forked from Archive/PX4-Autopilot
560 lines
17 KiB
Plaintext
560 lines
17 KiB
Plaintext
#
|
|
# For a description of the syntax of this configuration file,
|
|
# see misc/tools/kconfig-language.txt.
|
|
#
|
|
|
|
config MSEC_PER_TICK
|
|
int "Milliseconds per system timer tick"
|
|
default 10
|
|
---help---
|
|
The default system timer is 100Hz or MSEC_PER_TICK=10. This setting
|
|
may be defined to inform NuttX that the processor hardware is providing
|
|
system timer interrupts at some interrupt interval other than 10 msec.
|
|
|
|
config RR_INTERVAL
|
|
int "Round robin timeslice (MSEC)"
|
|
default 0
|
|
---help---
|
|
The round robin timeslice will be set this number of milliseconds;
|
|
Round robin scheduling can be disabled by setting this value to zero.
|
|
|
|
config SCHED_INSTRUMENTATION
|
|
bool "Monitor system performance"
|
|
default n
|
|
---help---
|
|
Enables instrumentation in scheduler to monitor system performance.
|
|
If enabled, then the board-specific logic must provide the following
|
|
functions (see include/sched.h):
|
|
|
|
void sched_note_start(FAR _TCB *tcb);
|
|
void sched_note_stop(FAR _TCB *tcb);
|
|
void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
|
|
|
|
config TASK_NAME_SIZE
|
|
int "Maximum task name size"
|
|
default 32
|
|
---help---
|
|
Spcifies that maximum size of a task name to save in the TCB.
|
|
Useful if scheduler instrumentation is selected. Set to zero to
|
|
disable.
|
|
|
|
config SCHED_HAVE_PARENT
|
|
bool "Support parent/child task relationships"
|
|
default n
|
|
---help---
|
|
Remember the ID of the parent task when a new child task is
|
|
created. This support enables some additional features (such as
|
|
SIGCHLD) and modifies the behavior of other interfaces. For
|
|
example, it makes waitpid() more standards complete by restricting
|
|
the waited-for tasks to the children of the caller. Default:
|
|
disabled.
|
|
|
|
config SCHED_CHILD_STATUS
|
|
bool "Retain child exit status"
|
|
default n
|
|
depends on SCHED_HAVE_PARENT
|
|
---help---
|
|
If this option is selected, then the exit status of the child task
|
|
will be retained after the child task exits. This option should be
|
|
selected if you require knowledge of a child process' exit status.
|
|
Without this setting, wait(), waitpid() or waitid() may fail. For
|
|
example, if you do:
|
|
|
|
1) Start child task
|
|
2) Wait for exit status (using wait(), waitpid(), or waitid()).
|
|
|
|
This can fail because the child task may run to completion before
|
|
the wait begins. There is a non-standard work-around in this case:
|
|
The above sequence will work if you disable pre-emption using
|
|
sched_lock() prior to starting the child task, then re-enable pre-
|
|
emption with sched_unlock() after the wait completes. This works
|
|
because the child task is not permitted to run until the wait is in
|
|
place.
|
|
|
|
The standard solution would be to enable SCHED_CHILD_STATUS. In
|
|
this case the exit status of the child task is retained after the
|
|
child exits and the wait will successful obtain the child task's
|
|
exit status whether it is called before the child task exits or not.
|
|
|
|
Warning: If you enable this feature, then your application must
|
|
either (1) take responsibility for reaping the child status with wait(),
|
|
waitpid(), or waitid(), or (2) suppress retention of child status.
|
|
If you do not reap the child status, then you have a memory leak and
|
|
your system will eventually fail.
|
|
|
|
Retention of child status can be suppressed on the parent using logic like:
|
|
|
|
struct sigaction sa;
|
|
|
|
sa.sa_handler = SIG_IGN;
|
|
sa.sa_flags = SA_NOCLDWAIT;
|
|
int ret = sigaction(SIGCHLD, &sa, NULL);
|
|
|
|
config PREALLOC_CHILDSTATUS
|
|
int "Number of pre-allocated child status"
|
|
default 0
|
|
depends on SCHED_CHILD_STATUS
|
|
---help---
|
|
To prevent runaway child status allocations and to improve
|
|
allocation performance, child task exit status structures are pre-
|
|
allocated when the system boots. This setting determines the number
|
|
of child status structures that will be pre-allocated. If this
|
|
setting is not defined or if it is defined to be zero then a value
|
|
of 2*MAX_TASKS is used.
|
|
|
|
Note that there cannot be more that CONFIG_MAX_TASKS tasks in total.
|
|
However, the number of child status structures may need to be
|
|
significantly larger because this number includes the maximum number
|
|
of tasks that are running PLUS the number of tasks that have exit'ed
|
|
without having their exit status reaped (via wait(), waitid(), or
|
|
waitpid()).
|
|
|
|
Obviously, if tasks spawn children indefinitely and never have the
|
|
exit status reaped, then you may have a memory leak! If you enable
|
|
the SCHED_CHILD_STATUS feature, then your application must take
|
|
responsibility for either (1) reaping the child status with wait(),
|
|
waitpid(), or waitid() or it must (2) suppress retention of child
|
|
status. Otherwise, your system will eventually fail.
|
|
|
|
Retention of child status can be suppressed on the parent using logic like:
|
|
|
|
struct sigaction sa;
|
|
|
|
sa.sa_handler = SIG_IGN;
|
|
sa.sa_flags = SA_NOCLDWAIT;
|
|
int ret = sigaction(SIGCHLD, &sa, NULL);
|
|
|
|
config DEBUG_CHILDSTATUS
|
|
bool "Enable Child Status Debug Output"
|
|
default n
|
|
depends on SCHED_CHILD_STATUS && DEBUG
|
|
---help---
|
|
Very detailed... I am sure that you do not want this.
|
|
|
|
config JULIAN_TIME
|
|
bool "Enables Julian time conversions"
|
|
default n
|
|
---help---
|
|
Enables Julian time conversions
|
|
|
|
config START_YEAR
|
|
int "Start year"
|
|
default 2013
|
|
|
|
config START_MONTH
|
|
int "Start month"
|
|
default 1
|
|
|
|
config START_DAY
|
|
int "Start day"
|
|
default 1
|
|
|
|
config DEV_CONSOLE
|
|
bool "Enable /dev/console"
|
|
default y
|
|
---help---
|
|
Set if architecture-specific logic provides /dev/console. Enables
|
|
stdout, stderr, stdin.
|
|
|
|
config MUTEX_TYPES:
|
|
bool "Enable mutex types"
|
|
default n
|
|
---help---
|
|
Set to enable support for recursive and errorcheck mutexes. Enables
|
|
pthread_mutexattr_settype().
|
|
|
|
config PRIORITY_INHERITANCE
|
|
bool "Enable priority inheritance "
|
|
default n
|
|
---help---
|
|
Set to enable support for priority inheritance on mutexes and semaphores.
|
|
|
|
config SEM_PREALLOCHOLDERS
|
|
int "Number of pre-allocated holders"
|
|
default 16
|
|
depends on PRIORITY_INHERITANCE
|
|
---help---
|
|
This setting is only used if priority inheritance is enabled.
|
|
It defines the maximum number of different threads (minus one) that
|
|
can take counts on a semaphore with priority inheritance support.
|
|
This may be set to zero if priority inheritance is disabled OR if you
|
|
are only using semaphores as mutexes (only one holder) OR if no more
|
|
than two threads participate using a counting semaphore.
|
|
|
|
config SEM_NNESTPRIO
|
|
int "Maximum number of higher priority threads"
|
|
default 16
|
|
depends on PRIORITY_INHERITANCE
|
|
---help---
|
|
If priority inheritance is enabled, then this setting is the
|
|
maximum number of higher priority threads (minus 1) than can be
|
|
waiting for another thread to release a count on a semaphore.
|
|
This value may be set to zero if no more than one thread is
|
|
expected to wait for a semaphore.
|
|
|
|
config FDCLONE_DISABLE
|
|
bool "Disable cloning of file descriptors"
|
|
default n
|
|
---help---
|
|
Disable cloning of all file descriptors
|
|
by task_create() when a new task is started. If set, all
|
|
files/drivers will appear to be closed in the new task.
|
|
|
|
config FDCLONE_STDIO
|
|
bool "Disable clone file descriptors without stdio"
|
|
default n
|
|
---help---
|
|
Disable cloning of all but the first three file descriptors (stdin,
|
|
stdout, stderr) by task_create() when a new task is started. If set,
|
|
all files/drivers will appear to be closed in the new task except
|
|
for stdin, stdout, and stderr.
|
|
|
|
config SDCLONE_DISABLE
|
|
bool "Disable cloning of socket descriptors"
|
|
default n
|
|
---help---
|
|
Disable cloning of all socket
|
|
desciptors by task_create() when a new task is started. If
|
|
set, all sockets will appear to be closed in the new task.
|
|
|
|
config SCHED_WORKQUEUE
|
|
bool "Enable worker thread"
|
|
default n
|
|
depends on !DISABLE_SIGNALS
|
|
---help---
|
|
Create a dedicated "worker" thread to handle delayed processing from interrupt
|
|
handlers. This feature is required for some drivers but, if there are no
|
|
complaints, can be safely disabled. The worker thread also performs
|
|
garbage collection -- completing any delayed memory deallocations from
|
|
interrupt handlers. If the worker thread is disabled, then that clean up will
|
|
be performed by the IDLE thread instead (which runs at the lowest of priority
|
|
and may not be appropriate if memory reclamation is of high priority).
|
|
|
|
config SCHED_WORKPRIORITY
|
|
int "Worker thread priority"
|
|
default 192
|
|
depends on SCHED_WORKQUEUE
|
|
---help---
|
|
The execution priority of the worker thread. Default: 192
|
|
|
|
config SCHED_WORKPERIOD
|
|
int "Worker thread period"
|
|
default 50000
|
|
depends on SCHED_WORKQUEUE
|
|
---help---
|
|
How often the worker thread checks for work in units of microseconds.
|
|
Default: 50*1000 (50 MS).
|
|
|
|
config SCHED_WORKSTACKSIZE
|
|
int "Worker thread stack size"
|
|
default 2048
|
|
depends on SCHED_WORKQUEUE
|
|
---help---
|
|
The stack size allocated for the worker thread. Default: 2K.
|
|
|
|
config SCHED_LPWORK
|
|
bool "Enable a lower priority worker thread"
|
|
default n
|
|
depends on SCHED_WORKQUEUE
|
|
---help---
|
|
If SCHED_WORKQUEUE is defined, then a single work queue is created by
|
|
default. If SCHED_LPWORK is also defined then an additional, lower-
|
|
priority work queue will also be created. This lower priority work
|
|
queue is better suited for more extended processing (such as file system
|
|
clean-up operations)
|
|
|
|
config SCHED_LPWORKPRIORITY
|
|
int "Lower priority worker thread priority"
|
|
default 50
|
|
depends on SCHED_LPWORK
|
|
---help---
|
|
The execution priority of the lopwer priority worker thread. Default: 192
|
|
|
|
config SCHED_LPWORKPERIOD
|
|
int "Lower priority worker thread period"
|
|
default 50000
|
|
depends on SCHED_LPWORK
|
|
---help---
|
|
How often the lower priority worker thread checks for work in units
|
|
of microseconds. Default: 50*1000 (50 MS).
|
|
|
|
config SCHED_LPWORKSTACKSIZE
|
|
int "Lower priority worker thread stack size"
|
|
default 2048
|
|
depends on SCHED_LPWORK
|
|
---help---
|
|
The stack size allocated for the lower priority worker thread. Default: 2K.
|
|
|
|
config SCHED_WAITPID
|
|
bool "Enable waitpid() API"
|
|
default n
|
|
---help---
|
|
Enables the waitpid() interface in a default, non-standard mode
|
|
(non-standard in the sense that the waited for PID need not be child
|
|
of the caller). If SCHED_HAVE_PARENT is also defined, then this
|
|
setting will modify the behavior or waitpid() (making more spec
|
|
compliant) and will enable the waitid() and wait() interfaces as
|
|
well.
|
|
|
|
config SCHED_STARTHOOK
|
|
bool "Enable startup hook"
|
|
default n
|
|
---help---
|
|
Enable a non-standard, internal OS API call task_starthook().
|
|
task_starthook() registers a function that will be called on task
|
|
startup before that actual task entry point is called. The
|
|
starthook is useful, for example, for setting up automatic
|
|
configuration of C++ constructors.
|
|
|
|
config SCHED_ATEXIT
|
|
bool "Enable atexit() API"
|
|
default n
|
|
---help---
|
|
Enables the atexit() API
|
|
|
|
config SCHED_ATEXIT_MAX
|
|
int "Max number of atexit() functions"
|
|
default 1
|
|
depends on SCHED_ATEXIT && !SCHED_ONEXIT
|
|
---help---
|
|
By default if SCHED_ATEXIT is selected, only a single atexit() function
|
|
is supported. That number can be increased by defined this setting to
|
|
the number that you require.
|
|
|
|
If both SCHED_ONEXIT and SCHED_ATEXIT are selected, then atexit() is built
|
|
on top of the on_exit() implementation. In that case, SCHED_ONEXIT_MAX
|
|
determines the size of the combined number of atexit(0) and on_exit calls
|
|
and SCHED_ATEXIT_MAX is not used.
|
|
|
|
config SCHED_ONEXIT
|
|
bool "Enable on_exit() API"
|
|
default n
|
|
---help---
|
|
Enables the on_exit() API
|
|
|
|
config SCHED_ONEXIT_MAX
|
|
int "Max number of on_exit() functions"
|
|
default 1
|
|
depends on SCHED_ONEXIT
|
|
---help---
|
|
By default if SCHED_ONEXIT is selected, only a single on_exit() function
|
|
is supported. That number can be increased by defined this setting to the
|
|
number that you require.
|
|
|
|
If both SCHED_ONEXIT and SCHED_ATEXIT are selected, then atexit() is built
|
|
on top of the on_exit() implementation. In that case, SCHED_ONEXIT_MAX
|
|
determines the size of the combined number of atexit(0) and on_exit calls.
|
|
|
|
config USER_ENTRYPOINT
|
|
string "Application entry point"
|
|
default "user_start"
|
|
---help---
|
|
The name of the entry point for user applications. For the example
|
|
applications this is of the form 'app_main' where 'app' is the application
|
|
name. If not defined, USER_ENTRYPOINT defaults to "user_start."
|
|
|
|
config DISABLE_OS_API
|
|
bool "Disable NuttX interfaces"
|
|
default y
|
|
---help---
|
|
The following can be used to disable categories of
|
|
APIs supported by the OS. If the compiler supports
|
|
weak functions, then it should not be necessary to
|
|
disable functions unless you want to restrict usage
|
|
of those APIs.
|
|
|
|
There are certain dependency relationships in these
|
|
features.
|
|
|
|
o mq_notify logic depends on signals to awaken tasks
|
|
waiting for queues to become full or empty.
|
|
o pthread_condtimedwait() depends on signals to wake
|
|
up waiting tasks.
|
|
|
|
config DISABLE_CLOCK
|
|
bool "Disable clock interfaces"
|
|
depends on DISABLE_OS_API
|
|
default n
|
|
|
|
config DISABLE_POSIX_TIMERS
|
|
bool "Disable POSIX timers"
|
|
depends on DISABLE_OS_API
|
|
default n
|
|
|
|
config DISABLE_PTHREAD
|
|
bool "Disable pthread support"
|
|
depends on DISABLE_OS_API
|
|
default n
|
|
|
|
config DISABLE_SIGNALS
|
|
bool "Disable signal support"
|
|
depends on DISABLE_OS_API
|
|
default n
|
|
|
|
config DISABLE_MQUEUE
|
|
bool "Disable POSIX message queue support"
|
|
depends on DISABLE_OS_API
|
|
default n
|
|
|
|
config DISABLE_ENVIRON
|
|
bool "Disable environment variable support"
|
|
depends on DISABLE_OS_API
|
|
default n
|
|
|
|
if !DISABLE_SIGNALS
|
|
comment "Signal Numbers"
|
|
|
|
config SIG_SIGUSR1
|
|
int "SIGUSR1"
|
|
default 1
|
|
---help---
|
|
Value of standard user signal 1 (SIGUSR1). Default: 1
|
|
|
|
config SIG_SIGUSR2
|
|
int "SIGUSR2"
|
|
default 2
|
|
---help---
|
|
Value of standard user signal 2 (SIGUSR2). Default: 2
|
|
|
|
config SIG_SIGALARM
|
|
int "SIGALRM"
|
|
default 3
|
|
---help---
|
|
Default the signal number used with POSIX timers (SIGALRM).
|
|
Default: 3
|
|
|
|
config SIG_SIGCHLD
|
|
int "SIGCHLD"
|
|
default 4
|
|
depends on SCHED_HAVE_PARENT
|
|
---help---
|
|
The SIGCHLD signal is sent to the parent of a child process when it
|
|
exits, is interrupted (stopped), or resumes after being interrupted.
|
|
Default: 4
|
|
|
|
config SIG_SIGCONDTIMEDOUT
|
|
int "SIGCONDTIMEDOUT"
|
|
default 16
|
|
depends on !DISABLE_PTHREAD
|
|
---help---
|
|
This non-standard signal number is used the implementation of
|
|
pthread_cond_timedwait(). Default 16.
|
|
|
|
config SIG_SIGWORK
|
|
int "SIGWORK"
|
|
default 17
|
|
depends on SCHED_WORKQUEUE
|
|
---help---
|
|
SIGWORK is a non-standard signal used to wake up the internal NuttX
|
|
worker thread. This setting specifies the signal number that will be
|
|
used for SIGWORK. Default: 17
|
|
|
|
endif
|
|
|
|
comment "Sizes of configurable things (0 disables)"
|
|
|
|
config MAX_TASKS
|
|
int "Max number of tasks"
|
|
default 32
|
|
---help---
|
|
The maximum number of simultaneously active tasks. This value must be
|
|
a power of two.
|
|
|
|
config MAX_TASK_ARGS
|
|
int "Maximum number of task arguments"
|
|
default 4
|
|
---help---
|
|
This controls the maximum number of of parameters that a task may
|
|
receive (i.e., maxmum value of 'argc')
|
|
|
|
config NPTHREAD_KEYS
|
|
int "Maximum number of pthread keys"
|
|
default 4
|
|
---help---
|
|
The number of items of thread-
|
|
specific data that can be retained
|
|
|
|
config NFILE_DESCRIPTORS
|
|
int "Maximum number of file descriptors per task"
|
|
default 16
|
|
---help---
|
|
The maximum number of file descriptors per task (one for each open)
|
|
|
|
config NFILE_STREAMS
|
|
int "Maximum number of FILE streams"
|
|
default 16
|
|
---help---
|
|
The maximum number of streams that can be fopen'ed
|
|
|
|
config NAME_MAX
|
|
int "Maximum size of a file name"
|
|
default 32
|
|
---help---
|
|
The maximum size of a file name.
|
|
|
|
config PREALLOC_MQ_MSGS
|
|
int "Number of pre-allocated messages"
|
|
default 32
|
|
---help---
|
|
The number of pre-allocated message structures. The system manages
|
|
a pool of preallocated message structures to minimize dynamic allocations
|
|
|
|
config MQ_MAXMSGSIZE
|
|
int "Maximum message size"
|
|
default 32
|
|
---help---
|
|
Message structures are allocated with a fixed payload size given by this
|
|
setting (does not include other message structure overhead.
|
|
|
|
config MAX_WDOGPARMS
|
|
int "Maximum number of watchdog parameters"
|
|
default 4
|
|
---help---
|
|
Maximum number of parameters that can be passed to a watchdog handler
|
|
|
|
config PREALLOC_WDOGS
|
|
int "Number of pre-allocated watchdog timers"
|
|
default 32
|
|
---help---
|
|
The number of pre-allocated watchdog structures. The system manages a
|
|
pool of preallocated watchdog structures to minimize dynamic allocations
|
|
|
|
config PREALLOC_TIMERS
|
|
int "Number of pre-allocated POSIX timers"
|
|
default 8
|
|
---help---
|
|
The number of pre-allocated POSIX timer structures. The system manages a
|
|
pool of preallocated timer structures to minimize dynamic allocations. Set to
|
|
zero for all dynamic allocations.
|
|
|
|
comment "Stack and heap information"
|
|
|
|
config IDLETHREAD_STACKSIZE
|
|
int "Idle thread stack size"
|
|
default 1024
|
|
---help---
|
|
The size of the initial stack used by the IDLE thread. The IDLE thread
|
|
is the thread that (1) performs the inital boot of the system up to the
|
|
point where user_start() is spawned, and (2) there after is the IDLE
|
|
thread that executes only when there is no other thread ready to run.
|
|
|
|
config USERMAIN_STACKSIZE
|
|
int "Main thread stack size"
|
|
default 2048
|
|
---help---
|
|
The size of the stack to allocate for the main user thread that begins at
|
|
the user_start() entry point.
|
|
|
|
config PTHREAD_STACK_MIN
|
|
int "Minimum pthread stack size"
|
|
default 256
|
|
---help---
|
|
Minimum pthread stack size
|
|
|
|
config PTHREAD_STACK_DEFAULT
|
|
int "Default pthread stack size"
|
|
default 2048
|
|
---help---
|
|
Default pthread stack size
|
|
|