AP_HAL_ESP32: Switch WIFI task from FASTCPU to SLOWCPU

Switching WIFI task from FASTCPU to SLOWCPU seems to bring more balance between CPUs and thus increasing connection reliabiiity
ArduPilot · Oct 24, 2024 · af31fae · af31fae
1 parent 92693e0
commit af31fae
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/libraries/AP_HAL_ESP32/WiFiDriver.cpp b/libraries/AP_HAL_ESP32/WiFiDriver.cpp
@@ -56,10 +56,10 @@ void WiFiDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
     #define FASTCPU 0
     #define SLOWCPU 1
 
-	if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle,FASTCPU) != pdPASS) {
-           hal.console->printf("FAILED to create task _wifi_thread on FASTCPU\n");
+	if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle, SLOWCPU) != pdPASS) {
+           hal.console->printf("FAILED to create task _wifi_thread on SLOWCPU\n");
         } else {
-           hal.console->printf("OK created task _wifi_thread for TCP with PORT 5760 on FASTCPU\n");
+           hal.console->printf("OK created task _wifi_thread for TCP with PORT 5760 on SLOWCPU\n");
         }
 
         _readbuf.set_size(RX_BUF_SIZE);

diff --git a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
@@ -59,10 +59,10 @@ void WiFiUdpDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
     #define FASTCPU 0
     #define SLOWCPU 1
 
-	if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle,FASTCPU) != pdPASS) {
-            hal.console->printf("FAILED to create task _wifi_thread2 on FASTCPU\n");
+	if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle, SLOWCPU) != pdPASS) {
+            hal.console->printf("FAILED to create task _wifi_thread2 on SLOWCPU\n");
         } else {
-	    hal.console->printf("OK created task _wifi_thread2 for UDP on port 14550 on FASTCPU\n"); //UDP_PORT
+	    hal.console->printf("OK created task _wifi_thread2 for UDP on port 14550 on SLOWCPU\n"); //UDP_PORT
     	}
 
         _readbuf.set_size(RX_BUF_SIZE);