Hi at all,
I'm experiencing some errors on my ESP-WROOM-32 boar of AZdelivery.
https://forum.arduino.cc/t/esp32-reset-when-i-call-a-procedure-raspberry-not/1000349/14
I know that my board runs freeRTOS but I would like to know if there is someone that can me give some hint on what is freeRTOS and why boards like arduino nano 33 iot does not have an "operating system"
I would like to know also if all the libraries can run on the esp32 board. Im intrested to run the BluetoothLE library
the Nano 33 uses the NINA-W102 firmware which is based on Espressif IoT Development Framework
➜ ESP-IDF Programming Guide - ESP32 - — ESP-IDF Programming Guide latest documentation
freeRTOS on a ESP32 is a multiprocessing multi tasking state machine OS.
#include <ESP32Time.h>
#include <WiFi.h>
#include <PubSubClient.h>
#include "certs.h" // include the connection info for WiFi and MQTT
#include "sdkconfig.h" // used for log printing
#include "esp_system.h"
#include "freertos/FreeRTOS.h" //freeRTOS items to be used
#include "freertos/task.h"
#include <driver/adc.h>
#include <SimpleKalmanFilter.h>
////
WiFiClient wifiClient; // do the WiFi instantiation thing
PubSubClient MQTTclient( mqtt_server, mqtt_port, wifiClient ); //do the MQTT instantiation thing
ESP32Time rtc;
////
#define evtDoParticleRead ( 1 << 0 ) // declare an event
#define evtADCreading ( 1 << 3 )
EventGroupHandle_t eg; // variable for the event group handle
////
SemaphoreHandle_t sema_MQTT_KeepAlive;
SemaphoreHandle_t sema_mqttOK;
////
QueueHandle_t xQ_RemainingMoistureMQTT;
QueueHandle_t xQ_RM;
QueueHandle_t xQ_Message;
////
struct stu_message
{
char payload [150] = {'\0'};
String topic;
} x_message;
////
int mqttOK = 0;
bool TimeSet = false;
bool manualPumpOn = false;
////
// interrupt service routine for WiFi events put into IRAM
void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
{
switch (event) {
case SYSTEM_EVENT_STA_CONNECTED:
break;
case SYSTEM_EVENT_STA_DISCONNECTED:
log_i("Disconnected from WiFi access point");
break;
case SYSTEM_EVENT_AP_STADISCONNECTED:
log_i("WiFi client disconnected");
break;
default: break;
}
} // void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
////
void IRAM_ATTR mqttCallback(char* topic, byte * payload, unsigned int length)
{
// clear locations
memset( x_message.payload, '\0', 150 );
x_message.topic = ""; //clear string buffer
x_message.topic = topic;
int i = 0;
for ( i; i < length; i++)
{
x_message.payload[i] = ((char)payload[i]);
}
x_message.payload[i] = '\0';
xQueueOverwrite( xQ_Message, (void *) &x_message );// send data
} // void mqttCallback(char* topic, byte* payload, unsigned int length)
////
void setup()
{
x_message.topic.reserve(150);
//
xQ_Message = xQueueCreate( 1, sizeof(stu_message) );
xQ_RemainingMoistureMQTT = xQueueCreate( 1, sizeof(float) ); // sends a queue copy
xQ_RM = xQueueCreate( 1, sizeof(float) );
//
eg = xEventGroupCreate(); // get an event group handle
//
sema_mqttOK = xSemaphoreCreateBinary();
xSemaphoreGive( sema_mqttOK );
//
gpio_config_t io_cfg = {}; // initialize the gpio configuration structure
io_cfg.mode = GPIO_MODE_INPUT; // set gpio mode. GPIO_NUM_0 input from water level sensor
io_cfg.pull_down_en = GPIO_PULLDOWN_ENABLE; // enable pull down
io_cfg.pin_bit_mask = ( (1ULL << GPIO_NUM_0) ); //bit mask of the pins to set, assign gpio number to be configured
gpio_config(&io_cfg); // configure the gpio based upon the parameters as set in the configuration structure
//
io_cfg = {}; //set configuration structure back to default values
io_cfg.mode = GPIO_MODE_OUTPUT;
io_cfg.pin_bit_mask = ( (1ULL << GPIO_NUM_4) | (1ULL << GPIO_NUM_5) ); //bit mask of the pins to set, assign gpio number to be configured
gpio_config(&io_cfg);
gpio_set_level( GPIO_NUM_4, LOW); // deenergize relay module
gpio_set_level( GPIO_NUM_5, LOW); // deenergize valve
// set up A:D channels https://dl.espressif.com/doc/esp-idf/latest/api-reference/peripherals/adc.html
adc1_config_width(ADC_WIDTH_12Bit);
adc1_config_channel_atten(ADC1_CHANNEL_3, ADC_ATTEN_DB_11);// using GPIO 39
//
xTaskCreatePinnedToCore( MQTTkeepalive, "MQTTkeepalive", 10000, NULL, 6, NULL, 1 );
xTaskCreatePinnedToCore( fparseMQTT, "fparseMQTT", 10000, NULL, 5, NULL, 1 ); // assign all to core 1, WiFi in use.
xTaskCreatePinnedToCore( fPublish, "fPublish", 9000, NULL, 3, NULL, 1 );
xTaskCreatePinnedToCore( fReadAD, "fReadAD", 9000, NULL, 3, NULL, 1 );
xTaskCreatePinnedToCore( fDoMoistureDetector, "fDoMoistureDetector", 70000, NULL, 4, NULL, 1 );
xTaskCreatePinnedToCore( fmqttWatchDog, "fmqttWatchDog", 3000, NULL, 2, NULL, 1 );
} //void setup()
////
void fReadAD( void * parameter )
{
float ADbits = 4096.0f;
float uPvolts = 3.3f;
float adcValue_b = 0.0f; //plant in yellow pot
uint64_t TimePastKalman = esp_timer_get_time(); // used by the Kalman filter UpdateProcessNoise, time since last kalman calculation
float WetValue = 1.07f; // value found by putting sensor in water
float DryValue = 2.732f; // value of probe when held in air
float Range = DryValue - WetValue;
float RemainingMoisture = 100.0f;
SimpleKalmanFilter KF_ADC_b( 1.0f, 1.0f, .01f );
for (;;)
{
xEventGroupWaitBits (eg, evtADCreading, pdTRUE, pdTRUE, portMAX_DELAY ); //
adcValue_b = float( adc1_get_raw(ADC1_CHANNEL_3) ); //take a raw ADC reading
adcValue_b = ( adcValue_b * uPvolts ) / ADbits; //calculate voltage
KF_ADC_b.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
adcValue_b = KF_ADC_b.updateEstimate( adcValue_b ); // apply simple Kalman filter
TimePastKalman = esp_timer_get_time(); // time of update complete
RemainingMoisture = 100.0f * (1 - ((adcValue_b - WetValue) / (DryValue - WetValue))); //remaining moisture = 1-(xTarget - xMin) / (xMax - xMin) as a percentage of the sensor wet dry volatges
xQueueOverwrite( xQ_RM, (void *) &RemainingMoisture );
//log_i( "adcValue_b = %f remaining moisture %f%", adcValue_b, RemainingMoisture );
}
vTaskDelete( NULL );
}
////
void fPublish( void * parameter )
{
float RemainingMoisture = 100.0f;
for (;;)
{
if ( xQueueReceive(xQ_RemainingMoistureMQTT, &RemainingMoisture, portMAX_DELAY) == pdTRUE )
{
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY ); // whiles MQTTlient.loop() is running no other mqtt operations should be in process
MQTTclient.publish( topicRemainingMoisture_0, String(RemainingMoisture).c_str() );
xSemaphoreGive( sema_MQTT_KeepAlive );
}
} // for (;;)
vTaskDelete( NULL );
} //void fPublish( void * parameter )
////
void WaterPump0_off()
{
gpio_set_level( GPIO_NUM_4, LOW); //denergize relay module
vTaskDelay( 1 );
gpio_set_level( GPIO_NUM_5, LOW); //denergize/close valve
}
////
void WaterPump0_on()
{
gpio_set_level( GPIO_NUM_5, HIGH); //energize/open valve
vTaskDelay( 1 );
gpio_set_level( GPIO_NUM_4, HIGH); //energize relay module
}
////
void fmqttWatchDog( void * paramater )
{
int UpdateImeTrigger = 86400; //seconds in a day
int UpdateTimeInterval = 85000; // get another reading when = UpdateTimeTrigger
int maxNonMQTTresponse = 12;
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 5000; //delay for mS
for (;;)
{
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
xSemaphoreTake( sema_mqttOK, portMAX_DELAY ); // update mqttOK
mqttOK++;
xSemaphoreGive( sema_mqttOK );
if ( mqttOK >= maxNonMQTTresponse )
{
ESP.restart();
}
UpdateTimeInterval++; // trigger new time get
if ( UpdateTimeInterval >= UpdateImeTrigger )
{
TimeSet = false; // sets doneTime to false to get an updated time after a days count of seconds
UpdateTimeInterval = 0;
}
}
vTaskDelete( NULL );
} //void fmqttWatchDog( void * paramater )
////
void fDoMoistureDetector( void * parameter )
{
//wait for a mqtt connection
while ( !MQTTclient.connected() )
{
vTaskDelay( 250 );
}
int TimeToPublish = 5000000; //5000000uS
int TimeForADreading = 100 * 1000; // 100mS
uint64_t TimePastPublish = esp_timer_get_time(); // used by publish
uint64_t TimeADreading = esp_timer_get_time();
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10; //delay for 10mS
float RemainingMoisture = 100.0f; //prevents pump turn on during start up
bool pumpOn = false;
uint64_t PumpOnTime = esp_timer_get_time();
int PumpRunTime = 11000000;
uint64_t PumpOffWait = esp_timer_get_time();
uint64_t PumpOffWaitFor = 60000000; //one minute
float lowMoisture = 23.0f;
float highMoisture = 40.0f;
for (;;)
{
//read AD values every 100mS.
if ( (esp_timer_get_time() - TimeADreading) >= TimeForADreading )
{
xEventGroupSetBits( eg, evtADCreading );
TimeADreading = esp_timer_get_time();
}
xQueueReceive(xQ_RM, &RemainingMoisture, 0 ); //receive queue stuff no waiting
//read gpio 0 is water level good. Yes: OK to run pump : no pump off. remaining moisture good, denergize water pump otherwise energize water pump.
if ( RemainingMoisture >= highMoisture )
{
WaterPump0_off();
}
if ( !pumpOn )
{
log_i( "not pump on ");
if ( gpio_get_level( GPIO_NUM_0 ) )
{
if ( RemainingMoisture <= lowMoisture )
{
//has one minute passed since last pump energize, if so then allow motor to run
if ( (esp_timer_get_time() - PumpOffWait) >= PumpOffWaitFor )
{
WaterPump0_on();
log_i( "pump on " );
pumpOn = !pumpOn;
PumpOnTime = esp_timer_get_time();
}
}
//xSemaphoreGive( sema_RemainingMoisture );
} else {
log_i( "water level bad " );
WaterPump0_off();
PumpOffWait = esp_timer_get_time();
}
} else {
/*
pump goes on runs for X seconds then turn off, then wait PumpOffWaitTime before being allowed to energize again
*/
if ( (esp_timer_get_time() - PumpOnTime) >= PumpRunTime )
{
log_i( "pump off " );
WaterPump0_off(); // after 5 seconds turn pump off
pumpOn = !pumpOn;
PumpOffWait = esp_timer_get_time();
}
}
// publish to MQTT every 5000000uS
if ( (esp_timer_get_time() - TimePastPublish) >= TimeToPublish )
{
xQueueOverwrite( xQ_RemainingMoistureMQTT, (void *) &RemainingMoisture );// data for mqtt publish
TimePastPublish = esp_timer_get_time(); // get next publish time
}
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete( NULL );
}// end fDoMoistureDetector()
////
void MQTTkeepalive( void *pvParameters )
{
sema_MQTT_KeepAlive = xSemaphoreCreateBinary();
xSemaphoreGive( sema_MQTT_KeepAlive ); // found keep alive can mess with a publish, stop keep alive during publish
MQTTclient.setKeepAlive( 90 ); // setting keep alive to 90 seconds makes for a very reliable connection, must be set before the 1st connection is made.
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 250; // 250mS
for (;;)
{
//check for a is-connected and if the WiFi 'thinks' its connected, found checking on both is more realible than just a single check
if ( (wifiClient.connected()) && (WiFi.status() == WL_CONNECTED) )
{
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY ); // whiles MQTTlient.loop() is running no other mqtt operations should be in process
MQTTclient.loop();
xSemaphoreGive( sema_MQTT_KeepAlive );
}
else {
log_i( "MQTT keep alive found MQTT status %s WiFi status %s", String(wifiClient.connected()), String(WiFi.status()) );
if ( !(wifiClient.connected()) || !(WiFi.status() == WL_CONNECTED) )
{
connectToWiFi();
}
connectToMQTT();
}
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete ( NULL );
}
////
void connectToMQTT()
{
// create client ID from mac address
byte mac[5];
int count = 0;
WiFi.macAddress(mac); // get mac address
String clientID = String(mac[0]) + String(mac[4]);
log_i( "connect to mqtt as client %s", clientID );
while ( !MQTTclient.connected() )
{
MQTTclient.disconnect();
MQTTclient.connect( clientID.c_str(), mqtt_username, mqtt_password );
vTaskDelay( 250 );
count++;
if ( count == 5 )
{
ESP.restart();
}
}
MQTTclient.setCallback( mqttCallback );
MQTTclient.subscribe( topicOK );
}
////
void connectToWiFi()
{
int TryCount = 0;
while ( WiFi.status() != WL_CONNECTED )
{
TryCount++;
WiFi.disconnect();
WiFi.begin( SSID, PASSWORD );
vTaskDelay( 4000 );
if ( TryCount == 10 )
{
ESP.restart();
}
}
WiFi.onEvent( WiFiEvent );
} // void connectToWiFi()
//////
void fparseMQTT( void *pvParameters )
{
struct stu_message px_message;
for (;;)
{
if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
{
if ( px_message.topic == topicOK )
{
xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
mqttOK = 0; // clear mqtt ok count
xSemaphoreGive( sema_mqttOK );
}
if ( !TimeSet )
{
String temp = "";
temp = px_message.payload[0];
temp += px_message.payload[1];
temp += px_message.payload[2];
temp += px_message.payload[3];
int year = temp.toInt();
temp = "";
temp = px_message.payload[5];
temp += px_message.payload[6];
int month = temp.toInt();
temp = "";
temp = px_message.payload[8];
temp += px_message.payload[9];
int day = temp.toInt();
temp = "";
temp = px_message.payload[11];
temp += px_message.payload[12];
int hour = temp.toInt();
temp = "";
temp = px_message.payload[14];
temp += px_message.payload[15];
int min = temp.toInt();
rtc.setTime( 0, min, hour, day, month, year );
log_i( "%s ", rtc.getTime() );
TimeSet = true;
}
// manual pump control
if ( str_eTopic == topicPumpState )
{
if ( String(strPayload) == "off" )
{
WaterPump0_off();
manualPumpOn = false;
}
if ( String(strPayload) == "on" )
{
WaterPump0_on();
manualPumpOn = true;
}
}
}
} //for(;;)
vTaskDelete ( NULL );
} // void fparseMQTT( void *pvParameters )
////
void loop() {}
What is the snippet that you posted?
Is it possible drop the freeRTOS and run the arduino code directly on the board?
I know now that > Nano 33 uses the NINA-W102 firmware which is based on Espressif IoT Development Framework
But how the my board that has an ESP32 works?
the code I posted is a program to do a thing. Sure, you can edit it in any way that you like.
freeRTOS is built into the ESP32 and is stored on some of that 4MB of ram.
https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/index.html
I found setting a stack to over 500mb in size will cause a system crash. Typically, I find 10K to be sufficient.
Task stack size can be changed with the task creation code.
Use a search thingy and the words "freeRTOS" to find out more info.
The FreeRTOS task that is created to run arduino_main (calling setup() and then loop() repeatedly) has indeed a fixed size which you can see here:
you could try to update the NiNa Firmware with a custom value...
I've never tried this, so proceed with care and possibly look for other instructions and how to revert
I need around 400k and the ESP32 should have 500k if I'm not wrong.
And another question (thanks for your reply). If i want put the xTaskCreatePinnedToCore in my code in arduino, i just "override" the xTaskCreatePinnedToCore rewriting the function in the .ino?
Why have you ignored the correct solution that was provided to you in your other thread?
Then I should compile and upload the new firmware modified in the board and only after i upload my code?
Or i just upload my arduino program as usual and the code is allredy inside my program?
You have a task that takes 400K of 32 bit ram? Wow.
Why not just get a WROVER and put the big memory storage thingy into PSRAM?
I don't have that board, just read about it a while back but what I think is that contrary to an ESP32 board where the firmware linking is made part of the compilation process and in the final binary you upload, on a Nano 33 IOT the firmware is not uploaded every time you upload a new sketch. it stays on the board.
To verify my crude understanding I compiled this with both target architectures:
void setup() {
Serial.begin(115200); Serial.println("\nHello World");
}
void loop() {}
you get a 232.657 bytes file on an ESP32 target and if you compile for the Nano 33 IOT you only get 11.532 bytes
➜ hence I would believe you need to upload the new firmware once and then it sticks for all your new sketches
Yes because is a library of criptography I need such quantity of stack.
I could modify the library and use the malloc() to allocate the larger structures but I need to free() when I'm return them and i don't want introduce errors in my library.
What is the PSRAM? THansk
Use a search engine for the internet and the words "esp32 psram" for more info.
@gchini can you clarify if you use an ESP32 or an Arduino Nano 33 IOT?
I'm using the esp32 than has 500k of memory (If im not wrong).
The arduino nano 33 iot has not enough memory
OK - so indeed when you compile and upload you push the full OS onto your ESP32.
if you modify the stack size in the reference code, it should be taken into account
Seems it would be easier to spin up a new task with sufficient stack size. But, I'd judge that to be a poorer solution than using the heap or PSRAM.
definitely - but would keep the task thingy invisible and work with simple arduino code
I'm not sure how to parse that statement.
I meant newbies would keep using setup() and loop() as they know it, never need to understand what a task is but have a larger stack space.
but of course understanding the underlying platform capabilities and going for better options is the way to go