75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
|
#include "freertos/FreeRTOS.h"
|
||
|
|
#include "freertos/task.h"
|
||
|
|
#include "esp_task_wdt.h"
|
||
|
|
#include "Arduino.h"
|
||
|
|
#if (ARDUINO_USB_CDC_ON_BOOT|ARDUINO_USB_MSC_ON_BOOT|ARDUINO_USB_DFU_ON_BOOT) && !ARDUINO_USB_MODE
|
||
|
|
#include "USB.h"
|
||
|
|
#if ARDUINO_USB_MSC_ON_BOOT
|
||
|
|
#include "FirmwareMSC.h"
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef ARDUINO_LOOP_STACK_SIZE
|
||
|
|
#ifndef CONFIG_ARDUINO_LOOP_STACK_SIZE
|
||
|
|
#define ARDUINO_LOOP_STACK_SIZE 8192
|
||
|
|
#else
|
||
|
|
#define ARDUINO_LOOP_STACK_SIZE CONFIG_ARDUINO_LOOP_STACK_SIZE
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
|
||
|
|
TaskHandle_t loopTaskHandle = NULL;
|
||
|
|
|
||
|
|
#if CONFIG_AUTOSTART_ARDUINO
|
||
|
|
#if CONFIG_FREERTOS_UNICORE
|
||
|
|
void yieldIfNecessary(void){
|
||
|
|
static uint64_t lastYield = 0;
|
||
|
|
uint64_t now = millis();
|
||
|
|
if((now - lastYield) > 2000) {
|
||
|
|
lastYield = now;
|
||
|
|
vTaskDelay(5); //delay 1 RTOS tick
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
bool loopTaskWDTEnabled;
|
||
|
|
|
||
|
|
__attribute__((weak)) size_t getArduinoLoopTaskStackSize(void) {
|
||
|
|
return ARDUINO_LOOP_STACK_SIZE;
|
||
|
|
}
|
||
|
|
|
||
|
|
void loopTask(void *pvParameters)
|
||
|
|
{
|
||
|
|
setup();
|
||
|
|
for(;;) {
|
||
|
|
#if CONFIG_FREERTOS_UNICORE
|
||
|
|
yieldIfNecessary();
|
||
|
|
#endif
|
||
|
|
if(loopTaskWDTEnabled){
|
||
|
|
esp_task_wdt_reset();
|
||
|
|
}
|
||
|
|
loop();
|
||
|
|
if (serialEventRun) serialEventRun();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
extern "C" void app_main()
|
||
|
|
{
|
||
|
|
#if ARDUINO_USB_CDC_ON_BOOT && !ARDUINO_USB_MODE
|
||
|
|
Serial.begin();
|
||
|
|
#endif
|
||
|
|
#if ARDUINO_USB_MSC_ON_BOOT && !ARDUINO_USB_MODE
|
||
|
|
MSC_Update.begin();
|
||
|
|
#endif
|
||
|
|
#if ARDUINO_USB_DFU_ON_BOOT && !ARDUINO_USB_MODE
|
||
|
|
USB.enableDFU();
|
||
|
|
#endif
|
||
|
|
#if ARDUINO_USB_ON_BOOT && !ARDUINO_USB_MODE
|
||
|
|
USB.begin();
|
||
|
|
#endif
|
||
|
|
loopTaskWDTEnabled = false;
|
||
|
|
initArduino();
|
||
|
|
xTaskCreateUniversal(loopTask, "loopTask", getArduinoLoopTaskStackSize(), NULL, 1, &loopTaskHandle, ARDUINO_RUNNING_CORE);
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|