support for esp32 #12
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Signed-off-by: Raphael Vogelgsang <[email protected]>
Signed-off-by: Raphael Vogelgsang <[email protected]>
Signed-off-by: Raphael Vogelgsang <[email protected]>
| #ifdef ESP_PLATFORM | ||
| #include "freertos/FreeRTOS.h" | ||
| #include "freertos/task.h" | ||
| #endif |
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for esp32 these includes are needed for vTaskDelete
| @@ -1,4 +1,5 @@ | |||
| #include <stdio.h> | |||
| #include <unistd.h> | |||
| CONFIG_FREERTOS_UNICORE=y | ||
| CONFIG_ESP_TASK_WDT=n |
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Hello @donRaphaco, do you have any idea on why is this necessary?
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The CONFIG_ESP_TASK_WDT=n setting I added to prevent getting a warning (during runtime) that the watchdog timer for the main task did not reset. I figured task watchdog timers aren't really useful if there is only one task, hence I deactivated them with this setting. (about the esp32 task watchdog timer)
The setting CONFIG_FREERTOS_UNICORE=y I don't know why it's necessary for microros, but if I don't use this setting I'm getting a runtime error and I can't really figure out why exactly.
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Thank you very much @donRaphaco
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@pablogs9 I just realized, that the error I had with CONFIG_FREERTOS_UNICORE=y is now solved somehow, which is really cool since I noticed a performance boost right away when I removed the setting.
So CONFIG_FREERTOS_UNICORE=y isn't actually necessary any more and should be removed :)
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Thank you very much @donRaphaco. Could you share a reference link and I will commit the changes?
BTW, have you seen this: https://github.com/micro-ROS/micro_ros_espidf_component ?
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@pablogs9 what do you mean by "reference link"?
Yeah I've seen https://github.com/micro-ROS/micro_ros_espidf_component and tested it. I really like it, since it's better integrates with the esp-idf stuff 👍
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sorry, I meant a link to somewhere where is explained which was this issue with CONFIG_FREERTOS_UNICORE and why /how they have solved it.
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Well to be honest I never really understood the issue with CONFIG_FREERTOS_UNICORE.
All I know is that in the first PR #12 I made, without this setting there was a runtime error even before the app_main function was executed.
I have no idea what the actual problem was then and also don't know when and how it was fixed.
So sorry I don't have a reference for this.
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Ok, so I will try both ESP32 + micro-ROS build tools and I will remove it from config defaults. Thanks!!
Build docker containers as a base for the other jobs.
relates to micro-ROS/micro_ros_setup#140