merge suggestions from code review

ArduPilot · Sep 16, 2024 · 8eec26b · 8eec26b
2 parents 927fe53 + f69b7f4
commit 8eec26b
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/libraries/AP_HAL_ESP32/AP_HAL_ESP32.h b/libraries/AP_HAL_ESP32/AP_HAL_ESP32.h
@@ -5,3 +5,9 @@
 
 
 #include "HAL_ESP32_Class.h"
+
+#ifndef NDEBUG
+    #define DBG_PRINTF(fmt, args ...)  do { printf(fmt, ## args); } while(0)
+#else
+    #define DBG_PRINTF(fmt, args ...)
+#endif
diff --git a/libraries/AP_HAL_ESP32/Scheduler.cpp b/libraries/AP_HAL_ESP32/Scheduler.cpp
@@ -30,6 +30,8 @@
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <stdio.h>
 
+#include "esp_rom_sys.h"
+
 //#define SCHEDULERDEBUG 1
 
 using namespace ESP32;
@@ -84,7 +86,7 @@ void Scheduler::init()
     #define SLOWCPU 1
 
     // pin main thread to Core 0, and we'll also pin other heavy-tasks to core 1, like wifi-related.
-    if (xTaskCreatePinnedToCore(_main_thread, "APM_MAIN", Scheduler::MAIN_SS, this, Scheduler::MAIN_PRIO, &_main_task_handle,FASTCPU) != pdPASS) {
+    if (xTaskCreatePinnedToCore(_main_thread, "APM_MAIN", Scheduler::MAIN_SS, this, Scheduler::MAIN_PRIO, &_main_task_handle, FASTCPU) != pdPASS) {
     //if (xTaskCreate(_main_thread, "APM_MAIN", Scheduler::MAIN_SS, this, Scheduler::MAIN_PRIO, &_main_task_handle) != pdPASS) {
         hal.console->printf("FAILED to create task _main_thread on FASTCPU\n");
     } else {
@@ -116,7 +118,7 @@ void Scheduler::init()
         hal.console->printf("OK created task _uart_thread on FASTCPU\n");
     }
 
-    // we put thos on the SLOW core as it mounts the sd card, and that often isn't conencted.
+    // we put those on the SLOW core as it mounts the sd card, and that often isn't conencted.
     if (xTaskCreatePinnedToCore(_io_thread, "SchedulerIO:APM_IO", IO_SS, this, IO_PRIO, &_io_task_handle,SLOWCPU) != pdPASS) {
         hal.console->printf("FAILED to create task _io_thread on SLOWCPU\n");
     } else {
@@ -535,7 +537,7 @@ void Scheduler::print_main_loop_rate(void)
         // null pointer in here...
         const float actual_loop_rate = AP::scheduler().get_filtered_loop_rate_hz();
         const uint16_t expected_loop_rate = AP::scheduler().get_loop_rate_hz();
-        hal.console->printf("loop_rate: actual: %fHz, expected: %uHz\n", actual_loop_rate, expected_loop_rate);
+        printf("loop_rate: actual: %fHz, expected: %uHz\n", actual_loop_rate, expected_loop_rate);
     }
 }