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To reduce calls to micros() in loopTask(). Proposal to move micros() call into separate task. #317

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To reduce calls to micros() in loopTask(). Proposal to move micros() call into separate task. #317

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19 changes: 17 additions & 2 deletions cores/esp32/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,30 @@ void loopTask(void *pvParameters)
{
setup();
for(;;) {
micros(); //update overflow
loop();
}
}

void vMicrosOverflowTask(void *pvParameters)
{
// In order no to miss overflow it will be enought to check micros() each half of full overflow
static const uint32_t taskDelayMs = UINT32_MAX
/ CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ // one full overflow occurs in uS
/ 1000 // in millisec
/ 2 // half of full overflow cycle
/ portTICK_PERIOD_MS; // RTOS const to convert in ms

for (;;){
micros(); //update overflow
vTaskDelay(taskDelayMs); // ~ each 9 sec at 240Mhz
}
}

extern "C" void app_main()
{
initArduino();
xTaskCreatePinnedToCore(loopTask, "loopTask", 4096, NULL, 1, NULL, ARDUINO_RUNNING_CORE);
xTaskCreatePinnedToCore(vMicrosOverflowTask, "microsTask", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL, ARDUINO_RUNNING_CORE);
xTaskCreatePinnedToCore(loopTask, "loopTask", 4096, NULL, 1, NULL, ARDUINO_RUNNING_CORE);
}

#endif