FreeRTOS移植记录
环境：Win10, VSCode, Embedded IDE(VSCode Extension), FreeRTOS(202406.01-LTS), FreeRTOS Kernel V11.1.0
- 官网下载FreeRTOS(这里)
- 解压并进入内核目录（例如：C:\FreeRTOS-LTS\FreeRTOS\FreeRTOS-Kernel）
- 使用EIDE新建项目，如只是用于测试rtos移植，则建议使用内置项目模板进行测试，并在其根目录新建rtos目录。
- 拷贝内核目录的所有文件和include文件夹到上一步骤的rtos目录下，以及拷贝portable目录下对应要移植的文件，例如当前使用gcc编译器，目标设备是cortex-m3，则只需拷贝portable\GCC\ARM_CM3下的文件。除此之外还拷贝portable\MemMang文件夹下的任一cpp文件，推荐heap_4.c文件，此文件是内存管理算法文件，不同数字代表不同的算法。
- 拷贝C:\FreeRTOS-LTS\FreeRTOS\FreeRTOS-Kernel\examples\template_configuration目录下的FreeRTOSConfig.h文件到rtos目录下。
- 对FreeRTOSConfig.h文件进行修改，例如针对Cortex-M内核，需修改的部分：
- configCPU_CLOCK_HZ 根据实际情况修改。
- configSYSTICK_CLOCK_HZ 系统滴答周期。
- configMAX_PRIORITIES 最大的FreeRTOS任务优先级值，建议设置成16. 注意：FreeRTOS中的任务优先级是值越小优先级越低，而例如Cortex-M内核中的中断优先级则是其值越小优先级越高！可以参考FreeRTOS官方文档
- configTICK_TYPE_WIDTH_IN_BITS 修改为TICK_TYPE_WIDTH_32_BITS
- configKERNEL_INTERRUPT_PRIORITY 内核中断优先级，一般建议设置成255，也就是最低优先级。
- configMAX_SYSCALL_INTERRUPT_PRIORITY和configMAX_API_CALL_INTERRUPT_PRIORITY 最大调用优先级，例如设置为0x50，因为Cortex-M内核使用高4位作为优先级位，而低4位则弃用。所以，等级低于优先级5(数值上大于5)的任务则接受FreeRTOS任务调用，会被中断，而高于优先级5(数值上小于5)的任务则不会被中断。这里的高于5和低于5是按照Cortex-M内核里面的优先级逻辑来计算的。详细介绍参考FreeRTOS官方文档。
- configCHECK_FOR_STACK_OVERFLOW 设置为1和2对应不同的堆栈溢出处理逻辑，如此值非0，则需实现钩子函数vApplicationStackOverflowHook的定义，用于在堆栈溢出时调用此钩子函数。
- configUSE_CO_ROUTINES 是否使用协程。一般为资源紧缺的MCU准备，已计划停止维护更新，所以一般关掉不用。
- configENABLE_TRUSTZONE TrustZone使能，如不使用，则关掉。
- configENABLE_MPU MPU使能，如不使用，则关掉。
- configENABLE_FPU FPU使能，如不使用，则关掉。
- configENABLE_MVE MVE使能，如不使用，则关掉。
- configCHECK_HANDLER_INSTALLATION 用于对SVC call和PendSV调用指针检查，建议打开，并在FreeRTOSConfig.h文件末尾的有效位置加入如下代码来使得系统自动调用port.c中的SVC call和PendSV函数，而非stm32f10x_it.c中的PendSV_Handler、SysTick_Handler和SVC_Handler函数，否则会出现调用stm32f10x_it.c的SVC_Handler函数后直接跳入HardFault_Handler函数导致程序崩溃。
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
加入上述几行后还需将stm32f10x_it.c中的PendSV_Handler、SysTick_Handler和SVC_Handler函数注释掉，否则会报错：PendSV_Handler、SysTick_Handler和SVC_Handler函数多处定义！
- 修改项目的main.c文件，加入rtos代码进行测试，例如：
#include "stm32f10x.h"
#include "FreeRTOS.h"
#include "task.h"
#define LED_PERIPH RCC_APB2Periph_GPIOC
#define LED_PORT GPIOC
#define LED_PIN GPIO_Pin_13
static int gb = 1;
void delay(int x)
{
for (int i = 0; i < x; i++) {
for (int j = 0; j < 1000; j++)
__NOP();
}
}
void led_task(void *param)
{
while(1)
{
GPIO_WriteBit(LED_PORT, LED_PIN, (BitAction)!GPIO_ReadInputDataBit(LED_PORT, LED_PIN));
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
/*-----------------------------------------------------------*/
#if (configCHECK_FOR_STACK_OVERFLOW > 0)
void vApplicationStackOverflowHook(TaskHandle_t xTask,
char *pcTaskName)
{
/* Check pcTaskName for the name of the offending task,
* or pxCurrentTCB if pcTaskName has itself been corrupted. */
(void)xTask;
(void)pcTaskName;
}
#endif /* #if ( configCHECK_FOR_STACK_OVERFLOW > 0 ) */
/*-----------------------------------------------------------*/
int main()
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
GPIO_InitTypeDef gpioDef;
RCC_APB2PeriphClockCmd(LED_PERIPH, ENABLE);
gpioDef.GPIO_Mode = GPIO_Mode_Out_PP;
gpioDef.GPIO_Pin = LED_PIN;
gpioDef.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(LED_PORT, &gpioDef);
static int a = 0;
TaskHandle_t led_task_handler;
xTaskCreate(led_task, "led_task", 256, NULL, 8, &led_task_handler);
vTaskStartScheduler();
while (1) {
a++;
gb++;
}
}
/*
* FreeRTOS Kernel V11.1.0
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*******************************************************************************
* This file provides an example FreeRTOSConfig.h header file, inclusive of an
* abbreviated explanation of each configuration item. Online and reference
* documentation provides more information.
* https://www.freertos.org/a00110.html
*
* Constant values enclosed in square brackets ('[' and ']') must be completed
* before this file will build.
*
* Use the FreeRTOSConfig.h supplied with the RTOS port in use rather than this
* generic file, if one is available.
******************************************************************************/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/******************************************************************************/
/* Hardware description related definitions. **********************************/
/******************************************************************************/
/* In most cases, configCPU_CLOCK_HZ must be set to the frequency of the clock
* that drives the peripheral used to generate the kernels periodic tick interrupt.
* The default value is set to 20MHz and matches the QEMU demo settings. Your
* application will certainly need a different value so set this correctly.
* This is very often, but not always, equal to the main system clock frequency. */
#define configCPU_CLOCK_HZ ( ( unsigned long ) 48000000 )
/* configSYSTICK_CLOCK_HZ is an optional parameter for ARM Cortex-M ports only.
*
* By default ARM Cortex-M ports generate the RTOS tick interrupt from the
* Cortex-M SysTick timer. Most Cortex-M MCUs run the SysTick timer at the same
* frequency as the MCU itself - when that is the case configSYSTICK_CLOCK_HZ is
* not needed and should be left undefined. If the SysTick timer is clocked at a
* different frequency to the MCU core then set configCPU_CLOCK_HZ to the MCU clock
* frequency, as normal, and configSYSTICK_CLOCK_HZ to the SysTick clock
* frequency. Not used if left undefined.
* The default value is undefined (commented out). If you need this value bring it
* back and set it to a suitable value. */
/*
#define configSYSTICK_CLOCK_HZ [Platform specific]
*/
/******************************************************************************/
/* Scheduling behaviour related definitions. **********************************/
/******************************************************************************/
/* configTICK_RATE_HZ sets frequency of the tick interrupt in Hz, normally
* calculated from the configCPU_CLOCK_HZ value. */
#define configTICK_RATE_HZ 100
/* Set configUSE_PREEMPTION to 1 to use pre-emptive scheduling. Set
* configUSE_PREEMPTION to 0 to use co-operative scheduling.
* See https://www.freertos.org/single-core-amp-smp-rtos-scheduling.html. */
#define configUSE_PREEMPTION 1
/* Set configUSE_TIME_SLICING to 1 to have the scheduler switch between Ready
* state tasks of equal priority on every tick interrupt. Set
* configUSE_TIME_SLICING to 0 to prevent the scheduler switching between Ready
* state tasks just because there was a tick interrupt. See
* https://freertos.org/single-core-amp-smp-rtos-scheduling.html. */
#define configUSE_TIME_SLICING 0
/* Set configUSE_PORT_OPTIMISED_TASK_SELECTION to 1 to select the next task to
* run using an algorithm optimised to the instruction set of the target hardware -
* normally using a count leading zeros assembly instruction. Set to 0 to select
* the next task to run using a generic C algorithm that works for all FreeRTOS
* ports. Not all FreeRTOS ports have this option. Defaults to 0 if left
* undefined. */
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
/* Set configUSE_TICKLESS_IDLE to 1 to use the low power tickless mode. Set to
* 0 to keep the tick interrupt running at all times. Not all FreeRTOS ports
* support tickless mode. See https://www.freertos.org/low-power-tickless-rtos.html
* Defaults to 0 if left undefined. */
#define configUSE_TICKLESS_IDLE 0
/* configMAX_PRIORITIES Sets the number of available task priorities. Tasks can
* be assigned priorities of 0 to (configMAX_PRIORITIES - 1). Zero is the lowest
* priority. */
#define configMAX_PRIORITIES 16
/* configMINIMAL_STACK_SIZE defines the size of the stack used by the Idle task
* (in words, not in bytes!). The kernel does not use this constant for any other
* purpose. Demo applications use the constant to make the demos somewhat portable
* across hardware architectures. */
#define configMINIMAL_STACK_SIZE 128
/* configMAX_TASK_NAME_LEN sets the maximum length (in characters) of a task's
* human readable name. Includes the NULL terminator. */
#define configMAX_TASK_NAME_LEN 16
/* Time is measured in 'ticks' - which is the number of times the tick interrupt
* has executed since the RTOS kernel was started.
* The tick count is held in a variable of type TickType_t.
*
* configTICK_TYPE_WIDTH_IN_BITS controls the type (and therefore bit-width) of TickType_t:
*
* Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_16_BITS causes
* TickType_t to be defined (typedef'ed) as an unsigned 16-bit type.
*
* Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_32_BITS causes
* TickType_t to be defined (typedef'ed) as an unsigned 32-bit type.
*
* Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_64_BITS causes
* TickType_t to be defined (typedef'ed) as an unsigned 64-bit type. */
#define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_32_BITS
/* Set configIDLE_SHOULD_YIELD to 1 to have the Idle task yield to an
* application task if there is an Idle priority (priority 0) application task that
* can run. Set to 0 to have the Idle task use all of its timeslice. Default to 1
* if left undefined. */
#define configIDLE_SHOULD_YIELD 1
/* Each task has an array of task notifications.
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the array.
* See https://www.freertos.org/RTOS-task-notifications.html Defaults to 1 if
* left undefined. */
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 1
/* configQUEUE_REGISTRY_SIZE sets the maximum number of queues and semaphores
* that can be referenced from the queue registry. Only required when using a
* kernel aware debugger. Defaults to 0 if left undefined. */
#define configQUEUE_REGISTRY_SIZE 0
/* Set configENABLE_BACKWARD_COMPATIBILITY to 1 to map function names and
* datatypes from old version of FreeRTOS to their latest equivalent. Defaults to
* 1 if left undefined. */
#define configENABLE_BACKWARD_COMPATIBILITY 0
/* Each task has its own array of pointers that can be used as thread local
* storage. configNUM_THREAD_LOCAL_STORAGE_POINTERS set the number of indexes in
* the array. See https://www.freertos.org/thread-local-storage-pointers.html
* Defaults to 0 if left undefined. */
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
/* When configUSE_MINI_LIST_ITEM is set to 0, MiniListItem_t and ListItem_t are
* both the same. When configUSE_MINI_LIST_ITEM is set to 1, MiniListItem_t contains
* 3 fewer fields than ListItem_t which saves some RAM at the cost of violating
* strict aliasing rules which some compilers depend on for optimization. Defaults
* to 1 if left undefined. */
#define configUSE_MINI_LIST_ITEM 1
/* Sets the type used by the parameter to xTaskCreate() that specifies the stack
* size of the task being created. The same type is used to return information
* about stack usage in various other API calls. Defaults to size_t if left
* undefined. */
#define configSTACK_DEPTH_TYPE size_t
/* configMESSAGE_BUFFER_LENGTH_TYPE sets the type used to store the length of
* each message written to a FreeRTOS message buffer (the length is also written to
* the message buffer. Defaults to size_t if left undefined - but that may waste
* space if messages never go above a length that could be held in a uint8_t. */
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* If configHEAP_CLEAR_MEMORY_ON_FREE is set to 1, then blocks of memory allocated
* using pvPortMalloc() will be cleared (i.e. set to zero) when freed using
* vPortFree(). Defaults to 0 if left undefined. */
#define configHEAP_CLEAR_MEMORY_ON_FREE 1
/* vTaskList and vTaskGetRunTimeStats APIs take a buffer as a parameter and assume
* that the length of the buffer is configSTATS_BUFFER_MAX_LENGTH. Defaults to
* 0xFFFF if left undefined.
* New applications are recommended to use vTaskListTasks and
* vTaskGetRunTimeStatistics APIs instead and supply the length of the buffer
* explicitly to avoid memory corruption. */
#define configSTATS_BUFFER_MAX_LENGTH 0xFFFF
/* Set configUSE_NEWLIB_REENTRANT to 1 to have a newlib reent structure
* allocated for each task. Set to 0 to not support newlib reent structures.
* Default to 0 if left undefined.
*
* Note Newlib support has been included by popular demand, but is not used or
* tested by the FreeRTOS maintainers themselves. FreeRTOS is not responsible for
* resulting newlib operation. User must be familiar with newlib and must provide
* system-wide implementations of the necessary stubs. Note that (at the time of
* writing) the current newlib design implements a system-wide malloc() that must
* be provided with locks. */
#define configUSE_NEWLIB_REENTRANT 0
/******************************************************************************/
/* Software timer related definitions. ****************************************/
/******************************************************************************/
/* Set configUSE_TIMERS to 1 to include software timer functionality in the
* build. Set to 0 to exclude software timer functionality from the build. The
* FreeRTOS/source/timers.c source file must be included in the build if
* configUSE_TIMERS is set to 1. Default to 0 if left undefined. See
* https://www.freertos.org/RTOS-software-timer.html. */
#define configUSE_TIMERS 1
/* configTIMER_TASK_PRIORITY sets the priority used by the timer task. Only
* used if configUSE_TIMERS is set to 1. The timer task is a standard FreeRTOS
* task, so its priority is set like any other task. See
* https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only used
* if configUSE_TIMERS is set to 1. */
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
/* configTIMER_TASK_STACK_DEPTH sets the size of the stack allocated to the
* timer task (in words, not in bytes!). The timer task is a standard FreeRTOS
* task. See https://www.freertos.org/RTOS-software-timer-service-daemon-task.html
* Only used if configUSE_TIMERS is set to 1. */
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* configTIMER_QUEUE_LENGTH sets the length of the queue (the number of discrete
* items the queue can hold) used to send commands to the timer task. See
* https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only used
* if configUSE_TIMERS is set to 1. */
#define configTIMER_QUEUE_LENGTH 10
/******************************************************************************/
/* Event Group related definitions. *******************************************/
/******************************************************************************/
/* Set configUSE_EVENT_GROUPS to 1 to include event group functionality in the
* build. Set to 0 to exclude event group functionality from the build. The
* FreeRTOS/source/event_groups.c source file must be included in the build if
* configUSE_EVENT_GROUPS is set to 1. Defaults to 1 if left undefined. */
#define configUSE_EVENT_GROUPS 1
/******************************************************************************/
/* Stream Buffer related definitions. *****************************************/
/******************************************************************************/
/* Set configUSE_STREAM_BUFFERS to 1 to include stream buffer functionality in
* the build. Set to 0 to exclude event group functionality from the build. The
* FreeRTOS/source/stream_buffer.c source file must be included in the build if
* configUSE_STREAM_BUFFERS is set to 1. Defaults to 1 if left undefined. */
#define configUSE_STREAM_BUFFERS 1
/******************************************************************************/
/* Memory allocation related definitions. *************************************/
/******************************************************************************/
/* Set configSUPPORT_STATIC_ALLOCATION to 1 to include FreeRTOS API functions
* that create FreeRTOS objects (tasks, queues, etc.) using statically allocated
* memory in the build. Set to 0 to exclude the ability to create statically
* allocated objects from the build. Defaults to 0 if left undefined. See
* https://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html. */
#define configSUPPORT_STATIC_ALLOCATION 1
/* Set configSUPPORT_DYNAMIC_ALLOCATION to 1 to include FreeRTOS API functions
* that create FreeRTOS objects (tasks, queues, etc.) using dynamically allocated
* memory in the build. Set to 0 to exclude the ability to create dynamically
* allocated objects from the build. Defaults to 1 if left undefined. See
* https://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html. */
#define configSUPPORT_DYNAMIC_ALLOCATION 1
/* Sets the total size of the FreeRTOS heap, in bytes, when heap_1.c, heap_2.c
* or heap_4.c are included in the build. This value is defaulted to 4096 bytes but
* it must be tailored to each application. Note the heap will appear in the .bss
* section. See https://www.freertos.org/a00111.html. */
#define configTOTAL_HEAP_SIZE 4096
/* Set configAPPLICATION_ALLOCATED_HEAP to 1 to have the application allocate
* the array used as the FreeRTOS heap. Set to 0 to have the linker allocate the
* array used as the FreeRTOS heap. Defaults to 0 if left undefined. */
#define configAPPLICATION_ALLOCATED_HEAP 0
/* Set configSTACK_ALLOCATION_FROM_SEPARATE_HEAP to 1 to have task stacks
* allocated from somewhere other than the FreeRTOS heap. This is useful if you
* want to ensure stacks are held in fast memory. Set to 0 to have task stacks
* come from the standard FreeRTOS heap. The application writer must provide
* implementations for pvPortMallocStack() and vPortFreeStack() if set to 1.
* Defaults to 0 if left undefined. */
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
/* Set configENABLE_HEAP_PROTECTOR to 1 to enable bounds checking and obfuscation
* to internal heap block pointers in heap_4.c and heap_5.c to help catch pointer
* corruptions. Defaults to 0 if left undefined. */
#define configENABLE_HEAP_PROTECTOR 0
/******************************************************************************/
/* Interrupt nesting behaviour configuration. *********************************/
/******************************************************************************/
/* configKERNEL_INTERRUPT_PRIORITY sets the priority of the tick and context
* switch performing interrupts. Not supported by all FreeRTOS ports. See
* https://www.freertos.org/RTOS-Cortex-M3-M4.html for information specific to
* ARM Cortex-M devices. */
#define configKERNEL_INTERRUPT_PRIORITY 0xFF
/* configMAX_SYSCALL_INTERRUPT_PRIORITY sets the interrupt priority above which
* FreeRTOS API calls must not be made. Interrupts above this priority are never
* disabled, so never delayed by RTOS activity. The default value is set to the
* highest interrupt priority (0). Not supported by all FreeRTOS ports.
* See https://www.freertos.org/RTOS-Cortex-M3-M4.html for information specific to
* ARM Cortex-M devices. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0x50
/* Another name for configMAX_SYSCALL_INTERRUPT_PRIORITY - the name used depends
* on the FreeRTOS port. */
#define configMAX_API_CALL_INTERRUPT_PRIORITY 0x50
/******************************************************************************/
/* Hook and callback function related definitions. ****************************/
/******************************************************************************/
/* Set the following configUSE_* constants to 1 to include the named hook
* functionality in the build. Set to 0 to exclude the hook functionality from the
* build. The application writer is responsible for providing the hook function
* for any set to 1. See https://www.freertos.org/a00016.html. */
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Set configUSE_SB_COMPLETED_CALLBACK to 1 to have send and receive completed
* callbacks for each instance of a stream buffer or message buffer. When the
* option is set to 1, APIs xStreamBufferCreateWithCallback() and
* xStreamBufferCreateStaticWithCallback() (and likewise APIs for message
* buffer) can be used to create a stream buffer or message buffer instance
* with application provided callbacks. Defaults to 0 if left undefined. */
#define configUSE_SB_COMPLETED_CALLBACK 0
/* Set configCHECK_FOR_STACK_OVERFLOW to 1 or 2 for FreeRTOS to check for a
* stack overflow at the time of a context switch. Set to 0 to not look for a
* stack overflow. If configCHECK_FOR_STACK_OVERFLOW is 1 then the check only
* looks for the stack pointer being out of bounds when a task's context is saved
* to its stack - this is fast but somewhat ineffective. If
* configCHECK_FOR_STACK_OVERFLOW is 2 then the check looks for a pattern written
* to the end of a task's stack having been overwritten. This is slower, but will
* catch most (but not all) stack overflows. The application writer must provide
* the stack overflow callback when configCHECK_FOR_STACK_OVERFLOW is set to 1.
* See https://www.freertos.org/Stacks-and-stack-overflow-checking.html Defaults
* to 0 if left undefined. */
#define configCHECK_FOR_STACK_OVERFLOW 2
/******************************************************************************/
/* Run time and task stats gathering related definitions. *********************/
/******************************************************************************/
/* Set configGENERATE_RUN_TIME_STATS to 1 to have FreeRTOS collect data on the
* processing time used by each task. Set to 0 to not collect the data. The
* application writer needs to provide a clock source if set to 1. Defaults to 0
* if left undefined. See https://www.freertos.org/rtos-run-time-stats.html. */
#define configGENERATE_RUN_TIME_STATS 0
/* Set configUSE_TRACE_FACILITY to include additional task structure members
* are used by trace and visualisation functions and tools. Set to 0 to exclude
* the additional information from the structures. Defaults to 0 if left
* undefined. */
#define configUSE_TRACE_FACILITY 0
/* Set to 1 to include the vTaskList() and vTaskGetRunTimeStats() functions in
* the build. Set to 0 to exclude these functions from the build. These two
* functions introduce a dependency on string formatting functions that would
* otherwise not exist - hence they are kept separate. Defaults to 0 if left
* undefined. */
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/******************************************************************************/
/* Co-routine related definitions. ********************************************/
/******************************************************************************/
/* Set configUSE_CO_ROUTINES to 1 to include co-routine functionality in the
* build, or 0 to omit co-routine functionality from the build. To include
* co-routines, croutine.c must be included in the project. Defaults to 0 if left
* undefined. */
#define configUSE_CO_ROUTINES 0
/* configMAX_CO_ROUTINE_PRIORITIES defines the number of priorities available
* to the application co-routines. Any number of co-routines can share the same
* priority. Defaults to 0 if left undefined. */
#define configMAX_CO_ROUTINE_PRIORITIES 1
/******************************************************************************/
/* Debugging assistance. ******************************************************/
/******************************************************************************/
/* configASSERT() has the same semantics as the standard C assert(). It can
* either be defined to take an action when the assertion fails, or not defined
* at all (i.e. comment out or delete the definitions) to completely remove
* assertions. configASSERT() can be defined to anything you want, for example
* you can call a function if an assert fails that passes the filename and line
* number of the failing assert (for example, "vAssertCalled( __FILE__, __LINE__ )"
* or it can simple disable interrupts and sit in a loop to halt all execution
* on the failing line for viewing in a debugger. */
#define configASSERT( x ) \
if( ( x ) == 0 ) \
{ \
taskDISABLE_INTERRUPTS(); \
for( ; ; ) \
; \
}
/******************************************************************************/
/* FreeRTOS MPU specific definitions. *****************************************/
/******************************************************************************/
/* If configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS is set to 1 then
* the application writer can provide functions that execute in privileged mode.
* See: https://www.freertos.org/a00110.html#configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
* Defaults to 0 if left undefined. Only used by the FreeRTOS Cortex-M MPU ports,
* not the standard ARMv7-M Cortex-M port. */
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
/* Set configTOTAL_MPU_REGIONS to the number of MPU regions implemented on your
* target hardware. Normally 8 or 16. Only used by the FreeRTOS Cortex-M MPU
* ports, not the standard ARMv7-M Cortex-M port. Defaults to 8 if left
* undefined. */
#define configTOTAL_MPU_REGIONS 8
/* configTEX_S_C_B_FLASH allows application writers to override the default
* values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for
* the MPU region covering Flash. Defaults to 0x07UL (which means TEX=000, S=1,
* C=1, B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU ports, not
* the standard ARMv7-M Cortex-M port. */
#define configTEX_S_C_B_FLASH 0x07UL
/* configTEX_S_C_B_SRAM allows application writers to override the default
* values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits for
* the MPU region covering RAM. Defaults to 0x07UL (which means TEX=000, S=1, C=1,
* B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU ports, not
* the standard ARMv7-M Cortex-M port. */
#define configTEX_S_C_B_SRAM 0x07UL
/* Set configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY to 0 to prevent any privilege
* escalations originating from outside of the kernel code itself. Set to 1 to
* allow application tasks to raise privilege. Defaults to 1 if left undefined.
* Only used by the FreeRTOS Cortex-M MPU ports, not the standard ARMv7-M Cortex-M
* port. */
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
/* Set configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS to 1 to allow unprivileged
* tasks enter critical sections (effectively mask interrupts). Set to 0 to
* prevent unprivileged tasks entering critical sections. Defaults to 1 if left
* undefined. Only used by the FreeRTOS Cortex-M MPU ports, not the standard
* ARMv7-M Cortex-M port. */
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 0
/* FreeRTOS Kernel version 10.6.0 introduced a new v2 MPU wrapper, namely
* mpu_wrappers_v2.c. Set configUSE_MPU_WRAPPERS_V1 to 0 to use the new v2 MPU
* wrapper. Set configUSE_MPU_WRAPPERS_V1 to 1 to use the old v1 MPU wrapper
* (mpu_wrappers.c). Defaults to 0 if left undefined. */
#define configUSE_MPU_WRAPPERS_V1 0
/* When using the v2 MPU wrapper, set configPROTECTED_KERNEL_OBJECT_POOL_SIZE to
* the total number of kernel objects, which includes tasks, queues, semaphores,
* mutexes, event groups, timers, stream buffers and message buffers, in your
* application. The application will not be able to have more than
* configPROTECTED_KERNEL_OBJECT_POOL_SIZE kernel objects at any point of
* time. */
#define configPROTECTED_KERNEL_OBJECT_POOL_SIZE 10
/* When using the v2 MPU wrapper, set configSYSTEM_CALL_STACK_SIZE to the size
* of the system call stack in words. Each task has a statically allocated
* memory buffer of this size which is used as the stack to execute system
* calls. For example, if configSYSTEM_CALL_STACK_SIZE is defined as 128 and
* there are 10 tasks in the application, the total amount of memory used for
* system call stacks is 128 * 10 = 1280 words. */
#define configSYSTEM_CALL_STACK_SIZE 128
/* When using the v2 MPU wrapper, set configENABLE_ACCESS_CONTROL_LIST to 1 to
* enable Access Control List (ACL) feature. When ACL is enabled, an
* unprivileged task by default does not have access to any kernel object other
* than itself. The application writer needs to explicitly grant the
* unprivileged task access to the kernel objects it needs using the APIs
* provided for the same. Defaults to 0 if left undefined. */
#define configENABLE_ACCESS_CONTROL_LIST 1
/******************************************************************************/
/* SMP( Symmetric MultiProcessing ) Specific Configuration definitions. *******/
/******************************************************************************/
/* Set configNUMBER_OF_CORES to the number of available processor cores. Defaults
* to 1 if left undefined. */
/*
#define configNUMBER_OF_CORES [Num of available cores]
*/
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
* configRUN_MULTIPLE_PRIORITIES to 0 to allow multiple tasks to run
* simultaneously only if they do not have equal priority, thereby maintaining
* the paradigm of a lower priority task never running if a higher priority task
* is able to run. If configRUN_MULTIPLE_PRIORITIES is set to 1, multiple tasks
* with different priorities may run simultaneously - so a higher and lower
* priority task may run on different cores at the same time. */
#define configRUN_MULTIPLE_PRIORITIES 0
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
* configUSE_CORE_AFFINITY to 1 to enable core affinity feature. When core
* affinity feature is enabled, the vTaskCoreAffinitySet and vTaskCoreAffinityGet
* APIs can be used to set and retrieve which cores a task can run on. If
* configUSE_CORE_AFFINITY is set to 0 then the FreeRTOS scheduler is free to
* run any task on any available core. */
#define configUSE_CORE_AFFINITY 0
/* When using SMP with core affinity feature enabled, set
* configTASK_DEFAULT_CORE_AFFINITY to change the default core affinity mask for
* tasks created without an affinity mask specified. Setting the define to 1 would
* make such tasks run on core 0 and setting it to (1 << portGET_CORE_ID()) would
* make such tasks run on the current core. This config value is useful, if
* swapping tasks between cores is not supported (e.g. Tricore) or if legacy code
* should be controlled. Defaults to tskNO_AFFINITY if left undefined. */
#define configTASK_DEFAULT_CORE_AFFINITY tskNO_AFFINITY
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), if
* configUSE_TASK_PREEMPTION_DISABLE is set to 1, individual tasks can be set to
* either pre-emptive or co-operative mode using the vTaskPreemptionDisable and
* vTaskPreemptionEnable APIs. */
#define configUSE_TASK_PREEMPTION_DISABLE 0
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
* configUSE_PASSIVE_IDLE_HOOK to 1 to allow the application writer to use
* the passive idle task hook to add background functionality without the overhead
* of a separate task. Defaults to 0 if left undefined. */
#define configUSE_PASSIVE_IDLE_HOOK 0
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one),
* configTIMER_SERVICE_TASK_CORE_AFFINITY allows the application writer to set
* the core affinity of the RTOS Daemon/Timer Service task. Defaults to
* tskNO_AFFINITY if left undefined. */
#define configTIMER_SERVICE_TASK_CORE_AFFINITY tskNO_AFFINITY
/******************************************************************************/
/* ARMv8-M secure side port related definitions. ******************************/
/******************************************************************************/
/* secureconfigMAX_SECURE_CONTEXTS define the maximum number of tasks that can
* call into the secure side of an ARMv8-M chip. Not used by any other ports. */
#define secureconfigMAX_SECURE_CONTEXTS 5
/* Defines the kernel provided implementation of
* vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory()
* to provide the memory that is used by the Idle task and Timer task respectively.
* The application can provide it's own implementation of
* vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() by
* setting configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined. */
#define configKERNEL_PROVIDED_STATIC_MEMORY 1
/******************************************************************************/
/* ARMv8-M port Specific Configuration definitions. ***************************/
/******************************************************************************/
/* Set configENABLE_TRUSTZONE to 1 when running FreeRTOS on the non-secure side
* to enable the TrustZone support in FreeRTOS ARMv8-M ports which allows the
* non-secure FreeRTOS tasks to call the (non-secure callable) functions
* exported from secure side. */
#define configENABLE_TRUSTZONE 0
/* If the application writer does not want to use TrustZone, but the hardware does
* not support disabling TrustZone then the entire application (including the FreeRTOS
* scheduler) can run on the secure side without ever branching to the non-secure side.
* To do that, in addition to setting configENABLE_TRUSTZONE to 0, also set
* configRUN_FREERTOS_SECURE_ONLY to 1. */
#define configRUN_FREERTOS_SECURE_ONLY 1
/* Set configENABLE_MPU to 1 to enable the Memory Protection Unit (MPU), or 0
* to leave the Memory Protection Unit disabled. */
#define configENABLE_MPU 0
/* Set configENABLE_FPU to 1 to enable the Floating Point Unit (FPU), or 0
* to leave the Floating Point Unit disabled. */
#define configENABLE_FPU 0
/* Set configENABLE_MVE to 1 to enable the M-Profile Vector Extension (MVE) support,
* or 0 to leave the MVE support disabled. This option is only applicable to Cortex-M55
* and Cortex-M85 ports as M-Profile Vector Extension (MVE) is available only on
* these architectures. configENABLE_MVE must be left undefined, or defined to 0
* for the Cortex-M23,Cortex-M33 and Cortex-M35P ports. */
#define configENABLE_MVE 1
/******************************************************************************/
/* ARMv7-M and ARMv8-M port Specific Configuration definitions. ***************/
/******************************************************************************/
/* Set configCHECK_HANDLER_INSTALLATION to 1 to enable additional asserts to verify
* that the application has correctly installed FreeRTOS interrupt handlers.
*
* An application can install FreeRTOS interrupt handlers in one of the following ways:
* 1. Direct Routing - Install the functions vPortSVCHandler and xPortPendSVHandler
* for SVC call and PendSV interrupts respectively.
* 2. Indirect Routing - Install separate handlers for SVC call and PendSV
* interrupts and route program control from those handlers
* to vPortSVCHandler and xPortPendSVHandler functions.
* The applications that use Indirect Routing must set configCHECK_HANDLER_INSTALLATION to 0.
*
* Defaults to 1 if left undefined. */
#define configCHECK_HANDLER_INSTALLATION 1
/******************************************************************************/
/* Definitions that include or exclude functionality. *************************/
/******************************************************************************/
/* Set the following configUSE_* constants to 1 to include the named feature in
* the build, or 0 to exclude the named feature from the build. */
#define configUSE_TASK_NOTIFICATIONS 1
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_QUEUE_SETS 0
#define configUSE_APPLICATION_TASK_TAG 0
/* Set the following INCLUDE_* constants to 1 to incldue the named API function,
* or 0 to exclude the named API function. Most linkers will remove unused
* functions even when the constant is 1. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_xResumeFromISR 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 0
#define INCLUDE_xEventGroupSetBitFromISR 1
#define INCLUDE_xTimerPendFunctionCall 0
#define INCLUDE_xTaskAbortDelay 0
#define INCLUDE_xTaskGetHandle 0
#define INCLUDE_xTaskResumeFromISR 1
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */
