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AP_HAL_ESP32: bugfixes

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bump  tick rate to 1kz to match chibios

experimentally make delay_microseconds not delay, and only yield ( vTaskDelay yields to higher-priority tasks )

ESP32 disable all watchdogs

emit info to console to tell user where to connect tcp/udp and what ports

comment out bad code throwing a ptr error
This commit is contained in:
David Buzz 2024-03-02 17:13:29 +10:00 committed by Andrew Tridgell
parent 24de88f85c
commit 73afd26465
5 changed files with 19 additions and 19 deletions
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10
libraries/AP_HAL_ESP32/Scheduler.cpp
View File

@ -231,7 +231,7 @@ void Scheduler::delay(uint16_t ms)
void Scheduler::delay_microseconds(uint16_t us) void Scheduler::delay_microseconds(uint16_t us)
{ {
if (us < 100) { if (in_main_thread() && us < 100) {
ets_delay_us(us); ets_delay_us(us);
} else { // Minimum delay for FreeRTOS is 1ms } else { // Minimum delay for FreeRTOS is 1ms
uint32_t tick = portTICK_PERIOD_MS * 1000; uint32_t tick = portTICK_PERIOD_MS * 1000;
@ -548,10 +548,10 @@ void Scheduler::print_main_loop_rate(void)
static int64_t last_run = 0; static int64_t last_run = 0;
if (AP_HAL::millis64() - last_run > 10000) { if (AP_HAL::millis64() - last_run > 10000) {
last_run = AP_HAL::millis64(); last_run = AP_HAL::millis64();
const float actual_loop_rate = AP::scheduler().get_filtered_loop_rate_hz(); // null pointer in here...
const uint16_t expected_loop_rate = AP::scheduler().get_loop_rate_hz(); //const float actual_loop_rate = AP::scheduler().get_filtered_loop_rate_hz();
hal.console->printf("loop_rate: actual: %uHz, expected: %uHz\n", //const uint16_t expected_loop_rate = AP::scheduler().get_loop_rate_hz();
(uint16_t)actual_loop_rate, (uint16_t)expected_loop_rate); //hal.console->printf("loop_rate: actual: %uHz, expected: %uHz\n",
} }
} }

2
libraries/AP_HAL_ESP32/WiFiDriver.cpp
View File

@ -59,7 +59,7 @@ void WiFiDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle,FASTCPU) != pdPASS) { if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle,FASTCPU) != pdPASS) {
hal.console->printf("FAILED to create task _wifi_thread on FASTCPU\n"); hal.console->printf("FAILED to create task _wifi_thread on FASTCPU\n");
} else { } else {
hal.console->printf("OK created task _wifi_thread on FASTCPU\n"); hal.console->printf("OK created task _wifi_thread for TCP with PORT 5760 on FASTCPU\n");
} }
_readbuf.set_size(RX_BUF_SIZE); _readbuf.set_size(RX_BUF_SIZE);

2
libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
View File

@ -62,7 +62,7 @@ void WiFiUdpDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle,FASTCPU) != pdPASS) { if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle,FASTCPU) != pdPASS) {
hal.console->printf("FAILED to create task _wifi_thread2 on FASTCPU\n"); hal.console->printf("FAILED to create task _wifi_thread2 on FASTCPU\n");
} else { } else {
hal.console->printf("OK created task _wifi_thread2 on FASTCPU\n"); hal.console->printf("OK created task _wifi_thread2 for UDP on port 14550 on FASTCPU\n"); //UDP_PORT
} }
_readbuf.set_size(RX_BUF_SIZE); _readbuf.set_size(RX_BUF_SIZE);

12
libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
View File

@ -56,7 +56,7 @@ CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
# CONFIG_BOOTLOADER_FACTORY_RESET is not set # CONFIG_BOOTLOADER_FACTORY_RESET is not set
# CONFIG_BOOTLOADER_APP_TEST is not set # CONFIG_BOOTLOADER_APP_TEST is not set
CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
CONFIG_BOOTLOADER_WDT_ENABLE=y CONFIG_BOOTLOADER_WDT_ENABLE=n
# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set # CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set
CONFIG_BOOTLOADER_WDT_TIME_MS=9000 CONFIG_BOOTLOADER_WDT_TIME_MS=9000
# CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set # CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set
@ -455,10 +455,10 @@ CONFIG_ESP_CONSOLE_UART=y
CONFIG_ESP_CONSOLE_MULTIPLE_UART=y CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
CONFIG_ESP_CONSOLE_UART_NUM=0 CONFIG_ESP_CONSOLE_UART_NUM=0
CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
CONFIG_ESP_INT_WDT=y CONFIG_ESP_INT_WDT=n
CONFIG_ESP_INT_WDT_TIMEOUT_MS=1000 CONFIG_ESP_INT_WDT_TIMEOUT_MS=1000
CONFIG_ESP_INT_WDT_CHECK_CPU1=y CONFIG_ESP_INT_WDT_CHECK_CPU1=y
CONFIG_ESP_TASK_WDT=y CONFIG_ESP_TASK_WDT=n
# CONFIG_ESP_TASK_WDT_PANIC is not set # CONFIG_ESP_TASK_WDT_PANIC is not set
CONFIG_ESP_TASK_WDT_TIMEOUT_S=5 CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
@ -579,7 +579,7 @@ CONFIG_FREERTOS_TICK_SUPPORT_CORETIMER=y
# CONFIG_FREERTOS_CORETIMER_0 is not set # CONFIG_FREERTOS_CORETIMER_0 is not set
CONFIG_FREERTOS_CORETIMER_1=y CONFIG_FREERTOS_CORETIMER_1=y
CONFIG_FREERTOS_SYSTICK_USES_CCOUNT=y CONFIG_FREERTOS_SYSTICK_USES_CCOUNT=y
CONFIG_FREERTOS_HZ=500 CONFIG_FREERTOS_HZ=1000
CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
@ -1150,10 +1150,10 @@ CONFIG_CONSOLE_UART_DEFAULT=y
CONFIG_CONSOLE_UART=y CONFIG_CONSOLE_UART=y
CONFIG_CONSOLE_UART_NUM=0 CONFIG_CONSOLE_UART_NUM=0
CONFIG_CONSOLE_UART_BAUDRATE=115200 CONFIG_CONSOLE_UART_BAUDRATE=115200
CONFIG_INT_WDT=y CONFIG_INT_WDT=n
CONFIG_INT_WDT_TIMEOUT_MS=1000 CONFIG_INT_WDT_TIMEOUT_MS=1000
CONFIG_INT_WDT_CHECK_CPU1=y CONFIG_INT_WDT_CHECK_CPU1=y
CONFIG_TASK_WDT=y CONFIG_TASK_WDT=n
# CONFIG_TASK_WDT_PANIC is not set # CONFIG_TASK_WDT_PANIC is not set
CONFIG_TASK_WDT_TIMEOUT_S=5 CONFIG_TASK_WDT_TIMEOUT_S=5
CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y

12
libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
View File

@ -55,7 +55,7 @@ CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
# CONFIG_BOOTLOADER_FACTORY_RESET is not set # CONFIG_BOOTLOADER_FACTORY_RESET is not set
# CONFIG_BOOTLOADER_APP_TEST is not set # CONFIG_BOOTLOADER_APP_TEST is not set
CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
CONFIG_BOOTLOADER_WDT_ENABLE=y CONFIG_BOOTLOADER_WDT_ENABLE=n
# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set # CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set
CONFIG_BOOTLOADER_WDT_TIME_MS=9000 CONFIG_BOOTLOADER_WDT_TIME_MS=9000
# CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set # CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set
@ -437,10 +437,10 @@ CONFIG_ESP_CONSOLE_UART=y
CONFIG_ESP_CONSOLE_MULTIPLE_UART=y CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
CONFIG_ESP_CONSOLE_UART_NUM=0 CONFIG_ESP_CONSOLE_UART_NUM=0
CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
CONFIG_ESP_INT_WDT=y CONFIG_ESP_INT_WDT=n
CONFIG_ESP_INT_WDT_TIMEOUT_MS=1000 CONFIG_ESP_INT_WDT_TIMEOUT_MS=1000
CONFIG_ESP_INT_WDT_CHECK_CPU1=y CONFIG_ESP_INT_WDT_CHECK_CPU1=y
CONFIG_ESP_TASK_WDT=y CONFIG_ESP_TASK_WDT=n
# CONFIG_ESP_TASK_WDT_PANIC is not set # CONFIG_ESP_TASK_WDT_PANIC is not set
CONFIG_ESP_TASK_WDT_TIMEOUT_S=5 CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
@ -555,7 +555,7 @@ CONFIG_FREERTOS_TICK_SUPPORT_SYSTIMER=y
CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL1=y CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL1=y
# CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3 is not set # CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3 is not set
CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER=y CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER=y
CONFIG_FREERTOS_HZ=500 CONFIG_FREERTOS_HZ=1000
CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
@ -1087,10 +1087,10 @@ CONFIG_CONSOLE_UART_DEFAULT=y
CONFIG_CONSOLE_UART=y CONFIG_CONSOLE_UART=y
CONFIG_CONSOLE_UART_NUM=0 CONFIG_CONSOLE_UART_NUM=0
CONFIG_CONSOLE_UART_BAUDRATE=115200 CONFIG_CONSOLE_UART_BAUDRATE=115200
CONFIG_INT_WDT=y CONFIG_INT_WDT=n
CONFIG_INT_WDT_TIMEOUT_MS=1000 CONFIG_INT_WDT_TIMEOUT_MS=1000
CONFIG_INT_WDT_CHECK_CPU1=y CONFIG_INT_WDT_CHECK_CPU1=y
CONFIG_TASK_WDT=y CONFIG_TASK_WDT=n
# CONFIG_TASK_WDT_PANIC is not set # CONFIG_TASK_WDT_PANIC is not set
CONFIG_TASK_WDT_TIMEOUT_S=5 CONFIG_TASK_WDT_TIMEOUT_S=5
CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y