esp32 disable task wdt

Author: qqqlab

.github/ci/ci_platformio.ini

@@ -21,7 +21,6 @@ board = lolin_s3_mini
 platform = espressif32
 framework = arduino
 build_flags =
-    -D CONFIG_IDF_TARGET_ESP32S3
     -D ARDUINO_USB_MODE=1
     -D ARDUINO_USB_CDC_ON_BOOT=1
 

library.properties

@@ -1,5 +1,5 @@
 name=madflight
-version=2.3.0
+version=2.3.1-DEV
 author=qqqlab
 maintainer=qqqlab <madflight@qqqlab.com>
 license=MIT

platformio.ini

@@ -47,7 +47,6 @@ platform = espressif32
 framework = arduino
 monitor_filters = esp32_exception_decoder
 build_flags =
-    -D CONFIG_IDF_TARGET_ESP32S3
     -D ARDUINO_USB_MODE=1
     -D ARDUINO_USB_CDC_ON_BOOT=1
 

src/brd/default.h

@@ -1,5 +1,5 @@
 #if defined ARDUINO_ARCH_ESP32
-  #ifdef CONFIG_IDF_TARGET_ESP32S3
+  #if CONFIG_IDF_TARGET_ESP32S3
     #include "default_ESP32-S3.h"
   #else
     #include "default_ESP32.h"

src/brd/madflight_FC2.h

@@ -25,7 +25,7 @@ S1-S4 (GPIO1-4) as ESC outputs
 #if !ARDUINO_ARCH_ESP32
   #error "Invalid Arduino Architecture: Select ESP32-Arduino"
 #elif !CONFIG_IDF_TARGET_ESP32S3
-  #error "Invalid board: Select board ESP32S3 Dev Kit"
+  #error "Invalid board: Select board 'ESP32S3 Dev Module'"
 #endif
 
 #define MF_BOARD_NAME "madflight FC2"

src/hal/ESP32/hal_ESP32.cpp

@@ -33,6 +33,7 @@ SOFTWARE.
 #else
   #include <Wire.h>
 #endif
+#include <esp_task_wdt.h> //esp_task_wdt_deinit
 
 //Bus Setup
 MF_I2C    *hal_i2c[HAL_I2C_NUM] = {};
@@ -49,7 +50,22 @@ SPIClass spi1 = SPIClass(VSPI); // VSPI(default) or HSPI
 void hal_eeprom_begin();
 void startLoop1Task();
 
-void hal_startup() {} // USB MSC not implemented for ESP32
+void hal_startup() {
+  // USB MSC not implemented for ESP32
+
+  //disable task watchdog timer
+  esp_err_t x = esp_task_wdt_deinit(); //this should work for arduino-esp32 v3 / IDF 5
+  if(x != ESP_OK) {
+    //this should work for arduino-esp32 v2 / IDF 4
+    TaskHandle_t h = xTaskGetHandle("IDLE0");
+    esp_task_wdt_delete(h);
+    h = xTaskGetHandle("IDLE1");
+    esp_task_wdt_delete(h);    
+    x = esp_task_wdt_deinit();
+    //if(x != ESP_OK) ...failed...
+  }
+}
+
 void hal_usb_setup() {}
 void hal_print_resources() {}
 

src/hal/ESP32/hal_ESP32.h

@@ -46,11 +46,11 @@
 #define HAL_ARDUINO_STR "Arduino-ESP32 v" mf_df2str(ESP_ARDUINO_VERSION_MAJOR) "." mf_df2str(ESP_ARDUINO_VERSION_MINOR) "." mf_df2str(ESP_ARDUINO_VERSION_PATCH)
 
 #ifndef MF_MCU_NAME
-  #ifdef CONFIG_IDF_TARGET_ESP32S3
+  #if CONFIG_IDF_TARGET_ESP32S3
     #define MF_MCU_NAME "ESP32-S3"
-  #elif defined CONFIG_IDF_TARGET_ESP32
+  #elif CONFIG_IDF_TARGET_ESP32
     #define MF_MCU_NAME "ESP32"
   #else
-    #define MF_MCU_NAME "ESP32 (unsupported type)"
+    #define MF_MCU_NAME "ESP32 (unknown type)"
   #endif
 #endif

src/madflight.h

@@ -26,6 +26,9 @@ SOFTWARE.
 
 //#pragma once //don't use here, we want to get an error if this file is included twice
 
+#include "madflight_modules.h"
+#include "mag/MagGizmoIMU.h"
+
 extern const char madflight_config[];
 
 #ifdef MF_BOARD
@@ -35,9 +38,6 @@ extern const char madflight_config[];
   const char madflight_board[] = "";
 #endif
 
-#include "madflight_modules.h"
-#include "mag/MagGizmoIMU.h"
-
 //===============================================================================================
 // madflight_setup()
 //===============================================================================================
@@ -61,30 +61,9 @@ const char* Veh::flightmode_names[6] = VEH_FLIGHTMODE_NAMES; //define flightmode
 // Tasks
 //=============================================================================
 
-#if defined ARDUINO_ARCH_ESP32
-  #if ESP_ARDUINO_VERSION_MAJOR <= 2
-    #include <esp_task_wdt.h>
-    void hal_task_wdt_disable() {
-      esp_task_wdt_init(5, false); //disable task watchdog
-    }
-  #else
-    #include <esp_task_wdt.h>
-    void hal_task_wdt_disable() {
-      esp_task_wdt_config_t c;
-      c.timeout_ms = 5000;
-      c.idle_core_mask = 0x03;
-      c.trigger_panic = false;
-      esp_task_wdt_init(&c);
-    }
-  #endif
-#else
-  void hal_task_wdt_disable() {}
-#endif
-
 void rcl_task(void *pvParameters) {
   (void)pvParameters;
   for(;;) {
-    hal_task_wdt_disable();
     rcl.update(); // get rc radio commands
     out.update(); // stop motors on timeout
 
@@ -155,10 +134,13 @@ void sensor_task(void *pvParameters) {
   }
 }
 
+#define mf_xstr(s)              #s
+#define mf_str(s)               mf_xstr(s)
+
 void madflight_setup() {
   // HAL - Detach USB to until SDCARD is setup
   hal_startup();
-  
+
   // CFG - Configuration parameters (execute before delay to start LED + SDCARD)
   cfg.begin();
   #ifdef MF_CONFIG_CLEAR
@@ -215,16 +197,52 @@ void madflight_setup() {
     #endif
   } 
 
-  Serial.printf("Arduino library: " HAL_ARDUINO_STR "\n");
-
+  Serial.println("Arduino library: " HAL_ARDUINO_STR);
   #ifdef MF_BOARD_NAME
     Serial.println("Board: " MF_BOARD_NAME);
   #endif
-
   #ifdef MF_MCU_NAME
     Serial.println("Processor: " MF_MCU_NAME);
   #endif
 
+  //arduino defines
+  #ifdef ARDUINO_BOARD
+    Serial.println("-D ARDUINO_BOARD=" ARDUINO_BOARD );
+  #endif
+  #ifdef ARDUINO_VARIANT
+    Serial.println("-D ARDUINO_VARIANT=" ARDUINO_VARIANT );
+  #endif
+  #ifdef ARDUINO_HOST_OS
+    Serial.println("-D ARDUINO_HOST_OS=" ARDUINO_HOST_OS ); //only arduino IDE, not PlatformIO
+  #endif
+  #ifdef ARDUINO_FQBN
+    Serial.println("-D ARDUINO_FQBN=" ARDUINO_FQBN ); //only arduino IDE, not PlatformIO
+  #endif
+  #ifdef ARDUINO
+    Serial.println("-D ARDUINO=" mf_str(ARDUINO));
+  #endif
+  #ifdef CORE_DEBUG_LEVEL
+    Serial.println("-D CORE_DEBUG_LEVEL=" mf_str(CORE_DEBUG_LEVEL));
+  #endif
+  #ifdef ARDUINO_RUNNING_CORE
+    Serial.println("-D ARDUINO_RUNNING_CORE=" mf_str(ARDUINO_RUNNING_CORE));
+  #endif
+  #ifdef ARDUINO_EVENT_RUNNING_CORE
+    Serial.println("-D ARDUINO_EVENT_RUNNING_CORE=" mf_str(ARDUINO_EVENT_RUNNING_CORE));
+  #endif
+  #ifdef ARDUINO_USB_MODE
+    Serial.println("-D ARDUINO_USB_MODE=" mf_str(ARDUINO_USB_MODE));
+  #endif
+  #ifdef ARDUINO_USB_CDC_ON_BOOT
+    Serial.println("-D ARDUINO_USB_CDC_ON_BOOT=" mf_str(ARDUINO_USB_CDC_ON_BOOT));
+  #endif
+  #ifdef ARDUINO_USB_MSC_ON_BOOT
+    Serial.println("-D ARDUINO_USB_MSC_ON_BOOT=" mf_str(ARDUINO_USB_MSC_ON_BOOT));
+  #endif
+  #ifdef ARDUINO_USB_DFU_ON_BOOT
+    Serial.println("-D ARDUINO_USB_DFU_ON_BOOT=" mf_str(ARDUINO_USB_DFU_ON_BOOT));
+  #endif
+
   // INFO - Rerun CFG to show output after startup delay
   cfg.clear();
   cfg.loadFromEeprom(); //load parameters from EEPROM
@@ -303,7 +321,6 @@ void madflight_setup() {
   gps.setup();
 
   // OUT - Set GPIOs
-  int last_out;
   for(int i = 0; i < 16; i++) {
     int pin = (&cfg.pin_out0)[i]; //pin_out0..15
     out.set_pin(i, pin);

src/madflight_modules.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#define MADFLIGHT_VERSION "madflight v2.3.0"
+#define MADFLIGHT_VERSION "madflight v2.3.1-DEV"
 
 #include <Arduino.h>