Adding semaphore blocks for anything that does FS access. Increase semaphore wait to 200ms.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -156,6 +156,14 @@ void beginSD()
       return;
     }
 
+    //Setup FAT file access semaphore
+    if (xFATSemaphore == NULL)
+    {
+      xFATSemaphore = xSemaphoreCreateMutex();
+      if (xFATSemaphore != NULL)
+        xSemaphoreGive(xFATSemaphore);  //Make the file system available for use
+    }
+
     if (createTestFile() == false)
     {
       Serial.println(F("Failed to create test file. Format SD card with 'SD Card Formatter'."));
@@ -165,14 +173,6 @@ void beginSD()
     }
 
     online.microSD = true;
-
-    //Setup FAT file access semaphore
-    if (xFATSemaphore == NULL)
-    {
-      xFATSemaphore = xSemaphoreCreateMutex();
-      if (xFATSemaphore != NULL)
-        xSemaphoreGive(xFATSemaphore);  //Make the file system available for use
-    }
   }
   else
   {

Firmware/RTK_Surveyor/NVM.ino

@@ -67,7 +67,7 @@ void recordSystemSettingsToFile()
   if (online.microSD == true)
   {
     //Attempt to write to file system. This avoids collisions with file writing from other functions like updateLogs()
-    if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait) == pdPASS)
+    if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
     {
       //Assemble settings file name
       char settingsFileName[40]; //SFE_Surveyor_Settings.txt
@@ -234,64 +234,74 @@ bool loadSystemSettingsFromFile()
 {
   if (online.microSD == true)
   {
-    //Assemble settings file name
-    char settingsFileName[40]; //SFE_Surveyor_Settings.txt
-    strcpy(settingsFileName, platformFilePrefix);
-    strcat(settingsFileName, "_Settings.txt");
-
-    if (sd.exists(settingsFileName))
+    //Attempt to access file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask()
+    if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
     {
-      SdFile settingsFile; //FAT32
-      if (settingsFile.open(settingsFileName, O_READ) == false)
+      //Assemble settings file name
+      char settingsFileName[40]; //SFE_Surveyor_Settings.txt
+      strcpy(settingsFileName, platformFilePrefix);
+      strcat(settingsFileName, "_Settings.txt");
+
+      if (sd.exists(settingsFileName))
       {
-        Serial.println(F("Failed to open settings file"));
-        return (false);
-      }
+        SdFile settingsFile; //FAT32
+        if (settingsFile.open(settingsFileName, O_READ) == false)
+        {
+          Serial.println(F("Failed to open settings file"));
+          xSemaphoreGive(xFATSemaphore);
+          return (false);
+        }
 
-      char line[60];
-      int lineNumber = 0;
+        char line[60];
+        int lineNumber = 0;
 
-      while (settingsFile.available()) {
+        while (settingsFile.available()) {
 
-        //Get the next line from the file
-        //int n = getLine(&settingsFile, line, sizeof(line)); //Use with SD library
-        int n = settingsFile.fgets(line, sizeof(line)); //Use with SdFat library
-        if (n <= 0) {
-          Serial.printf("Failed to read line %d from settings file\r\n", lineNumber);
-        }
-        else if (line[n - 1] != '\n' && n == (sizeof(line) - 1)) {
-          Serial.printf("Settings line %d too long\r\n", lineNumber);
-          if (lineNumber == 0)
-          {
-            //If we can't read the first line of the settings file, give up
-            Serial.println(F("Giving up on settings file"));
-            return (false);
+          //Get the next line from the file
+          //int n = getLine(&settingsFile, line, sizeof(line)); //Use with SD library
+          int n = settingsFile.fgets(line, sizeof(line)); //Use with SdFat library
+          if (n <= 0) {
+            Serial.printf("Failed to read line %d from settings file\r\n", lineNumber);
           }
-        }
-        else if (parseLine(line) == false) {
-          Serial.printf("Failed to parse line %d: %s\r\n", lineNumber, line);
-          if (lineNumber == 0)
-          {
-            //If we can't read the first line of the settings file, give up
-            Serial.println(F("Giving up on settings file"));
-            return (false);
+          else if (line[n - 1] != '\n' && n == (sizeof(line) - 1)) {
+            Serial.printf("Settings line %d too long\r\n", lineNumber);
+            if (lineNumber == 0)
+            {
+              //If we can't read the first line of the settings file, give up
+              Serial.println(F("Giving up on settings file"));
+              xSemaphoreGive(xFATSemaphore);
+              return (false);
+            }
+          }
+          else if (parseLine(line) == false) {
+            Serial.printf("Failed to parse line %d: %s\r\n", lineNumber, line);
+            if (lineNumber == 0)
+            {
+              //If we can't read the first line of the settings file, give up
+              Serial.println(F("Giving up on settings file"));
+              xSemaphoreGive(xFATSemaphore);
+              return (false);
+            }
           }
+
+          lineNumber++;
         }
 
-        lineNumber++;
+        //Serial.println(F("Config file read complete"));
+        settingsFile.close();
+        xSemaphoreGive(xFATSemaphore);
+        return (true);
+      }
+      else
+      {
+        Serial.println(F("No config file found. Using settings from EEPROM."));
+        //The defaults of the struct will be recorded to a file later on.
+        xSemaphoreGive(xFATSemaphore);
+        return (false);
       }
 
-      //Serial.println(F("Config file read complete"));
-      settingsFile.close();
-      return (true);
-    }
-    else
-    {
-      Serial.println(F("No config file found. Using settings from EEPROM."));
-      //The defaults of the struct will be recorded to a file later on.
-      return (false);
-    }
-  }
+    } //End Semaphore check
+  } //End SD online
 
   Serial.println(F("Config file read failed: SD offline"));
   return (false); //SD offline
@@ -358,7 +368,7 @@ bool parseLine(char* str) {
       strcat(settingsFileName, "_Settings.txt");
       sd.remove(settingsFileName);
 
-      Serial.println(F("RTK Surveyor has been factory reset. Freezing. Please restart and open terminal at 115200bps."));
+      Serial.printf("RTK %s has been factory reset via settings file. Freezing. Please restart and open terminal at 115200bps.\n\r", platformBluetoothPrefix);
 
       while (1)
         delay(1); //Prevent CPU freakout

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -113,7 +113,7 @@ int startLogTime_minutes = 0; //Mark when we start logging so we can stop loggin
 //System crashes if two tasks access a file at the same time
 //So we use a semaphore to see if file system is available
 SemaphoreHandle_t xFATSemaphore;
-const int fatSemaphore_maxWait = 5; //TickType_t
+const TickType_t fatSemaphore_maxWait_ms = 200 / portTICK_PERIOD_MS;
 
 #define sdWriteSize 512 // Write data to the SD card in blocks of 512 bytes
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-

Firmware/RTK_Surveyor/System.ino

@@ -623,13 +623,19 @@ bool createTestFile()
   SdFile testFile;
   char testFileName[40] = "testfile.txt";
 
-  if (testFile.open(testFileName, O_CREAT | O_APPEND | O_WRITE) == true)
+  //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask()
+  if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
   {
-    testFile.close();
+    if (testFile.open(testFileName, O_CREAT | O_APPEND | O_WRITE) == true)
+    {
+      testFile.close();
 
-    if (sd.exists(testFileName))
-      sd.remove(testFileName);
-    return (true);
+      if (sd.exists(testFileName))
+        sd.remove(testFileName);
+      xSemaphoreGive(xFATSemaphore);
+      return (true);
+    }
+    xSemaphoreGive(xFATSemaphore);
   }
 
   return (false);

Firmware/RTK_Surveyor/Tasks.ino

@@ -67,7 +67,7 @@ void F9PSerialReadTask(void *e)
         if ((systemTime_minutes - startLogTime_minutes) < settings.maxLogTime_minutes)
         {
           //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile()
-          if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait) == pdPASS)
+          if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
           {
             ubxFile.write(rBuffer, s);
 

Firmware/RTK_Surveyor/menuFirmware.ino

@@ -103,7 +103,7 @@ void updateFromSD(char *firmwareFileName)
   //Turn off any tasks so that we are not disrupted
   stopWiFi();
   endBluetooth();
-  
+
   Serial.printf("Loading %s\n\r", firmwareFileName);
   if (sd.exists(firmwareFileName))
   {
@@ -141,8 +141,8 @@ void updateFromSD(char *firmwareFileName)
     //Bulk write from the SD file to the EEPROM
     while (firmwareFile.available())
     {
-            if (productVariant == RTK_SURVEYOR)
-      digitalWrite(pin_baseStatusLED, !digitalRead(pin_baseStatusLED)); //Toggle LED to indcate activity
+      if (productVariant == RTK_SURVEYOR)
+        digitalWrite(pin_baseStatusLED, !digitalRead(pin_baseStatusLED)); //Toggle LED to indcate activity
 
       int bytesToWrite = pageSize; //Max number of bytes to read
       if (firmwareFile.available() < bytesToWrite) bytesToWrite = firmwareFile.available(); //Trim this read size as needed

Firmware/RTK_Surveyor/menuMain.ino

@@ -59,7 +59,7 @@ void menuMain()
     else if (incoming == '6' && settings.enableSD == true && online.microSD == true)
     {
       //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask()
-      if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait) == pdPASS)
+      if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
       {
         Serial.println(F("Files found (date time size name):\n\r"));
         sd.ls(LS_R | LS_DATE | LS_SIZE);
@@ -82,8 +82,13 @@ void menuMain()
         strcpy(settingsFileName, platformFilePrefix);
         strcat(settingsFileName, "_Settings.txt");
 
-        if (sd.exists(settingsFileName))
-          sd.remove(settingsFileName);
+        //Attempt to write to file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask()
+        if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
+        {
+          if (sd.exists(settingsFileName))
+            sd.remove(settingsFileName);
+          xSemaphoreGive(xFATSemaphore);
+        } //End xFATSemaphore
 
         i2cGNSS.factoryReset(); //Reset everything: baud rate, I2C address, update rate, everything.
 

Firmware/RTK_Surveyor/menuMessages.ino

@@ -823,7 +823,7 @@ void beginLogging()
       }
 
       //Attempt to write to file system. This avoids collisions with file writing in F9PSerialReadTask()
-      if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait) == pdPASS)
+      if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
       {
         // O_CREAT - create the file if it does not exist
         // O_APPEND - seek to the end of the file prior to each write

Firmware/RTK_Surveyor/menuTest.ino

@@ -49,8 +49,14 @@ void menuTest()
     {
       if (settings.enableSD && online.microSD)
       {
-        Serial.println(F("Files found (date time size name):\n\r"));
-        sd.ls(LS_R | LS_DATE | LS_SIZE);
+        //Attempt to access file system. This avoids collisions with file writing from other functions like recordSystemSettingsToFile() and F9PSerialReadTask()
+        if (xSemaphoreTake(xFATSemaphore, fatSemaphore_maxWait_ms) == pdPASS)
+        {
+          Serial.println(F("Files found (date time size name):\n\r"));
+          sd.ls(LS_R | LS_DATE | LS_SIZE);
+
+          xSemaphoreGive(xFATSemaphore);
+        }
       }
     }
     else if (incoming == 'x')