I try to build a chrono laser with two ESP32 and two LDR. I have two ESP32:
In the second one, i try also to have a WebServer so i can connect with my phone and restart the chrono.
I try to do multitasking but everytime my ESP32 restart :
18:10:42.625 -> E (5775) task_wdt: Task watchdog got triggered. The following tasks did not reset the watchdog in time:
18:10:42.672 -> E (5775) task_wdt: - IDLE0 (CPU 0)
18:10:42.672 -> E (5775) task_wdt: Tasks currently running:
18:10:42.672 -> E (5775) task_wdt: CPU 0: Task1
18:10:42.672 -> E (5775) task_wdt: CPU 1: Task2
18:10:42.672 -> E (5775) task_wdt: Aborting.
18:10:42.672 -> abort() was called at PC 0x400d9033 on core 0
You can find my code here: https://create.arduino.cc/editor/marcoberle/c4762636-36c6-4551-92f2-935021a001c9/preview
My code :
// Load Wi-Fi library
#include <WiFi.h>
#include <HTTPClient.h>
//Declaration of PIN
const int departReceiver = 4; // the number of the pin
const int LED_BUILTIN = 2;
// Replace with your network credentials
const char* ssid = "ESP32-ARRIVE";
const char* password = "123456789";
// Set web server port number to 80
WiFiServer server(80);
WiFiClient client = server.available();
//Your IP address or domain name with URL path
const char* serverNameArrive = "http://192.168.4.1/arrive";
// Variable to store the HTTP request
String header;
// Auxiliar variables to store the current output state
String output26State = "off";
String output27State = "off";
// Assign output variables to GPIO pins
const int output26 = 26;
const int output27 = 27;
// Current time
unsigned long currentTime = millis();
// Previous time
unsigned long previousTime = 0;
// Define timeout time in milliseconds (example: 2000ms = 2s)
const long timeoutTime = 2000;
TaskHandle_t Task1;
TaskHandle_t Task2;
void setup() {
Serial.begin(115200);
pinMode(departReceiver, INPUT);
// Initialize the output variables as outputs
pinMode(output26, OUTPUT);
pinMode(output27, OUTPUT);
// Set outputs to LOW
digitalWrite(output26, LOW);
digitalWrite(output27, LOW);
// Connect to Wi-Fi network with SSID and password
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
// Print local IP address and start web server
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
client = server.available();
//create a task that will be executed in the Task1code() function, with priority 1 and executed on core 0
xTaskCreatePinnedToCore(
Task1code, /* Task function. */
"Task1", /* name of task. */
10000, /* Stack size of task */
NULL, /* parameter of the task */
6, /* priority of the task */
&Task1, /* Task handle to keep track of created task */
0); /* pin task to core 0 */
delay(500);
//create a task that will be executed in the Task2code() function, with priority 1 and executed on core 1
xTaskCreatePinnedToCore(
Task2code, /* Task function. */
"Task2", /* name of task. */
10000, /* Stack size of task */
NULL, /* parameter of the task */
7, /* priority of the task */
&Task2, /* Task handle to keep track of created task */
1); /* pin task to core 1 */
delay(500);
}
//CHRONO VAR
unsigned int departStatus = 0;
unsigned int arriveStatus = 0;
unsigned int start_time = 0;
unsigned int stop_time = 0;
unsigned int total_time = 0;
const unsigned int OFF = 0;
const unsigned int ON = 1;
String httpGETRequest(const char* serverName) {
HTTPClient http;
// Your IP address with path or Domain name with URL path
http.begin(serverName);
// Send HTTP POST request
int httpResponseCode = http.GET();
String payload = "--";
if (httpResponseCode > 0) {
payload = http.getString();
}
else {
}
// Free resources
http.end();
return payload;
}
String ChronoLog = "";
int reset = 0;
void Chrono () {
if (reset == 0) {
reset = 1;
ChronoLog = "<p>ALGO START</p>";
Serial.println("ALGO START");
while (departStatus == OFF) {
departStatus = digitalRead(departReceiver);
}
ChronoLog += "<p>Borne de début prête</p>";
Serial.println("Borne de début prête");
while (arriveStatus == OFF) {
arriveStatus = httpGETRequest(serverNameArrive).toInt();
}
ChronoLog += "<p>Borne de fin prête</p>";
ChronoLog += "<p>En attente du courreur</p>";
Serial.println("Borne de fin prête");
Serial.println("En attente du courreur");
while (departStatus == ON) {
departStatus = digitalRead(departReceiver);
}
ChronoLog += "<p>Courreur en place</p>";
Serial.println("Courreur en place");
digitalWrite(LED_BUILTIN, HIGH);
while (departStatus == OFF) {
departStatus = digitalRead(departReceiver);
}
ChronoLog += "<p>Chrono lancé</p>";
Serial.println("Chrono lancé");
start_time = millis();
while (arriveStatus == ON) {
arriveStatus = httpGETRequest(serverNameArrive).toInt();
}
stop_time = millis();
total_time = stop_time - start_time;
ChronoLog += "<p>Courru en </p>";
float timeSe = total_time * 0.001;
//ChronoLog += "<p><b>" + String(timeSe) + "</b></p>" ;
Serial.println("Courru en");
Serial.println(timeSe);
}
}
void ResetChrono () {
reset = 0;
departStatus = 0;
arriveStatus = 0;
start_time = 0;
stop_time = 0;
total_time = 0;
}
void Webserver() {
// Listen for incoming clients
client = server.available();
if (client) { // If a new client connects,
currentTime = millis();
previousTime = currentTime;
Serial.println("New Client."); // print a message out in the serial port
String currentLine = ""; // make a String to hold incoming data from the client
while (client.connected() && currentTime - previousTime <= timeoutTime) { // loop while the client's connected
currentTime = millis();
if (client.available()) { // if there's bytes to read from the client,
char c = client.read(); // read a byte, then
Serial.write(c); // print it out the serial monitor
header += c;
if (c == '\n') { // if the byte is a newline character
// if the current line is blank, you got two newline characters in a row.
// that's the end of the client HTTP request, so send a response:
if (currentLine.length() == 0) {
// HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
// and a content-type so the client knows what's coming, then a blank line:
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println("Connection: close");
client.println();
//RESET CHRONO
if (header.indexOf("GET /RESET") >= 0) {
ResetChrono();
}
// turns the GPIOs on and off
if (header.indexOf("GET /26/on") >= 0) {
Serial.println("GPIO 26 on");
output26State = "on";
digitalWrite(output26, HIGH);
} else if (header.indexOf("GET /26/off") >= 0) {
Serial.println("GPIO 26 off");
output26State = "off";
digitalWrite(output26, LOW);
} else if (header.indexOf("GET /27/on") >= 0) {
Serial.println("GPIO 27 on");
output27State = "on";
digitalWrite(output27, HIGH);
} else if (header.indexOf("GET /27/off") >= 0) {
Serial.println("GPIO 27 off");
output27State = "off";
digitalWrite(output27, LOW);
}
// Display the HTML web page
client.println("<!DOCTYPE html><html>");
client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
//Chrono(client);
client.println("<link rel=\"icon\" href=\"data:,\">");
// CSS to style the on/off buttons
// Feel free to change the background-color and font-size attributes to fit your preferences
client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
client.println(".button { background-color: #4CAF50; border: none; color: white; padding: 16px 40px;");
client.println("text-decoration: none; font-size: 30px; margin: 2px; cursor: pointer;}");
client.println(".button2 {background-color: #555555;}</style></head>");
// Web Page Heading
client.println("<body><h1>CHRONO</h1>");
client.println(ChronoLog);
client.println("<p><a href=\"/RESET\"><button class=\"button\">RESET</button></a></p>");
// Display current state, and ON/OFF buttons for GPIO 26
client.println("<p>GPIO 26 - State " + output26State + "</p>");
// If the output26State is off, it displays the ON button
if (output26State == "off") {
client.println("<p><a href=\"/26/on\"><button class=\"button\">ON</button></a></p>");
} else {
client.println("<p><a href=\"/26/off\"><button class=\"button button2\">OFF</button></a></p>");
}
// Display current state, and ON/OFF buttons for GPIO 27
client.println("<p>GPIO 27 - State " + output27State + "</p>");
// If the output27State is off, it displays the ON button
if (output27State == "off") {
client.println("<p><a href=\"/27/on\"><button class=\"button\">ON</button></a></p>");
} else {
client.println("<p><a href=\"/27/off\"><button class=\"button button2\">OFF</button></a></p>");
}
client.println("</body></html>");
// The HTTP response ends with another blank line
client.println();
// Break out of the while loop
break;
} else { // if you got a newline, then clear currentLine
currentLine = "";
}
} else if (c != '\r') { // if you got anything else but a carriage return character,
currentLine += c; // add it to the end of the currentLine
}
}
}
// Clear the header variable
header = "";
// Close the connection
client.stop();
Serial.println("Client disconnected.");
Serial.println("");
}
}
//Task1code: blinks an LED every 1000 ms
void Task1code( void * pvParameters ){
Serial.print("Task1 running on core ");
Serial.println(xPortGetCoreID());
for(;;){
Chrono();
}
}
//Task2code: blinks an LED every 700 ms
void Task2code( void * Parameters ){
Serial.print("Task2 running on core ");
Serial.println(xPortGetCoreID());
for(;;){
Webserver();
}
}
void loop() {
}
Do you have any suggestion to optimize my code or a solution to not have the problem anymore ?
I try a method i found on the web, and it's works. Add libraries :
#include "soc/timer_group_struct.h"
#include "soc/timer_group_reg.h"
Create a method:
void feedthedog () {
TIMERG0.wdt_wprotect = TIMG_WDT_WKEY_VALUE;
TIMERG0.wdt_feed = 1;
TIMERG0.wdt_wprotect = 0;
}
Add execution of the method in every while
while (departStatus == OFF) {
feedthedog();
departStatus = digitalRead(departReceiver);
}
I can wait, refresh page on the webserver, i don't get error :
19:38:40.321 -> Task1 running on core 0
19:38:40.321 -> ALGO START
19:39:20.937 -> Borne de début prête
19:39:39.093 -> Borne de fin prête
19:39:39.093 -> En attente du courreur
19:39:39.140 -> Courreur en place
19:39:51.840 -> Chrono lancé
19:39:58.804 -> Courru en
19:39:58.804 -> 6.99
19:39:58.804 -> Tâche fini
I put my update code here: https://create.arduino.cc/editor/marcoberle/cb88dff8-d56c-422d-9f2e-4011ea2b80f4/preview