====== Debug Freertos ======
===== vTaskList =====

To display the list of tasks states :
<code c>
//Approximately 40 bytes per task should be sufficient
char buffer[400];
vTaskList(buffer);
/* example of output */

// Name     State  Priority  Stack  Num
//*************************************
// CANAPP   R      2         178    3
// DBG      R      1         42     1
// IDLE     R      0         116    5
// LED      B      1         238    4
// MCTRL    B      4         202    2
</code>
[[http://www.freertos.org/a00021.html#vTaskList|For more information]].

===== configASSERT =====
Enable you to check your config with a debugger.
<code c>
/* Define configASSERT() to disable interrupts and sit in a loop. */
#define configASSERT(x)     if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
</code>

[[http://www.freertos.org/a00110.html#configASSERT|For more information]].
===== Openocd rtos awareness =====

Openocd is able to give you information about your system's tasks. For example, for the QuimDC we have added :
<code shell>
$_TARGETNAME configure -rtos auto
</code>
to "common/make/quimesis_stm32f10x.cfg".



You must also add [[https://github.com/arduino/OpenOCD/blob/master/contrib/rtos-helpers/FreeRTOS-openocd.c|OpenOCD/contrib/rtos-helpers/FreeRTOS-openocd.c]] to your project and this line :
<code shell>
LDFLAGS += -Wl,--undefined=uxTopUsedPriority
</code>
when using gcc as specified in "common/lib/freertos/FreeRTOS-openocd.c"

[[http://openocd.org/doc/html/GDB-and-OpenOCD.html|For more information]].
===== Hook Functions and Trace Hook Macros =====
  * [[http://www.freertos.org/a00016.html|Hook Functions Documentation]]
  * [[http://www.freertos.org/rtos-trace-macros.html|Trace Hook Macros Documentation]]


===== Remove compiler optimization =====

To remove the compiler optimization step for debugging add **-O0** to all the compile commands. You can also add **virtual** to some variable to be able to see their value in the debugger.