botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Update code for demo

Browse Source
This commit is contained in:
Johnathon Slightham
2026-03-04 11:35:46 -05:00
parent 80f9e295b5
commit d4602012f1
3 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
components/dataLink/DataLinkManager.cpp
View File

@@ -50,8 +50,9 @@ DataLinkManager::DataLinkManager(uint8_t board_id, uint8_t num_channels = MAX_CH
init_rip();
init_scheduler();
// Start the periodic LUT flush task
xTaskCreate(lut_flush_task, "lut_flush", 2048, this, 2, &lut_flush_task_handle);
// Start the periodic LUT flush task (priority 1 – below all other link-layer tasks
// to avoid preempting tasks that hold internal C++ or FreeRTOS locks)
xTaskCreate(lut_flush_task, "lut_flush", 2048, this, 1, &lut_flush_task_handle);
}
/**
@@ -319,7 +320,6 @@ void DataLinkManager::lut_insert(uint32_t hash, const uint8_t* message, size_t m
*/
void DataLinkManager::lut_flush(){
if (xSemaphoreTake(control_frame_lut_mutex, pdMS_TO_TICKS(SEQUENCE_NUM_MAP_MUTEX_MAX_WAIT_MS)) != pdTRUE){
ESP_LOGW(DEBUG_LINK_TAG, "LUT flush: could not acquire mutex, skipping");
return;
}
@@ -330,7 +330,6 @@ void DataLinkManager::lut_flush(){
}
xSemaphoreGive(control_frame_lut_mutex);
ESP_LOGI(DEBUG_LINK_TAG, "Control-frame LUT flushed");
}
/**

4
components/dataLink/DataLinkScheduler.cpp
View File

@@ -128,7 +128,7 @@ esp_err_t DataLinkManager::scheduler_send(uint8_t channel){
size_t frame_size = isControlFrame ? sizeof(ControlFrame) : sizeof(GenericFrame);
uint8_t send_data[frame_size];
ESP_LOGI(DEBUG_LINK_TAG, "Sending frame on channel %d, type: %s", channel, isControlFrame ? "Control" : "Generic");
// ESP_LOGI(DEBUG_LINK_TAG, "Sending frame on channel %d, type: %s", channel, isControlFrame ? "Control" : "Generic");
if (isControlFrame){
//control frame
@@ -291,7 +291,7 @@ esp_err_t DataLinkManager::scheduler_send_rmt(uint8_t channel, SchedulerMetadata
ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", frame.header.receiver_id);
return ESP_FAIL;
}
ESP_LOGI(DEBUG_LINK_TAG, "Sending frame %d on channel %d to board %d frag_info 0x%X", frame.header.seq_num, channel, frame.header.receiver_id, frame.header.frag_info);
// ESP_LOGI(DEBUG_LINK_TAG, "Sending frame %d on channel %d to board %d frag_info 0x%X", frame.header.seq_num, channel, frame.header.receiver_id, frame.header.frag_info);
res = phys_comms->send(send_data, frame_size, &config, channel_to_route);
// if (wait_for_tx_done){
// phys_comms->wait_until_send_complete(channel_to_route);