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main: add a dual-core feature flag, to switch between configs while debugging deadlocks

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This commit is contained in:
Victoria Fischer
2025-12-24 09:42:00 +01:00
parent cbab48c37f
commit 21fba09a4b
2 changed files with 49 additions and 40 deletions
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1
Cargo.toml
View File

@@ -12,6 +12,7 @@ path = "./src/bin/main.rs"
[features]
default = ["real-output"]
real-output = []
dual-core = []
simulation = ["dep:rmp"]
radio = [
"dep:bleps",

36
src/bin/main.rs
View File

@@ -63,13 +63,6 @@ async fn main(spawner: Spawner) {
esp_rtos::start(sys_timer.alarm0);
info!("Embassy initialized!");
let timer0 = TimerGroup::new(peripherals.TIMG0);
let timer1 = TimerGroup::new(peripherals.TIMG1);
let mut ui_wdt = timer1.wdt;
ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
ui_wdt.enable();
static MOTION_BUS: StaticCell<Channel<CriticalSectionRawMutex,Measurement,5> > = StaticCell::new();
let motion_bus = MOTION_BUS.init_with(|| { Channel::new() });
@@ -87,13 +80,15 @@ async fn main(spawner: Spawner) {
let mut safety_surfaces = UiSurfacePool::default();
let safety_ui = SafetyUi::new(&mut safety_surfaces, display_controls.clone());
let timer0 = TimerGroup::new(peripherals.TIMG0);
let mut wdt = timer0.wdt;
wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(5));
wdt.enable();
let swi = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
let hi_exec = STATIC_HI_EXEC.init(InterruptExecutor::new(swi.software_interrupt2));
let hi_spawn = hi_exec.start(esp_hal::interrupt::Priority::max());
//wdt.enable();
hi_spawn.must_spawn(renderbug_embassy::tasks::render::render(peripherals.RMT, peripherals.GPIO5.degrade(), surfaces, safety_surfaces, display_controls, wdt));
#[cfg(feature="motion")]
@@ -148,15 +143,12 @@ async fn main(spawner: Spawner) {
#[cfg(feature="radio")]
let wifi_init = {
info!("Configuring wifi");
//let rng = esp_hal::rng::Rng::new(peripherals.RNG);
WIFI_INIT.init_with(|| {esp_radio::init().expect("Failed to initialize radio controller")})
};
info!("Starting core 2");
//let mut cpu_control = CpuControl::new(peripherals.CPU_CTRL);
esp_rtos::start_second_core(peripherals.CPU_CTRL, swi.software_interrupt0, swi.software_interrupt1, unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
let exec = CORE2_EXEC.init_with(|| { Executor::new() });
exec.run(|spawner| {
let core2_main = |spawner: Spawner| {
let garage = BUS_GARAGE.init_with(|| { Default::default() });
info!("Launching motion engine");
@@ -181,12 +173,28 @@ async fn main(spawner: Spawner) {
spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(garage.notify.dyn_publisher().unwrap()));
}
#[cfg(feature="dual-core")]
{
info!("Launching core 2 watchdog");
let timer1 = TimerGroup::new(peripherals.TIMG1);
let mut ui_wdt = timer1.wdt;
ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
#[cfg(feature="dual-core")]
ui_wdt.enable();
spawner.must_spawn(wdt_task(ui_wdt));
}
info!("System is ready in {}ms", Instant::now().as_millis());
};
#[cfg(feature="dual-core")]
esp_rtos::start_second_core(peripherals.CPU_CTRL, swi.software_interrupt0, swi.software_interrupt1, unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
let exec = CORE2_EXEC.init_with(|| { Executor::new() });
exec.run(core2_main);
});
});
#[cfg(not(feature="dual-core"))]
core2_main(spawner);
}
#[embassy_executor::task]