add taskPriority and pin to core

sensebox-bike-atrai-v2-esp32s3/src/sensors/AccelerationSensor/AccelerationSensor.cpp

@@ -1,7 +1,12 @@
 #include "AccelerationSensor.h"
 #include "edge-impulse-sdk/classifier/ei_run_classifier.h"
 
-AccelerationSensor::AccelerationSensor() : BaseSensor("accelerationSensorTask", 8192, 0) {}
+AccelerationSensor::AccelerationSensor() : BaseSensor("accelerationSensorTask", 
+4096, // taskStackSize,
+30, // taskDelay,
+17, // taskPriority,
+1 // core
+) {}
 
 String surfaceClassificationUUID = "b944af10-f495-4560-968f-2f0d18cab521";
 // String accUUID = "B944AF10F4954560968F2F0D18CAB522";
@@ -43,8 +48,7 @@ float probSett = 0.0;
 float probStanding = 0.0;
 float anomaly = 0.0;
 
-float prevAccTime = millis();
-
+unsigned long startAccTime = millis();
 bool AccelerationSensor::readSensorData()
 {
   bool classified = false;
@@ -59,8 +63,9 @@ bool AccelerationSensor::readSensorData()
   buffer[ix++] = 1.0;
   buffer[ix++] = 1.0;
 
-  // Serial.println(millis() - prevAccTime);
-  prevAccTime = millis();
+  unsigned long endAccTime = millis();
+  Serial.printf("acceleration: %lu ms\n", endAccTime - startAccTime);
+  startAccTime = millis();
 
   // one second inverval
   if (EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE <= ix)
@@ -103,6 +108,8 @@ bool AccelerationSensor::readSensorData()
     ix = 0;
 
     buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE] = {};
+
+    startAccTime = millis();
   }
 
   if (measurementCallback)

sensebox-bike-atrai-v2-esp32s3/src/sensors/BaseSensor.cpp

@@ -1,7 +1,7 @@
 #include "BaseSensor.h"
 
-BaseSensor::BaseSensor(const char *taskName, uint32_t taskStackSize, uint32_t taskDelay)
-    : activeSubscription(false), sendBLE(false), taskStackSize(taskStackSize), taskDelay(taskDelay) {}
+BaseSensor::BaseSensor(const char *taskName, uint32_t taskStackSize, uint32_t taskDelay, uint32_t taskPriority, uint16_t core)
+    : activeSubscription(false), sendBLE(false), taskStackSize(taskStackSize), taskDelay(taskDelay), taskPriority(taskPriority), core(core) {}
 
 static SemaphoreHandle_t i2c_mutex;
 
@@ -23,7 +23,7 @@ void BaseSensor::startSubscription()
     if (this->taskHandle == NULL)
     {
         // https://docs.espressif.com/projects/esp-idf/en/v5.2.3/esp32s3/api-guides/performance/speed.html#choosing-task-priorities-of-the-application
-        xTaskCreate(sensorTask, taskName, taskStackSize, this, 17, &this->taskHandle);
+        xTaskCreatePinnedToCore(sensorTask, taskName, taskStackSize, this, taskPriority, &this->taskHandle, core);
         // very important tasks could run on priority 20 on core 0
     }
     activeSubscription = true;
@@ -48,11 +48,13 @@ void BaseSensor::stopBLE()
     sendBLE = false;
 }
 
+
 void BaseSensor::sensorTask(void *pvParameters)
 {
     BaseSensor *sensor = static_cast<BaseSensor *>(pvParameters);
     while (true)
     {
+        unsigned long prevTime = millis();
         if (sensor->activeSubscription)
         {
             if (xSemaphoreTake(i2c_mutex, portMAX_DELAY) == pdTRUE)
@@ -61,6 +63,11 @@ void BaseSensor::sensorTask(void *pvParameters)
                 xSemaphoreGive(i2c_mutex);
             }
         }
-        vTaskDelay(pdMS_TO_TICKS(sensor->taskDelay));
+
+        if ((millis() - prevTime) < sensor->taskDelay)
+        {
+            vTaskDelay(pdMS_TO_TICKS(sensor->taskDelay - (millis() - prevTime)));
+        }
+        // vTaskDelay(pdMS_TO_TICKS(sensor->taskDelay));
     }
 }

sensebox-bike-atrai-v2-esp32s3/src/sensors/BaseSensor.h

@@ -9,7 +9,7 @@
 class BaseSensor
 {
 public:
-    BaseSensor(const char *taskName, uint32_t taskStackSize = 8192, uint32_t taskDelay = 1000);
+    BaseSensor(const char *taskName, uint32_t taskStackSize = 8192, uint32_t taskDelay = 1000, uint32_t taskPriority = 1, uint16_t core = 1);
 
     void begin();
     void subscribe(std::function<void(std::vector<float>)> callback);
@@ -31,6 +31,8 @@ class BaseSensor
     uint32_t taskStackSize;
     uint32_t taskDelay;
     TaskHandle_t taskHandle;
+    uint32_t taskPriority;
+    uint16_t core;
 };
 
 #endif // BASESENSOR_H

sensebox-bike-atrai-v2-esp32s3/src/sensors/BatterySensor/BatterySensor.cpp

@@ -1,6 +1,11 @@
 #include "BatterySensor.h"
 
-BatterySensor::BatterySensor() : BaseSensor("batterySensorTask", 8192, 1000) {}
+BatterySensor::BatterySensor() : BaseSensor("batterySensorTask", 
+4096, // taskStackSize, 
+1000, // taskDelay,
+1, // taskPriority,
+1 // core
+) {}
 
 String batteryUUID = "5b262dea-4565-4ea0-912f-1e453bda0ca7";
 int batteryCharacteristic = 0;
@@ -21,6 +26,7 @@ void BatterySensor::initSensor()
   // add more if needed
 }
 
+unsigned long startBatTime = millis();
 bool BatterySensor::readSensorData()
 {
   // read sensor data
@@ -31,6 +37,9 @@ bool BatterySensor::readSensorData()
     measurementCallback({batteryCharge});
   }
 
+  unsigned long endBatTime = millis();
+  Serial.printf("battery: %lu ms\n", endBatTime - startBatTime);
+  startBatTime = millis();
   if (sendBLE)
   {
     notifyBLE(batteryCharge);

sensebox-bike-atrai-v2-esp32s3/src/sensors/DistanceSensor/DistanceSensor.cpp

@@ -21,7 +21,12 @@
 #include "edge-impulse-sdk/tensorflow/lite/schema/schema_generated.h"
 #include <edge-impulse-sdk/tensorflow/lite/micro/micro_error_reporter.h>
 
-DistanceSensor::DistanceSensor() : BaseSensor("distanceTask", 8192, 0) {}
+DistanceSensor::DistanceSensor() : BaseSensor("distanceTask", 
+8192, // taskStackSize,
+0, // taskDelay,
+20, // taskPriority,
+0 // core
+) {}
 
 // String distanceUUID = "B3491B60C0F34306A30D49C91F37A62B";
 String distanceUUID = "b3491b60-c0f3-4306-a30d-49c91f37a62b";
@@ -110,6 +115,7 @@ void DistanceSensor::initSensor()
     Wire.setClock(100000); // Sensor has max I2C freq of 1MHz
 }
 
+unsigned long startDisTime = millis();
 bool DistanceSensor::readSensorData()
 {
     Wire.setClock(1000000); // Sensor has max I2C freq of 1MHz
@@ -123,7 +129,7 @@ bool DistanceSensor::readSensorData()
     if ((!status) && (NewDataReady != 0))
     {
         // Serial.println("data ready");
-        Serial.println(millis()-prevDistanceTime);
+        // Serial.println(millis()-prevDistanceTime);
         prevDistanceTime = millis();
         sensor_vl53l8cx_top.get_ranging_data(&Results);
         float overtakingPredictionPercentage = -1.0;
@@ -188,8 +194,8 @@ bool DistanceSensor::readSensorData()
             {
                 const float *prediction_scores = interpreter->output(0)->data.f;
                 overtakingPredictionPercentage = prediction_scores[0];
-                Serial.print(overtakingPredictionPercentage);
-                Serial.print(" ");
+                // Serial.print(overtakingPredictionPercentage);
+                // Serial.print(" ");
             }
         }
 
@@ -202,15 +208,19 @@ bool DistanceSensor::readSensorData()
             measurementCallback({distance, overtakingPredictionPercentage});
         }
 
+        unsigned long endDisTime = millis();
+        Serial.printf("distance: %lu ms\n", endDisTime - startDisTime);
+        startDisTime = millis();
+
         if (sendBLE)
         {
             notifyBLE(distance, overtakingPredictionPercentage);
         }
     }
-    if ((millis() - prevDistanceTime) < 65)
-    {
-        vTaskDelay(pdMS_TO_TICKS(65 - (millis() - prevDistanceTime)));
-    }
+    // if ((millis() - prevDistanceTime) < 65)
+    // {
+    //     vTaskDelay(pdMS_TO_TICKS(65 - (millis() - prevDistanceTime)));
+    // }
     // Serial.print("distance: ");
     // Serial.println(millis() - prevDistanceTime);
     return false;

sensebox-bike-atrai-v2-esp32s3/src/sensors/DustSensor/DustSensor.cpp

@@ -1,6 +1,11 @@
 #include "DustSensor.h"
 
-DustSensor::DustSensor() : BaseSensor("DustSensorTask", 8192, 1000) {}
+DustSensor::DustSensor() : BaseSensor("DustSensorTask", 
+4096, // taskStackSize,
+1000, // taskDelay,
+1, // taskPriority,
+1 // core
+) {}
 
 String dustUUID = "7e14e070-84ea-489f-b45a-e1317364b979";
 int dustCharacteristic = 0;
@@ -41,6 +46,7 @@ void DustSensor::initSensor()
   dustCharacteristic = BLEModule::createCharacteristic(dustUUID.c_str());
 }
 
+unsigned long startDusTime = millis();
 bool DustSensor::readSensorData()
 {
   // Wire.setClock(100000); // Sensor has max I2C freq of 1MHz
@@ -77,6 +83,10 @@ bool DustSensor::readSensorData()
           measurementCallback({pm1, pm2_5, pm4, pm10});
         }
 
+        unsigned long endDusTime = millis();
+        Serial.printf("dust: %lu ms\n", endDusTime - startDusTime);
+        startDusTime = millis();
+
         if (sendBLE)
         {
           notifyBLE(pm1, pm2_5, pm4, pm10);

sensebox-bike-atrai-v2-esp32s3/src/sensors/SampleSensor/SampleSensor.cpp

@@ -1,6 +1,11 @@
 #include "SampleSensor.h"
 
-SampleSensor::SampleSensor() : BaseSensor("sampleSensorTask", 2048, 1000) {}
+SampleSensor::SampleSensor() : BaseSensor("sampleSensorTask", 
+2048, // taskStackSize
+1000, // taskDelay
+1, // taskPriority
+1 // core
+) {}
 
 String sampleUUID = "00000000000000000";
 int sampleCharacteristic = 0;

sensebox-bike-atrai-v2-esp32s3/src/sensors/TempHumiditySensor/TempHumiditySensor.cpp

@@ -1,6 +1,11 @@
 #include "TempHumiditySensor.h"
 
-TempHumiditySensor::TempHumiditySensor() : BaseSensor("temperatureHumidityTask", 8192, 0) {}
+TempHumiditySensor::TempHumiditySensor() : BaseSensor("temperatureHumidityTask", 
+4096, // taskStackSize
+1000, // taskDelay
+1, // taskPriority
+1 // core
+) {}
 
 String tempUUID = "2cdf2174-35be-fdc4-4Ca2-6fd173f8b3a8";
 String humUUID = "772df7ec-8cdc-4ea9-86af-410abe0ba257";
@@ -22,7 +27,7 @@ void TempHumiditySensor::initSensor()
   temperatureCharacteristic = BLEModule::createCharacteristic(tempUUID.c_str());
   humidityCharacteristic = BLEModule::createCharacteristic(humUUID.c_str());
 }
-
+unsigned long startTemTime = millis();
 bool TempHumiditySensor::readSensorData()
 {
   float temperature = hdc.readTemperature();
@@ -39,6 +44,9 @@ bool TempHumiditySensor::readSensorData()
     measurementCallback({temperature, humidity});
   }
 
+  unsigned long endTemTime = millis();
+  Serial.printf("temperature/humidity: %lu ms\n", endTemTime - startTemTime);
+  startTemTime = millis();
   if (sendBLE)
   {
     notifyBLE(temperature, humidity);