flight/targets/boards/revonano/firmware/inc/FreeRTOSConfig.h

   1 #ifndef FREERTOS_CONFIG_H
   2 #define FREERTOS_CONFIG_H
   3
   4 /*-----------------------------------------------------------
   5 * Application specific definitions.
   6 *
   7 * These definitions should be adjusted for your particular hardware and
   8 * application requirements.
   9 *
  10 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
  11 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
  12 *
  13 * See http://www.freertos.org/a00110.html.
  14 *----------------------------------------------------------*/
  15
  16 /**
  17  * @addtogroup PIOS PIOS
  18  * @{
  19  * @addtogroup FreeRTOS FreeRTOS
  20  * @{
  21  */
  22
  23 /* Notes: We use 5 task priorities */
  24
  25 #define configCPU_CLOCK_HZ                           (SYSCLK_FREQ)   // really the NVIC clock ...
  26 #define configTICK_RATE_HZ                           ((portTickType)1000)
  27 #define configMAX_PRIORITIES                         ((unsigned portBASE_TYPE)5)
  28 #define configMINIMAL_STACK_SIZE                     ((unsigned short)512)
  29 #define configTOTAL_HEAP_SIZE                        ((size_t)(50 * 1024))  // this is minimum, not total
  30 #define configMAX_TASK_NAME_LEN                      (16)
  31
  32 #define configUSE_PREEMPTION                         1
  33 #define configUSE_IDLE_HOOK                          1
  34 #define configUSE_TICK_HOOK                          0
  35 #define configUSE_TRACE_FACILITY                     0
  36 #define configUSE_16_BIT_TICKS                       0
  37 #define configIDLE_SHOULD_YIELD                      0
  38 #define configUSE_MUTEXES                            1
  39 #define configUSE_RECURSIVE_MUTEXES                  1
  40 #define configUSE_COUNTING_SEMAPHORES                0
  41 #define configUSE_ALTERNATIVE_API                    0
  42 #define configCHECK_FOR_STACK_OVERFLOW               2
  43 #define configQUEUE_REGISTRY_SIZE                    10
  44
  45 #define configUSE_TIMERS                             1
  46 #define configTIMER_TASK_PRIORITY                    (configMAX_PRIORITIES - 1)      /* run timers at max priority */
  47 #define configTIMER_QUEUE_LENGTH                     10
  48 #define configTIMER_TASK_STACK_DEPTH                 configMINIMAL_STACK_SIZE
  49
  50 /* Co-routine definitions. */
  51 #define configUSE_CO_ROUTINES                        0
  52 #define configMAX_CO_ROUTINE_PRIORITIES              (2)
  53
  54 /* Set the following definitions to 1 to include the API function, or zero
  55    to exclude the API function. */
  56
  57 #define INCLUDE_vTaskPrioritySet                     1
  58 #define INCLUDE_uxTaskPriorityGet                    1
  59 #define INCLUDE_vTaskDelete                          1
  60 #define INCLUDE_vTaskCleanUpResources                1
  61 #define INCLUDE_vTaskSuspend                         1
  62 #define INCLUDE_vTaskDelayUntil                      1
  63 #define INCLUDE_vTaskDelay                           1
  64 #define INCLUDE_xTaskGetSchedulerState               1
  65 #define INCLUDE_xTaskGetCurrentTaskHandle            1
  66 #define INCLUDE_uxTaskGetStackHighWaterMark          1
  67 #define INCLUDE_xTaskGetIdleTaskHandle               1
  68
  69 /* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
  70    (lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
  71 #define configKERNEL_INTERRUPT_PRIORITY              15 << 4 /* equivalent to NVIC priority 15 */
  72         #define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority  3 */
  73
  74 /* This is the value being used as per the ST library which permits 16
  75    priority values, 0 to 15.  This must correspond to the
  76    configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
  77    NVIC value of 255. */
  78 #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY      15
  79
  80 /* Enable run time stats collection */
  81 #define configGENERATE_RUN_TIME_STATS                1
  82 #define INCLUDE_uxTaskGetRunTime                     1
  83
  84 /*
  85  * Once we move to CMSIS2 we can at least use:
  86  *
  87  * CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
  88  *
  89  * (still nothing for the DWT registers, surprisingly)
  90  */
  91 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()                                                                        \
  92     do {                                                                                                                                                    \
  93         (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */             \
  94         (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */        \
  95     } \
  96     while (0)
  97 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
  98
  99
 100 /**
 101  * @}
 102  */
 103
 104 #endif /* FREERTOS_CONFIG_H */