Added NRF24L01

ExpressFC.h

@@ -3,14 +3,25 @@
 
 #include "Motors.h"
 #include "dshot.h"
+#include "nrf24l01.h"
 
-// Pin Definitions
+// Pin Definitions -- BEGIN
+
+// For Motors
 #define MOTOR1  13
 #define MOTOR2  12
 #define MOTOR3  14
 #define MOTOR4  27
 
-#define LED_BUILTIN 2
+// For NRF24L01 receiver
+#define CSN_PIN 4
+
+// Pin Definitions -- END
+
+// Default Core Settings
+#define CORE0   0
+#define CORE1   1
+#define MAX_PRIORITIES  25
 
 // Task scheduler
 #if CONFIG_FREERTOS_UNICORE
@@ -23,6 +34,6 @@ extern uint32_t last_dshot;
 
 // Task Definition
 void taskMotor(void *pvParameters);
-void taskBlink(void *pvParameters);
+// void taskBlink(void *pvParameters);
 
 #endif

ExpressFC.ino

@@ -38,7 +38,7 @@ void setup() {
 
     // Delay for a while to let the CPU settle down
     delay(10);
-    pinMode(LED_BUILTIN, OUTPUT);
+    // pinMode(LED_BUILTIN, OUTPUT);
 
     // Serial.print(F("Initializing Motors: "));
     // Initialize motors
@@ -57,9 +57,10 @@ void setup() {
         NULL,
         2,              // Priority. With 3 (configMAX_PRIORITIES - 1) being the highest and 0 being the lowest.
         NULL,
-        ARDUINO_RUNNING_CORE
+        CORE0
     );
 
+    /***
     xTaskCreatePinnedToCore(
         taskBlink,
         "TaskBlink",    // Name of the process
@@ -67,8 +68,9 @@ void setup() {
         NULL,
         1,              // Priority. With 3 (configMAX_PRIORITIES - 1) being the highest and 0 being the lowest.
         NULL,
-        ARDUINO_RUNNING_CORE
+        CORE0
     );
+     ***/
 }
 
 void loop() {
@@ -140,10 +142,10 @@ void loop() {
     // delay(100);
 }
 
-
 void taskMotor(void *pvParameters) {
     (void) pvParameters;
 
+    uint32_t counter = 0;
     for(;;) {
         /***
             motors.write_motor(MOTOR1, 1046);
@@ -151,12 +153,17 @@ void taskMotor(void *pvParameters) {
             motors.write_motor(MOTOR3, 1146);
             motors.write_motor(MOTOR4, 1246);
              ***/
-        motors.write_motor(1046, 1346, 1146, 2040);
-        //motors.write_motor(1046, 1046, 1046, 1046);
-        vTaskDelay(1);
+        counter++;
+        if(!(counter % 10)) {
+            motors.write_motor(1046, 1346, 1146, 2040);
+        } else {
+            //motors.write_motor(1046, 1046, 1046, 1046);
+            vTaskDelay(1);
+        }
     }
 }
 
+/****
 void taskBlink(void *pvParameters) {
     (void) pvParameters;
 
@@ -169,3 +176,8 @@ void taskBlink(void *pvParameters) {
         vTaskDelay(10);
     }
 }
+
+void delay(uint32_t ms) {
+    vTaskDelay(ms / portTICK_PERIOD_MS);
+}
+ ****/

README.md

@@ -276,3 +276,4 @@ ESP32 CLOCKs:
 REF:
 - https://brushlesswhoop.com/dshot-and-bidirectional-dshot/
 - https://github.com/espressif/arduino-esp32/blob/master/libraries/ESP32/examples/FreeRTOS/FreeRTOS.ino (TRY THIS)
+- https://www.digikey.at/en/maker/projects/introduction-to-rtos-solution-to-part-12-multicore-systems/369936f5671d4207a2c954c0637e7d50