LibrePilot/flight/CopterControl/System/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 ) 48 )
#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 54 * 256) )
#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 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	1

/* 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

#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif

/* Enable run time stats collection */
#if defined(DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW	2

#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
do {\
(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
#else
#define configCHECK_FOR_STACK_OVERFLOW	1
#endif


/**
  * @}
  */

#endif /* FREERTOS_CONFIG_H */