支持监控无人机的CPU和内存使用率

main/BMS/ADC/batteryVoltage.h

@@ -4,7 +4,7 @@
  * Created Date: 2024-04-24 13:47:31
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-27 13:02:40
+ * Last Modified: 2024-05-08 15:27:07
  * Modified By:
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -20,7 +20,7 @@
 #include "esp_adc/adc_cali.h"
 #include "esp_adc/adc_cali_scheme.h"
 
-const static char *BMS_ADC_LOG_TAG = "BMS_ADC";
+static const char *BMS_ADC_LOG_TAG = "BMS_ADC";
 
 /*---------------------------------------------------------------
         ADC General Macros

main/LED/StatusLED.h

@@ -4,7 +4,7 @@
  * Created Date: 2024-04-28 15:07:32
  * Author: Guoyi
  * -----
- * Last Modified: 2024-05-08 00:04:25
+ * Last Modified: 2024-05-08 16:13:53
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -23,31 +23,35 @@ static gpio_num_t gpio_led_num = GPIO_NUM_23; // 连接LED的GPIO
 static int s_count = 0;
 static int s_duration = 0;
 
+static TaskHandle_t flashStatusLEDTaskHandle;
+static SemaphoreHandle_t semapHandle;
+void enableStatusLED();
+void disableStatusLED();
+
 static void flashStatusLEDTask(void *argument)
 {
     while (1)
     {
         xSemaphoreTake(semapHandle, portMAX_DELAY);
-        for (int i = 0; i < *(int *)argument; i++)
+        for (int i = 0; i < s_count; i++)
         {
             enableStatusLED();
-            vTaskDelay(*(int *)(argument + 1) / portTICK_PERIOD_MS);
+            vTaskDelay(s_duration / portTICK_PERIOD_MS);
             disableStatusLED();
-            vTaskDelay(*(int *)(argument + 1) / portTICK_PERIOD_MS);
+            vTaskDelay(s_duration / portTICK_PERIOD_MS);
         }
     }
 }
-static TaskHandle_t flashStatusLEDTaskHandle;
-static SemaphoreHandle_t semapHandle;
+
 
 void StatusLED_Init()
 {
     // 设置控制LED的GPIO为输出模式
     gpio_set_direction(gpio_led_num, GPIO_MODE_OUTPUT);
-    xTaskCreatePinnedToCore(flashStatusLEDTask, "flashStatusLEDTask",
-                            4096, NULL, 3, flashStatusLEDTaskHandle, 0);
     // 创建信号量，用于拉起LED频闪任务
     semapHandle = xSemaphoreCreateBinary();
+    xTaskCreatePinnedToCore(flashStatusLEDTask, "flashStatusLEDTask",
+                            1024, NULL, 3, flashStatusLEDTaskHandle, 0);
 }
 
 void enableStatusLED()

main/main.c

@@ -32,13 +32,16 @@
 /* 各任务 */
 #include "tasks/controllerTickLoop.h"
 #include "tasks/BMSTaskLoop.h"
+#include "tasks/perfMonitorTaskLoop.h"
 
 // 任务优先级数值越小，任务优先级越低
 #define tskHIGH_PRIORITY 10
 #define tskMEDIUM_PRIORITY 5
+#define tskLOW_PRIORITY 3
 
 TaskHandle_t controllerTickLoopHandle = NULL;
 TaskHandle_t BMSTaskLoopHandle = NULL;
+TaskHandle_t perfMonitorTaskLoopHandle = NULL;
 
 /* 启动任务 */
 void Tasks_Init()
@@ -47,10 +50,12 @@ void Tasks_Init()
                             4096, NULL, tskHIGH_PRIORITY, controllerTickLoopHandle, 1);
     xTaskCreatePinnedToCore(BMSTaskLoop, "BMSTaskLoop",
                             4096, NULL, tskMEDIUM_PRIORITY, BMSTaskLoopHandle, 1);
+    // xTaskCreatePinnedToCore(perfMonitorTaskLoop, "perfMonitorTaskLoop",
+    //                         4096, NULL, tskLOW_PRIORITY, perfMonitorTaskLoopHandle, 1);
 }
 
 void app_main(void)
-{
+{  
     /* 初始化各组件 */
     StatusLED_Init();
     Bleprph_Init();

main/mpu6050/mpu6050.h

@@ -4,7 +4,7 @@
  * Created Date: 2024-03-07 19:55:56
  * Author: Guoyi
  * -----
- * Last Modified: 2024-05-07 13:56:23
+ * Last Modified: 2024-05-08 13:42:51
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -58,7 +58,7 @@ void MPU6050_Init()
     uint8_t flag = ESP_OK;
     flag = MPU6050_register_write_byte(PWR_MGMT_1, 0x00);   // 解除休眠状态
     flag = MPU6050_register_write_byte(SMPLRT_DIV, 0x00);   // 陀螺仪采样率。1KHz
-    flag = MPU6050_register_write_byte(CONFIG, 0x05);       // 启用低通滤波。等级为0x05
+    flag = MPU6050_register_write_byte(CONFIG, 0x06);       // 启用低通滤波。等级为0x05
     flag = MPU6050_register_write_byte(GYRO_CONFIG, 0x0);   // 陀螺仪自检及测量范围。不自检，250deg/s
     flag = MPU6050_register_write_byte(ACCEL_CONFIG, 0x01); // 加速计自检、测量范围及高通滤波频率。不自检，2G，5Hz
     if (flag != ESP_OK)

main/tasks/controllerTickLoop.h

@@ -4,7 +4,7 @@
  * Created Date: 2024-03-11 13:27:21
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-29 23:01:23
+ * Last Modified: 2024-05-08 16:33:14
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -26,7 +26,7 @@
 
 void controllerTickLoop(void *argument)
 {
-    vTaskDelay(5000 / portTICK_PERIOD_MS); // 等待5000秒之后，开始初始化mpu6050，并进行校准
+    vTaskDelay(1000 / portTICK_PERIOD_MS); // 等待1秒之后，开始初始化mpu6050，并进行校准
     MotionData_Init();
     vTaskDelay(200 / portTICK_PERIOD_MS);
     while (1)

main/tasks/perfMonitorTaskLoop.h

@@ -0,0 +1,49 @@
+/*
+ * File: \PerfMonitorTaskLoop.h
+ * Project: tasks
+ * Created Date: 2024-05-08 15:32:21
+ * Author: Guoyi
+ * -----
+ * Last Modified: 2024-05-08 16:28:19
+ * Modified By: Guoyi
+ * -----
+ * Copyright (c) 2024 Guoyi Inc.
+ *
+ * ------------------------------------
+ */
+
+#ifndef TASKS_PERFMON_H
+#define TASKS_PERFMON_H
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include <stdio.h>
+#include <string.h>
+#include "esp_log.h"
+
+#define STR_BUF_LEN 1024
+
+void perfMonitorTaskLoop(void *argument)
+{
+    uint8_t CPU_RunInfo[STR_BUF_LEN]; // 保存任务运行时间信息
+    while (1)
+    {
+        memset(CPU_RunInfo, 0, STR_BUF_LEN); /* 信息缓冲区清零 */
+        vTaskList((char *)&CPU_RunInfo); // 获取任务运行时间信息
+        printf("----------------------------------------------------\r\n");
+        printf("task_name\tstate\tpri\tcore\tfreemem\tid\r\n");
+        printf("%s", CPU_RunInfo);
+        printf("----------------------------------------------------\r\n");
+        memset(CPU_RunInfo, 0, STR_BUF_LEN); /* 信息缓冲区清零 */
+        vTaskGetRunTimeStats((char *)&CPU_RunInfo);
+        printf("task_name\trun_cnt\tusage_rate\r\n");
+        printf("%s", CPU_RunInfo);
+        printf("----------------------------------------------------\r\n");
+        printf("[esp_get_free_heap_size bytes] %ld\n", esp_get_free_heap_size());
+        printf("[xPortGetFreeHeapSize] %d\n", xPortGetFreeHeapSize());
+        printf("----------------------------------------------------\r\n");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}
+
+#endif