AP_HAL_ESP32: improve the reported LOOP_RATE on esp32s3 to similar lo…

…op rate to classic esp32

getting a loop rate of around 130 on both now

source modules/esp_idf/export.sh

./waf configure --board=esp32s3empty --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

./waf configure --board=esp32buzz --debug
./waf copter
cd build/esp32buzz/esp-idf_build/
ninja menuconfig

and try to get both the resulting modified sdkconfig as smiilar as possible - this causes s3 to use qio, which is faster, and also puts the wifi stuff onto CORE1 on both configs.

s3:
loop_rate: actual: 148.097137Hz, expected: 400Hz
loop_rate: actual: 147.908691Hz, expected: 400Hz

classic:
loop_rate: actual: 188.718842Hz, expected: 400Hz
loop_rate: actual: 191.819748Hz, expected: 400Hz

libraries/AP_HAL_ESP32/Scheduler.cpp

@@ -153,7 +153,7 @@ void executor(T oui)
     oui();
 }
 
-void Scheduler::thread_create_trampoline(void *ctx)
+void IRAM_ATTR Scheduler::thread_create_trampoline(void *ctx)
 {
     AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
     (*t)();
@@ -216,7 +216,7 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
     return true;
 }
 
-void Scheduler::delay(uint16_t ms)
+void IRAM_ATTR Scheduler::delay(uint16_t ms)
 {
     uint64_t start = AP_HAL::micros64();
     while ((AP_HAL::micros64() - start)/1000 < ms) {
@@ -229,7 +229,7 @@ void Scheduler::delay(uint16_t ms)
     }
 }
 
-void Scheduler::delay_microseconds(uint16_t us)
+void IRAM_ATTR Scheduler::delay_microseconds(uint16_t us)
 {
     if (in_main_thread() && us < 100) {
         ets_delay_us(us);
@@ -240,7 +240,7 @@ void Scheduler::delay_microseconds(uint16_t us)
     }
 }
 
-void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
+void IRAM_ATTR Scheduler::register_timer_process(AP_HAL::MemberProc proc)
 {
 #ifdef SCHEDDEBUG
     printf("%s:%d \n", __PRETTY_FUNCTION__, __LINE__);
@@ -260,7 +260,7 @@ void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
     _timer_sem.give();
 }
 
-void Scheduler::register_io_process(AP_HAL::MemberProc proc)
+void IRAM_ATTR Scheduler::register_io_process(AP_HAL::MemberProc proc)
 {
 #ifdef SCHEDDEBUG
     printf("%s:%d \n", __PRETTY_FUNCTION__, __LINE__);
@@ -281,7 +281,7 @@ void Scheduler::register_io_process(AP_HAL::MemberProc proc)
     _io_sem.give();
 }
 
-void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
+void IRAM_ATTR Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
 {
     _failsafe = failsafe;
 }
@@ -294,7 +294,7 @@ void Scheduler::reboot(bool hold_in_bootloader)
     esp_restart();
 }
 
-bool Scheduler::in_main_thread() const
+bool IRAM_ATTR Scheduler::in_main_thread() const
 {
     return _main_task_handle == xTaskGetCurrentTaskHandle();
 }
@@ -316,7 +316,7 @@ bool Scheduler::is_system_initialized()
     return _initialized;
 }
 
-void Scheduler::_timer_thread(void *arg)
+void IRAM_ATTR Scheduler::_timer_thread(void *arg)
 {
 #ifdef SCHEDDEBUG
     printf("%s:%d start\n", __PRETTY_FUNCTION__, __LINE__);
@@ -343,7 +343,7 @@ void Scheduler::_timer_thread(void *arg)
     }
 }
 
-void Scheduler::_rcout_thread(void* arg)
+void IRAM_ATTR Scheduler::_rcout_thread(void* arg)
 {
     Scheduler *sched = (Scheduler *)arg;
     while (!_initialized) {
@@ -357,7 +357,7 @@ void Scheduler::_rcout_thread(void* arg)
     }
 }
 
-void Scheduler::_run_timers()
+void IRAM_ATTR Scheduler::_run_timers()
 {
 #ifdef SCHEDULERDEBUG
     printf("%s:%d start \n", __PRETTY_FUNCTION__, __LINE__);
@@ -391,7 +391,7 @@ void Scheduler::_run_timers()
     _in_timer_proc = false;
 }
 
-void Scheduler::_rcin_thread(void *arg)
+void IRAM_ATTR Scheduler::_rcin_thread(void *arg)
 {
     Scheduler *sched = (Scheduler *)arg;
     while (!_initialized) {
@@ -404,7 +404,7 @@ void Scheduler::_rcin_thread(void *arg)
     }
 }
 
-void Scheduler::_run_io(void)
+void IRAM_ATTR Scheduler::_run_io(void)
 {
 #ifdef SCHEDULERDEBUG
     printf("%s:%d start \n", __PRETTY_FUNCTION__, __LINE__);
@@ -430,7 +430,7 @@ void Scheduler::_run_io(void)
     _in_io_proc = false;
 }
 
-void Scheduler::_io_thread(void* arg)
+void IRAM_ATTR Scheduler::_io_thread(void* arg)
 {
 #ifdef SCHEDDEBUG
     printf("%s:%d start \n", __PRETTY_FUNCTION__, __LINE__);
@@ -496,7 +496,7 @@ void Scheduler::_print_profile(void* arg)
 
 }
 
-void Scheduler::_uart_thread(void *arg)
+void IRAM_ATTR Scheduler::_uart_thread(void *arg)
 {
 #ifdef SCHEDDEBUG
     printf("%s:%d start \n", __PRETTY_FUNCTION__, __LINE__);
@@ -519,7 +519,7 @@ void Scheduler::_uart_thread(void *arg)
 
 
 // get the active main loop rate
-uint16_t Scheduler::get_loop_rate_hz(void)
+uint16_t IRAM_ATTR Scheduler::get_loop_rate_hz(void)
 {
     if (_active_loop_rate_hz == 0) {
         _active_loop_rate_hz = _loop_rate_hz;

libraries/AP_HAL_ESP32/Scheduler.h

@@ -69,15 +69,18 @@ class ESP32::Scheduler : public AP_HAL::Scheduler
     static const int IO_PRIO = 6;
     static const int STORAGE_PRIO = 6; */
 
+      // configMAX_PRIORITIES=25
+
+
     static const int SPI_PRIORITY = 24; //      if your primary imu is spi, this should be above the i2c value, spi is better.
     static const int MAIN_PRIO    = 24; //	cpu0: we want scheduler running at full tilt.
     static const int I2C_PRIORITY = 5;  //      if your primary imu is i2c, this should be above the spi value, i2c is not preferred.
-    static const int TIMER_PRIO   = 22; //      a low priority mere might cause wifi thruput to suffer
-    static const int RCIN_PRIO    = 15;
+    static const int TIMER_PRIO   = 23; //dont make 24. a low priority mere might cause wifi thruput to suffer
+    static const int RCIN_PRIO    = 5;
     static const int RCOUT_PRIO   = 10;
     static const int WIFI_PRIO1   = 20; //cpu1:
     static const int WIFI_PRIO2   = 12; //cpu1:
-    static const int UART_PRIO    = 24; //cpu1: a low priority mere might cause wifi thruput to suffer, as wifi gets passed its data frim the uart subsustem in _writebuf/_readbuf
+    static const int UART_PRIO    = 23; //dont make 24, scheduler suffers a bit. cpu1: a low priority mere might cause wifi thruput to suffer, as wifi gets passed its data frim the uart subsustem in _writebuf/_readbuf
     static const int IO_PRIO      = 5;
     static const int STORAGE_PRIO = 4;
 

libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig

@@ -56,9 +56,7 @@ CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
 # CONFIG_BOOTLOADER_FACTORY_RESET is not set
 # CONFIG_BOOTLOADER_APP_TEST is not set
 CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
-CONFIG_BOOTLOADER_WDT_ENABLE=n
-# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set
-CONFIG_BOOTLOADER_WDT_TIME_MS=9000
+# CONFIG_BOOTLOADER_WDT_ENABLE is not set
 # CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set
 # CONFIG_BOOTLOADER_SKIP_VALIDATE_IN_DEEP_SLEEP is not set
 # CONFIG_BOOTLOADER_SKIP_VALIDATE_ON_POWER_ON is not set
@@ -318,19 +316,8 @@ CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
 #
 # Ethernet
 #
-CONFIG_ETH_ENABLED=y
-CONFIG_ETH_USE_ESP32_EMAC=y
-CONFIG_ETH_PHY_INTERFACE_RMII=y
-CONFIG_ETH_RMII_CLK_INPUT=y
-# CONFIG_ETH_RMII_CLK_OUTPUT is not set
-CONFIG_ETH_RMII_CLK_IN_GPIO=0
-CONFIG_ETH_DMA_BUFFER_SIZE=512
-CONFIG_ETH_DMA_RX_BUFFER_NUM=10
-CONFIG_ETH_DMA_TX_BUFFER_NUM=10
-CONFIG_ETH_USE_SPI_ETHERNET=y
-CONFIG_ETH_SPI_ETHERNET_DM9051=y
-# CONFIG_ETH_SPI_ETHERNET_W5500 is not set
-# CONFIG_ETH_SPI_ETHERNET_KSZ8851SNL is not set
+# CONFIG_ETH_USE_ESP32_EMAC is not set
+# CONFIG_ETH_USE_SPI_ETHERNET is not set
 # CONFIG_ETH_USE_OPENETH is not set
 # end of Ethernet
 
@@ -455,14 +442,8 @@ CONFIG_ESP_CONSOLE_UART=y
 CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
 CONFIG_ESP_CONSOLE_UART_NUM=0
 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
-CONFIG_ESP_INT_WDT=n
-CONFIG_ESP_INT_WDT_TIMEOUT_MS=1000
-CONFIG_ESP_INT_WDT_CHECK_CPU1=y
-CONFIG_ESP_TASK_WDT=n
-# CONFIG_ESP_TASK_WDT_PANIC is not set
-CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
-CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
-CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1=y
+# CONFIG_ESP_INT_WDT is not set
+# CONFIG_ESP_TASK_WDT is not set
 # CONFIG_ESP_PANIC_HANDLER_IRAM is not set
 # CONFIG_ESP_DEBUG_STUBS_ENABLE is not set
 # CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_5 is not set
@@ -497,11 +478,13 @@ CONFIG_ESP_WIFI_STATIC_RX_MGMT_BUFFER=y
 CONFIG_ESP_WIFI_DYNAMIC_RX_MGMT_BUF=0
 CONFIG_ESP_WIFI_RX_MGMT_BUF_NUM_DEF=5
 # CONFIG_ESP32_WIFI_CSI_ENABLED is not set
-# CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED is not set
-# CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED is not set
-# CONFIG_ESP32_WIFI_NVS_ENABLED is not set
-CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y
-# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set
+CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=y
+CONFIG_ESP32_WIFI_TX_BA_WIN=6
+CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y
+CONFIG_ESP32_WIFI_RX_BA_WIN=4
+CONFIG_ESP32_WIFI_NVS_ENABLED=y
+# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0 is not set
+CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1=y
 CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752
 CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32
 CONFIG_ESP32_WIFI_IRAM_OPT=y
@@ -754,10 +737,10 @@ CONFIG_LWIP_CHECKSUM_CHECK_ICMP=y
 # end of Checksums
 
 CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=3072
-CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY is not set
 # CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set
-# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set
-CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1=y
+CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x1
 # CONFIG_LWIP_PPP_SUPPORT is not set
 CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
 CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
@@ -1150,14 +1133,8 @@ CONFIG_CONSOLE_UART_DEFAULT=y
 CONFIG_CONSOLE_UART=y
 CONFIG_CONSOLE_UART_NUM=0
 CONFIG_CONSOLE_UART_BAUDRATE=115200
-CONFIG_INT_WDT=n
-CONFIG_INT_WDT_TIMEOUT_MS=1000
-CONFIG_INT_WDT_CHECK_CPU1=y
-CONFIG_TASK_WDT=n
-# CONFIG_TASK_WDT_PANIC is not set
-CONFIG_TASK_WDT_TIMEOUT_S=5
-CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
-CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1=y
+# CONFIG_INT_WDT is not set
+# CONFIG_TASK_WDT is not set
 # CONFIG_ESP32_DEBUG_STUBS_ENABLE is not set
 CONFIG_TIMER_TASK_STACK_SIZE=3584
 # CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH is not set
@@ -1197,10 +1174,10 @@ CONFIG_TCP_OVERSIZE_MSS=y
 # CONFIG_TCP_OVERSIZE_DISABLE is not set
 CONFIG_UDP_RECVMBOX_SIZE=6
 CONFIG_TCPIP_TASK_STACK_SIZE=3072
-CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY is not set
 # CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set
-# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set
-CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+CONFIG_TCPIP_TASK_AFFINITY_CPU1=y
+CONFIG_TCPIP_TASK_AFFINITY=0x1
 # CONFIG_PPP_SUPPORT is not set
 CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5
 CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072

libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig

@@ -89,9 +89,9 @@ CONFIG_BOOT_ROM_LOG_ALWAYS_ON=y
 CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
 # CONFIG_ESPTOOLPY_NO_STUB is not set
 # CONFIG_ESPTOOLPY_OCT_FLASH is not set
-# CONFIG_ESPTOOLPY_FLASHMODE_QIO is not set
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
 # CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
-CONFIG_ESPTOOLPY_FLASHMODE_DIO=y
+# CONFIG_ESPTOOLPY_FLASHMODE_DIO is not set
 # CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
 CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR=y
 CONFIG_ESPTOOLPY_FLASHMODE="dio"
@@ -320,11 +320,7 @@ CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
 #
 # Ethernet
 #
-CONFIG_ETH_ENABLED=y
-CONFIG_ETH_USE_SPI_ETHERNET=y
-# CONFIG_ETH_SPI_ETHERNET_DM9051 is not set
-# CONFIG_ETH_SPI_ETHERNET_W5500 is not set
-# CONFIG_ETH_SPI_ETHERNET_KSZ8851SNL is not set
+# CONFIG_ETH_USE_SPI_ETHERNET is not set
 # CONFIG_ETH_USE_OPENETH is not set
 # end of Ethernet
 
@@ -493,8 +489,8 @@ CONFIG_ESP32_WIFI_TX_BA_WIN=6
 CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y
 CONFIG_ESP32_WIFI_RX_BA_WIN=6
 CONFIG_ESP32_WIFI_NVS_ENABLED=y
-CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y
-# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set
+# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0 is not set
+CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1=y
 CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752
 CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32
 CONFIG_ESP32_WIFI_IRAM_OPT=y
@@ -570,8 +566,8 @@ CONFIG_FATFS_PER_FILE_CACHE=y
 # CONFIG_FREERTOS_UNICORE is not set
 CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF
 CONFIG_FREERTOS_TICK_SUPPORT_SYSTIMER=y
-CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL1=y
-# CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3 is not set
+# CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL1 is not set
+CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3=y
 CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER=y
 CONFIG_FREERTOS_HZ=1000
 CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
@@ -580,9 +576,9 @@ CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
 CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
 # CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
 CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
-CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
-CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
-# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
+CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=10
+# CONFIG_FREERTOS_ASSERT_FAIL_ABORT is not set
+CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE=y
 # CONFIG_FREERTOS_ASSERT_DISABLE is not set
 CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
 CONFIG_FREERTOS_ISR_STACKSIZE=2100
@@ -660,7 +656,7 @@ CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
 CONFIG_LWIP_TIMERS_ONDEMAND=y
-CONFIG_LWIP_MAX_SOCKETS=10
+CONFIG_LWIP_MAX_SOCKETS=5
 # CONFIG_LWIP_USE_ONLY_LWIP_SELECT is not set
 # CONFIG_LWIP_SO_LINGER is not set
 CONFIG_LWIP_SO_REUSE=y
@@ -745,10 +741,10 @@ CONFIG_LWIP_CHECKSUM_CHECK_ICMP=y
 # end of Checksums
 
 CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=3072
-CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY is not set
 # CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set
-# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set
-CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1=y
+CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x1
 # CONFIG_LWIP_PPP_SUPPORT is not set
 CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
 CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
@@ -1058,9 +1054,9 @@ CONFIG_LOG_BOOTLOADER_LEVEL_ERROR=y
 CONFIG_LOG_BOOTLOADER_LEVEL=1
 # CONFIG_APP_ROLLBACK_ENABLE is not set
 # CONFIG_FLASH_ENCRYPTION_ENABLED is not set
-# CONFIG_FLASHMODE_QIO is not set
+CONFIG_FLASHMODE_QIO=y
 # CONFIG_FLASHMODE_QOUT is not set
-CONFIG_FLASHMODE_DIO=y
+# CONFIG_FLASHMODE_DIO is not set
 # CONFIG_FLASHMODE_DOUT is not set
 # CONFIG_MONITOR_BAUD_9600B is not set
 # CONFIG_MONITOR_BAUD_57600B is not set
@@ -1154,10 +1150,10 @@ CONFIG_TCP_OVERSIZE_MSS=y
 # CONFIG_TCP_OVERSIZE_DISABLE is not set
 CONFIG_UDP_RECVMBOX_SIZE=6
 CONFIG_TCPIP_TASK_STACK_SIZE=3072
-CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
+# CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY is not set
 # CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set
-# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set
-CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF
+CONFIG_TCPIP_TASK_AFFINITY_CPU1=y
+CONFIG_TCPIP_TASK_AFFINITY=0x1
 # CONFIG_PPP_SUPPORT is not set
 CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5
 CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072