forked from espressif/arduino-esp32
45 lines
910 B
C++
45 lines
910 B
C++
#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_task_wdt.h"
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#include "Arduino.h"
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TaskHandle_t loopTaskHandle = NULL;
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#if CONFIG_AUTOSTART_ARDUINO
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#if CONFIG_FREERTOS_UNICORE
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void yieldIfNecessary(void){
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static uint64_t lastYield = 0;
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uint64_t now = millis();
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if((now - lastYield) > 4000) {
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lastYield = now;
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vTaskDelay(1); //delay 1 RTOS tick
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}
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}
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#endif
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bool loopTaskWDTEnabled;
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void loopTask(void *pvParameters)
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{
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setup();
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for(;;) {
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#if CONFIG_FREERTOS_UNICORE
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yieldIfNecessary();
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#endif
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if(loopTaskWDTEnabled){
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esp_task_wdt_reset();
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}
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loop();
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if (serialEventRun) serialEventRun();
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}
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}
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extern "C" void app_main()
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{
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loopTaskWDTEnabled = false;
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initArduino();
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xTaskCreateUniversal(loopTask, "loopTask", 8192, NULL, 1, &loopTaskHandle, CONFIG_ARDUINO_RUNNING_CORE);
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}
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#endif
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