Add ESP32 + PlatformIO Tutorial and Example

[ad3154]

What's new

• Added tutorial page for using our stack on ESP32 with PlatformIO.
• Added ESP32 + PIO example files.

I would like some feedback on this new tutorial before merging it, ideally, so you can find a draft of it here

Any and all comments would be welcome.

Closes #263

[AndreaInverardi]

Built "esp32_platformio_object_pool" example, as in the tutorial. Deployed on some ESP32 module. I can see some CAN frames been sent at boot. If I check serial port of ESP32 module it says every 5 seconds:

"E (391530) task_wdt: Task watchdog got triggered. The following tasks/users did not reset the watchdog in time:"

Tried also connected to some tractor's virtual terminal. It do not detect it.

[ad3154]

Built "esp32_platformio_object_pool" example, as in the tutorial. Deployed on some ESP32 module. I can see some CAN frames been sent at boot. If I check serial port of ESP32 module it says every 5 seconds:

"E (391530) task_wdt: Task watchdog got triggered. The following tasks/users did not reset the watchdog in time:"

Tried also connected to some tractor's virtual terminal. It do not detect it.

Thanks for this feedback - I will see what I can do. I can sometimes repeat this same symptom, and have seen some successes with replacing some calls to std::this_thread::sleep_for with calls directly to FreeRTOS on ESP32 with vTaskDelay for example. We might have some success #defineing around these when ESP_PLATFORM is defined... or maybe we can use CMake and some clever abstraction to optionally compile in different kind of thread delays (this might be the cleanest solution...).

[GwnDaan]

Hi @AndreaInverardi @ad3154, sorry for the delay, the fix for your issues should already be in the stack: https://github.com/Open-Agriculture/AgIsoStack-plus-plus/pull/91/commits/29fe04ff5d1c9e66880c9d2fc496c0972c0b5744

Basically the default FreeRTOS tick is 10ms (100Hz), but the stack tries to update internally with 4ms by default. Hence the watchdog gets triggered as the thread is never allowed to switch.

There are 2 solutions:

• Set the internal tick rate to 10ms in your init: isobus::CANHardwareInterface::set_can_driver_update_period(10)
• Increase the tickrate of your FreeRTOS environment to > 250Hz to match the internal tick rate. For PlatformIO with ESP32 this can be done inside the menuconfig: pio run -t menuconfig. component config -> FreeRTOS -> Tick rate (hz), IIRC.

I prefer the latter to minimize platform specific issues, but both should work fine I think.

EDIT: Actually it might be really useful to document this, and/or put it in the FAQ

[ad3154]

Added updates to the ESP32 instructions to run menuconfig and adjust both the tick rate and some default stack sizes. When testing on my end this seemed to resolve all instances of runtime crashes I was seeing.

Check out the new section Set up your ESP32’s OS and PThread options in the draft.

[sonarcloud[bot]]

Kudos, SonarCloud Quality Gate passed!   

0 Bugs
0 Vulnerabilities
0 Security Hotspots
0 Code Smells

No Coverage information
0.0% Duplication