arduino-esp32/cores/esp32/main.cpp

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#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)
#include "USB.h"
#if ARDUINO_USB_MSC_ON_BOOT
#include "FirmwareMSC.h"
#endif
#endif
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#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
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bool loopTaskWDTEnabled;
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void loopTask(void *pvParameters)
{
setup();
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for(;;) {
#if CONFIG_FREERTOS_UNICORE
yieldIfNecessary();
#endif
if(loopTaskWDTEnabled){
esp_task_wdt_reset();
}
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loop();
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if (serialEventRun) serialEventRun();
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}
}
extern "C" void app_main()
{
#if ARDUINO_USB_CDC_ON_BOOT
Serial.begin();
#endif
#if ARDUINO_USB_MSC_ON_BOOT
MSC_Update.begin();
#endif
#if ARDUINO_USB_DFU_ON_BOOT
USB.enableDFU();
#endif
#if ARDUINO_USB_ON_BOOT
USB.begin();
#endif
loopTaskWDTEnabled = false;
initArduino();
xTaskCreateUniversal(loopTask, "loopTask", ARDUINO_LOOP_STACK_SIZE, NULL, 1, &loopTaskHandle, ARDUINO_RUNNING_CORE);
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}
#endif