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tasks: motion: move the entire motion prediction engine into the second core, dedicating core 1 to hardware

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This commit is contained in:
Victoria Fischer
2025-12-22 15:55:06 +01:00
parent 73b037f0c2
commit 3f651718a4
5 changed files with 33 additions and 25 deletions
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19
src/bin/main.rs
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@@ -20,7 +20,7 @@ use esp_hal::{
use log::*;
use renderbug_embassy::{graphics::display::DisplayControls, logging::RenderbugLogger, tasks::{oled::{OledUI, OledUiSurfacePool, oled_ui}, safetyui::{SafetyUi, safety_ui_main}, ui::UiSurfacePool}};
use renderbug_embassy::events::BusGarage;
use renderbug_embassy::events::{BusGarage, Measurement};
use static_cell::StaticCell;
use esp_backtrace as _;
use esp_rtos::embassy::{Executor, InterruptExecutor};
@@ -31,6 +31,8 @@ use renderbug_embassy::tasks::{
ui::{Ui, ui_main}
};
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::channel::Channel;
extern crate alloc;
@@ -68,7 +70,8 @@ async fn main(spawner: Spawner) {
ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
ui_wdt.enable();
let garage = BUS_GARAGE.init_with(|| { Default::default() });
static MOTION_BUS: StaticCell<Channel<CriticalSectionRawMutex,Measurement,5> > = StaticCell::new();
let motion_bus = MOTION_BUS.init_with(|| { Channel::new() });
info!("Setting up rendering pipeline");
let mut surfaces = UiSurfacePool::default();
@@ -107,9 +110,9 @@ async fn main(spawner: Spawner) {
let i2c = I2c::new(peripherals.I2C1, Config::default()).unwrap().with_scl(scl).with_sda(sda).into_async();
let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
#[cfg(feature="mpu")]
spawner.must_spawn(renderbug_embassy::tasks::mpu::mpu_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
spawner.must_spawn(renderbug_embassy::tasks::mpu::mpu_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
#[cfg(feature="gps")]
spawner.must_spawn(renderbug_embassy::tasks::gps::gps_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
spawner.must_spawn(renderbug_embassy::tasks::gps::gps_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
}
#[cfg(feature="oled")]
@@ -141,9 +144,6 @@ async fn main(spawner: Spawner) {
}
}
info!("Launching motion engine");
spawner.must_spawn(motion_task(garage.motion.dyn_receiver(), garage.notify.dyn_publisher().unwrap(), garage.predict.dyn_sender()));
#[cfg(feature="radio")]
let wifi_init = {
info!("Configuring wifi");
@@ -156,6 +156,11 @@ async fn main(spawner: Spawner) {
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 garage = BUS_GARAGE.init_with(|| { Default::default() });
info!("Launching motion engine");
spawner.must_spawn(motion_task(motion_bus.dyn_receiver(), garage.predict.dyn_sender()));
info!("Launching Safety UI");
spawner.must_spawn(safety_ui_main(garage.notify.dyn_subscriber().unwrap(), safety_ui));
info!("Launching UI");