LibrePilot/flight/PiOS/inc/FreeRTOSConfig.h

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
 *
 * See http://www.freertos.org/a00110.html.
 *----------------------------------------------------------*/

/**
  * @addtogroup PIOS PIOS
  * @{
  * @addtogroup FreeRTOS FreeRTOS
  * @{
  */

/* Notes: We use 5 task priorities */  

#define configUSE_PREEMPTION		1
#define configUSE_IDLE_HOOK		1
#define configUSE_TICK_HOOK		0
#define configCPU_CLOCK_HZ		( ( unsigned long ) 72000000 )	
#define configTICK_RATE_HZ		( ( portTickType ) 1000 )
#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 256 )
#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 45 * 1024 ) )
#define configMAX_TASK_NAME_LEN		( 16 )
#define configUSE_TRACE_FACILITY	0
#define configUSE_16_BIT_TICKS		0
#define configIDLE_SHOULD_YIELD		0
#define configUSE_MUTEXES		1
#define configUSE_RECURSIVE_MUTEXES	1
#define configUSE_COUNTING_SEMAPHORES	0
#define configUSE_ALTERNATIVE_API	0
#define configCHECK_FOR_STACK_OVERFLOW	2
#define configQUEUE_REGISTRY_SIZE	10


/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 		0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet		1
#define INCLUDE_uxTaskPriorityGet		1
#define INCLUDE_vTaskDelete			1
#define INCLUDE_vTaskCleanUpResources		0
#define INCLUDE_vTaskSuspend			1
#define INCLUDE_vTaskDelayUntil			1
#define INCLUDE_vTaskDelay			1
#define INCLUDE_xTaskGetSchedulerState		1
#define INCLUDE_xTaskGetCurrentTaskHandle	1
#define INCLUDE_uxTaskGetStackHighWaterMark	0




/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
#define configKERNEL_INTERRUPT_PRIORITY 	15 << 4 /* equivalent to NVIC priority 15 */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	 3 << 4 /* equivalent to NVIC priority  3 */


/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15.  This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15

/**
  * @}
  */

#endif /* FREERTOS_CONFIG_H */