Changing FreeRTOS Tick rate

[ankitbhatia]

I wanted to run the freeRTOS port with a tick rate of 10kHZ. Do I need to change anything else except the

#define configTICK_RATE_HZ ( (TickType_t) 10000 )

in FreeRTOSConfig.h?

[tsandmann]

Unfortunately yes, because all the Arduino timing functions rely on one tick every millisecond.

You could try to change void vApplicationTickHook() as the following:

• for teensy 4.x in port/teensy_4.cpp

  void vApplicationTickHook() {
    static uint32_t n {};
    if (++n == configTICK_RATE_HZ / 1'000UL) {
        systick_cycle_count = ARM_DWT_CYCCNT;
        systick_millis_count = systick_millis_count + 1;
        n = 0;
    }
  }

  • for teensy 3.x in port/teensy_3.cpp

    void vApplicationTickHook() {
    static uint32_t n {};
    if (++n == configTICK_RATE_HZ / 1'000UL) {
        systick_millis_count = systick_millis_count + 1;
        n = 0;
    }
    }

But I haven't tested that yet. I'll try to include a solution for different tick rates in the next release (or at least a warning for unsupported tick rates).