Rename pinning to core functions for readability. Move taskYIELD in F9PSerialWriteTask.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -128,13 +128,6 @@ void beginBoard()
       case ESP_RST_SDIO : Serial.println(F("ESP_RST_SDIO")); break;
       default : Serial.println(F("Unknown"));
     }
-
-#ifdef ENABLE_DEVELOPER
-    Serial.println("System reset");
-    displayError("WDT RST"); //Freeze with displayed error
-    while (1);
-#endif
-
   }
 }
 
@@ -202,26 +195,38 @@ void beginSD()
   }
 }
 
+//We want the UART2 interrupts to be pinned to core 0 to avoid competing with I2C interrupts
 //We do not start the UART2 for GNSS->BT reception here because the interrupts would be pinned to core 1
-//competing with I2C interrupts
-//See issue: https://github.com/espressif/arduino-esp32/issues/3386
 //We instead start a task that runs on core 0, that then begins serial
+//See issue: https://github.com/espressif/arduino-esp32/issues/3386
 void beginUART2()
 {
-  if (startUART2TaskHandle == NULL) xTaskCreatePinnedToCore(
-      startUART2Task,
+  if (pinUART2TaskHandle == NULL) xTaskCreatePinnedToCore(
+      pinUART2Task,
       "UARTStart", //Just for humans
       2000, //Stack Size
       NULL, //Task input parameter
       0, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
-      &startUART2TaskHandle, //Task handle
+      &pinUART2TaskHandle, //Task handle
       0); //Core where task should run, 0=core, 1=Arduino
 
-  while (uart2Started == false) //Wait for task to run once
+  while (uart2pinned == false) //Wait for task to run once
     delay(1);
 }
 
-//These must be started after BT is up and running otherwise SerialBT.available will call reboot
+//Assign UART2 interrupts to the core 0. See: https://github.com/espressif/arduino-esp32/issues/3386
+void pinUART2Task( void *pvParameters )
+{
+  serialGNSS.begin(settings.dataPortBaud); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
+  serialGNSS.setRxBufferSize(SERIAL_SIZE_RX);
+  serialGNSS.setTimeout(50);
+
+  uart2pinned = true;
+
+  vTaskDelete( NULL ); //Delete task once it has run once
+}
+
+//Serial Read/Write tasks for the F9P must be started after BT is up and running otherwise SerialBT.available will cause reboot
 void startUART2Tasks()
 {
   //Start the tasks for handling incoming and outgoing BT bytes to/from ZED-F9P
@@ -447,6 +452,6 @@ void beginSystemState()
       "BtnCheck", //Just for humans
       buttonTaskStackSize, //Stack Size
       NULL, //Task input parameter
-      1, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
+      0, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
       &ButtonCheckTaskHandle); //Task handle
 }

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -222,8 +222,8 @@ uint8_t wBuffer[SERIAL_SIZE_RX]; //Buffer for writing from incoming SPP to F9P
 TaskHandle_t F9PSerialReadTaskHandle = NULL; //Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
 TaskHandle_t F9PSerialWriteTaskHandle = NULL; //Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
 
-TaskHandle_t startUART2TaskHandle = NULL; //Dummy task to start UART2 on core 0.
-bool uart2Started = false;
+TaskHandle_t pinUART2TaskHandle = NULL; //Dummy task to start UART2 on core 0.
+bool uart2pinned = false;
 
 //Reduced stack size from 10,000 to 2,000 to make room for WiFi/NTRIP server capabilities
 const int readTaskStackSize = 2000;
@@ -269,7 +269,7 @@ SPARKFUN_LIS2DH12 accel;
 //Buttons - Interrupt driven and debounce
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 #include <JC_Button.h> // http://librarymanager/All#JC_Button
-Button *setupBtn = NULL; //We can't instatiate the buttons here because we don't yet know what pin numbers to use
+Button *setupBtn = NULL; //We can't instantiate the buttons here because we don't yet know what pin numbers to use
 Button *powerBtn = NULL;
 
 TaskHandle_t ButtonCheckTaskHandle = NULL;
@@ -403,8 +403,6 @@ void loop()
 {
   i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
 
-  //checkButtons(); //Change system state as needed
-
   updateSystemState();
 
   updateBattLEDs();

Firmware/RTK_Surveyor/Tasks.ino

@@ -13,7 +13,6 @@ void F9PSerialWriteTask(void *e)
     {
       while (SerialBT.available())
       {
-        taskYIELD();
         if (inTestMode == false)
         {
           //Pass bytes to GNSS receiver
@@ -29,6 +28,7 @@ void F9PSerialWriteTask(void *e)
           Serial.printf("I heard: %c\n", incoming);
           incomingBTTest = incoming; //Displayed during system test
         }
+        taskYIELD();
       }
     }
 #endif
@@ -124,17 +124,7 @@ void F9PSerialReadTask(void *e)
   }
 }
 
-//Assign UART2 interrupts to the current core. See: https://github.com/espressif/arduino-esp32/issues/3386
-void startUART2Task( void *pvParameters )
-{
-  serialGNSS.begin(settings.dataPortBaud); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
-  serialGNSS.setRxBufferSize(SERIAL_SIZE_RX);
-  serialGNSS.setTimeout(50);
 
-  uart2Started = true;
-
-  vTaskDelete( NULL ); //Delete task once it has run once
-}
 
 //Control BT status LED according to radioState
 void updateBTled()
@@ -174,8 +164,6 @@ void ButtonCheckTask(void *e)
 
   while (true)
   {
-    delay(1); //Yield to other tasks. Pet WDT.
-
     if (productVariant == RTK_SURVEYOR)
     {
       setupBtn->read();
@@ -330,12 +318,12 @@ void ButtonCheckTask(void *e)
         forceSystemStateUpdate = true;
         requestChangeState(STATE_SHUTDOWN);
       }
-//      else if ((setupBtn != NULL && setupBtn->pressedFor(500)) &&
-//               (powerBtn != NULL && powerBtn->pressedFor(500)))
-//      {
-//        forceSystemStateUpdate = true;
-//        requestChangeState(STATE_TEST);
-//      }
+      //      else if ((setupBtn != NULL && setupBtn->pressedFor(500)) &&
+      //               (powerBtn != NULL && powerBtn->pressedFor(500)))
+      //      {
+      //        forceSystemStateUpdate = true;
+      //        requestChangeState(STATE_TEST);
+      //      }
       else if (powerBtn != NULL && powerBtn->wasReleased())
       {
         switch (systemState)
@@ -423,8 +411,10 @@ void ButtonCheckTask(void *e)
             requestChangeState(STATE_ROVER_NOT_STARTED);
             break;
         }
-      }    } //End Platform = RTK Facet
+      }
+    } //End Platform = RTK Facet
 
+    delay(1); //Yield to other tasks. Pet WDT.
     taskYIELD();
   }
 }