation for more details).
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config FREERTOS_TIMER_TASK_PRIORITY
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int "configTIMER_TASK_PRIORITY"
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range 1 25
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default 1
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help
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Sets the timer task's priority (see configTIMER_TASK_PRIORITY documentation for more details).
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config FREERTOS_TIMER_TASK_STACK_DEPTH
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int "configTIMER_TASK_STACK_DEPTH"
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range 1536 32768
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default 2053 if IDF_TARGET_LINUX
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default 2048
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help
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Set the timer task's stack size (see configTIMER_TASK_STACK_DEPTH documentation for more details).
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config FREERTOS_TIMER_QUEUE_LENGTH
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int "configTIMER_QUEUE_LENGTH"
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range 5 20
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default 10
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help
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Set the timer task's command queue length (see configTIMER_QUEUE_LENGTH documentation for more
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details).
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config FREERTOS_QUEUE_REGISTRY_SIZE
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int "configQUEUE_REGISTRY_SIZE"
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range 0 20
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default 0
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help
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Set the size of the queue registry (see configQUEUE_REGISTRY_SIZE documentation for more details).
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Note: A value of 0 will disable queue registry functionality
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config FREERTOS_TASK_NOTIFICATION_ARRAY_ENTRIES
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int "configTASK_NOTIFICATION_ARRAY_ENTRIES"
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range 1 32
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default 1
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help
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Set the size of the task notification array of each task. When increasing this value, keep in
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mind that this means additional memory for each and every task on the system.
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However, task notifications in general are more light weight compared to alternatives
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such as semaphores.
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config FREERTOS_USE_TRACE_FACILITY
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bool "configUSE_TRACE_FACILITY"
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default n
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help
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Enables additional structure members and functions to assist with execution visualization and tracing
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(see configUSE_TRACE_FACILITY documentation for more details).
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config FREERTOS_USE_STATS_FORMATTING_FUNCTIONS
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bool "configUSE_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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Set configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS to 1 to include the
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``vTaskList()`` and ``vTaskGetRunTimeStats()`` functions in the build (see
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configUSE_STATS_FORMATTING_FUNCTIONS documentation for more details).
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config FREERTOS_VTASKLIST_INCLUDE_COREID
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# Core affinity is supported in stats for Amazon FreeRTOS SMP by default
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bool "Enable display of xCoreID in vTaskList"
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depends on !FREERTOS_SMP && 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 to display the CoreID the task
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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 "configGENERATE_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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Enables collection of run time statistics for each task (see configGENERATE_RUN_TIME_STATS
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documentation for more details).
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Note: The clock used for run time statistics can be configured in FREERTOS_RUN_TIME_STATS_CLK.
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config FREERTOS_USE_TICKLESS_IDLE
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# Todo: Currently not supported in SMP FreeRTOS yet (IDF-4986)
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# Todo: Consider whether this option should still be exposed (IDF-4986)
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bool "configUSE_TICKLESS_IDLE"
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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 the system into light sleep mode
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when no tasks need to run for a number of ticks. This number can be set using
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FREERTOS_IDLE_TIME_BEFORE_SLEEP option. 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 entering sleep mode, even
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when no tasks need to run. To skip unnecessary wake-up initialize a timer with the
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"skip_unhandled_events" option as true.
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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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# Todo: Rename to CONFIG_FREERTOS_EXPECTED_IDLE_TIME_BEFORE_SLEEP (IDF-4986)
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int "configEXPECTED_IDLE_TIME_BEFORE_SLEEP"
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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 of ticks.
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endmenu # Kernel
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menu "Port"
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# ESP-IDF FreeRTOS port configurations go here (and HW configurations related to FreeRTOS)
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config FREERTOS_TASK_FUNCTION_WRAPPER
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bool "Wrap task functions"
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depends on COMPILER_OPTIMIZATION_DEFAULT || ESP_COREDUMP_ENABLE || ESP_GDBSTUB_ENABLED
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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. If a task function
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mistakenly returns (i.e. does not delete), the call flow will return to the wrapper function. The
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wrapper function will then log an error and abort the application. This option is also required for GDB
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backtraces and C++ exceptions to work correctly inside top-level task functions.
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config FREERTOS_WATCHPOINT_END_OF_STACK
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bool "Enable stack overflow debug watchpoint"
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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 the stack
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pointer or by checking the integrity of canary bytes. (See FREERTOS_CHECK_STACKOVERFLOW for more
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information.) These checks only happen on a context switch, and the situation that caused the stack
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overflow may already be long gone by then. This option will use the last debug memory watchpoint to
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allow breaking into the debugger (or panic'ing) as soon as any of the last 32 bytes on the stack of a
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task are overwritten. The side effect is that using gdb, you effectively have one hardware watchpoint
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less because the last one is overwritten as soon as a task switch happens.
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Another consequence is that due to alignment requirements of the watchpoint, the usable stack size
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decreases by up to 60 bytes. This is because the watchpoint region has to be aligned to its size and
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the size for the stack watchpoint in IDF is 32 bytes.
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This check only triggers if the stack overflow writes within 32 bytes near the end of the stack, rather
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than overshooting further, so it is worth combining this approach with one of the other stack overflow
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check methods.
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When this watchpoint is hit, gdb will stop with a SIGTRAP message. When no JTAG OCD is attached,
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esp-idf will panic on an unhandled debug exception.
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config FREERTOS_TLSP_DELETION_CALLBACKS
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bool "Enable thread local storage pointers deletion callbacks"
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depends on (FREERTOS_THREAD_LOCAL_STORAGE_POINTERS > 0)
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default y
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help
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ESP-IDF provides users with the ability to free TLSP memory by registering TLSP deletion callbacks.
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These callbacks are automatically called by FreeRTOS when a task is deleted. When this option is turned
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on, the memory reserved for TLSPs in the TCB is doubled to make space for storing the deletion
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callbacks. If the user does not wish to use TLSP deletion callbacks then this option could be turned
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off to save space in the TCB memory.
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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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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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Note: Users will need to provide a ``void vPortCleanUpTCB ( void *pxTCB )`` callback
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config FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
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# This feature is innately supported in FreeRTOS SMP, and hence not available as a config option when
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# FreeRTOS SMP is enabled.
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depends on !FREERTOS_SMP
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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 semaphore is the task
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which is currently holding the mutex.
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config FREERTOS_ISR_STACKSIZE
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int "ISR stack size"
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range 2096 32768 if ESP_COREDUMP_DATA_FORMAT_ELF
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default 2096 if ESP_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. Each processor
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has its own stack, so the total size occupied will be twice this.
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config FREERTOS_INTERRUPT_BACKTRACE
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# Todo: Consider removing this. Not sure when users will ever want it to be disabled (IDF-4986)
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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 point to the code of the
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interrupted task as its return address. This helps the debugger (or the panic handler) show a backtrace
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from the interrupt to the task which was interrupted. This also works for nested interrupts: higher
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level interrupt stack can be traced back to the lower level interrupt. This option adds 4 instructions
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to the interrupt dispatching code.
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config FREERTOS_FPU_IN_ISR
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bool "Use float in Level 1 ISR"
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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 ISRs. Note that usage of float types in
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higher level interrupts is still not permitted.
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config FREERTOS_TICK_SUPPORT_CORETIMER
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bool
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default y if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2
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config FREERTOS_TICK_SUPPORT_SYSTIMER
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bool
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default y if !FREERTOS_TICK_SUPPORT_CORETIMER
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# All targets except ESP32 and ESP32S2 can use Systimer for FreeRTOS SysTick
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# ESP32S2 also has SYSTIMER but it can not be used for the FreeRTOS SysTick because:
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# - It has only one counter, which already in use esp_timer.
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# A counter for SysTick should be stall in debug mode but work esp_timer.
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# - It is not possible to allocate two handlers for esp_timer and SysTick.
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choice FREERTOS_CORETIMER
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prompt "Tick timer source (Xtensa Only)"
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default FREERTOS_CORETIMER_0 if FREERTOS_TICK_SUPPORT_CORETIMER
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default FREERTOS_CORETIMER_SYSTIMER_LVL1 if FREERTOS_TICK_SUPPORT_SYSTIMER
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help
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FreeRTOS needs a timer with an associated interrupt to use as the main tick source to increase
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counters, run timers and do pre-emptive multitasking with. There are multiple timers available to do
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this, with different interrupt priorities.
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config FREERTOS_CORETIMER_0
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bool "Timer 0 (int 6, level 1)"
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depends on FREERTOS_TICK_SUPPORT_CORETIMER
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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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depends on FREERTOS_TICK_SUPPORT_CORETIMER
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help
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Select this to use timer 1
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config FREERTOS_CORETIMER_SYSTIMER_LVL1
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bool "SYSTIMER 0 (level 1)"
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depends on FREERTOS_TICK_SUPPORT_SYSTIMER
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help
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Select this to use systimer with the 1 interrupt priority.
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config FREERTOS_CORETIMER_SYSTIMER_LVL3
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bool "SYSTIMER 0 (level 3)"
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depends on FREERTOS_TICK_SUPPORT_SYSTIMER
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help
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Select this to use systimer with the 3 interrupt priority.
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endchoice # FREERTOS_CORETIMER
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config FREERTOS_SYSTICK_USES_SYSTIMER
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bool
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default y if FREERTOS_CORETIMER_SYSTIMER_LVL1 || FREERTOS_CORETIMER_SYSTIMER_LVL3
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select ESP_SLEEP_SYSTIMER_STALL_WORKAROUND if IDF_TARGET_ESP32C3
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config FREERTOS_SYSTICK_USES_CCOUNT
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bool
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default y if FREERTOS_CORETIMER_0 || FREERTOS_CORETIMER_1
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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 CPU Clock or the ESP Timer.
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Both clock sources are 32 bits. The CPU Clock can run at a higher frequency hence provide a finer
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resolution but will overflow much quicker. Note that run time stats are only valid until the clock
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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. The ESP Timer runs at a
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frequency of 1MHz regardless of Dynamic 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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# Todo: This should be disabled for multi-core due to different CCOUNTs (IDF-4986)
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bool "Use CPU Clock for run time stats"
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depends on FREERTOS_SYSTICK_USES_CCOUNT
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help
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CPU Clock will be used as the clock source for the generation of run time stats. The CPU Clock has
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a frequency dependent on ESP_DEFAULT_CPU_FREQ_MHZ and Dynamic Frequency Scaling (DFS). Therefore
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the CPU Clock frequency can fluctuate between 80 to 240MHz. Run time stats generated using the CPU
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Clock represents the number of 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 clock consistently runs at
|
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the maximum frequency of 240MHz, it will overflow in approximately 17 seconds.
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endchoice # FREERTOS_RUN_TIME_STATS_CLK
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config FREERTOS_PLACE_FUNCTIONS_INTO_FLASH
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bool "Place FreeRTOS functions into Flash"
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default n
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help
|
|
When enabled the selected Non-ISR FreeRTOS functions will be placed into Flash memory instead of IRAM.
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This saves up to 8KB of IRAM depending on which functions are used.
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config FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH
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bool "Place task snapshot functions into flash"
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|
default n
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depends on FREERTOS_ENABLE_TASK_SNAPSHOT && !ESP_PANIC_HANDLER_IRAM
|
|
help
|
|
When enabled, the functions related to snapshots, such as vTaskGetSnapshot or uxTaskGetSnapshotAll,
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|
will be placed in flash. Note that if enabled, these functions cannot be called when cache is disabled.
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|
|
|
config FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE
|
|
# Todo: Check if we still need this (IDF-4986)
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|
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_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 used by Task Watchdog (TWDT), GDB Stub and Core dump.
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|
|
|
endmenu # Port
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|
|
# Hidden or compatibility options
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|
|
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 if !FREERTOS_SMP
|
|
default 0xFFFFFFFF if FREERTOS_SMP
|
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|
|
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_DEBUG_OCDAWARE
|
|
bool
|
|
help
|
|
Hidden option, gets selected by CONFIG_ESP_DEBUG_OCDAWARE
|
|
|
|
endmenu # FreeRTOS
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