Add ability to turn on task highwater mark reporting via debug menu.

Author: nseidle

Firmware/RTK_Surveyor/NVM.ino

@@ -132,6 +132,7 @@ void recordSystemSettingsToFile()
       settingsFile.println("navigationRate=" + (String)settings.navigationRate);
       settingsFile.println("enableI2Cdebug=" + (String)settings.enableI2Cdebug);
       settingsFile.println("enableHeapReport=" + (String)settings.enableHeapReport);
+      settingsFile.println("enableTaskReports=" + (String)settings.enableTaskReports);
       settingsFile.println("dataPortChannel=" + (String)settings.dataPortChannel);
       settingsFile.println("spiFrequency=" + (String)settings.spiFrequency);
       settingsFile.println("sppRxQueueSize=" + (String)settings.sppRxQueueSize);
@@ -374,6 +375,8 @@ bool parseLine(char* str) {
     settings.enableI2Cdebug = d;
   else if (strcmp(settingName, "enableHeapReport") == 0)
     settings.enableHeapReport = d;
+  else if (strcmp(settingName, "enableTaskReports") == 0)
+    settings.enableTaskReports = d;
   else if (strcmp(settingName, "dataPortChannel") == 0)
     settings.dataPortChannel = (muxConnectionType_e)d;
   else if (strcmp(settingName, "spiFrequency") == 0)

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -335,7 +335,7 @@ void setup()
   beginAccelerometer();
 
   beginSystemState(); //Determine initial system state
-  
+
   Serial.flush(); //Complete any previous prints
 
   danceLEDs(); //Turn on LEDs like a car dashboard

Firmware/RTK_Surveyor/System.ino

@@ -654,7 +654,7 @@ void reportHeap()
     if (millis() - lastHeapReport > 1000)
     {
       lastHeapReport = millis();
-      Serial.printf("freeHeap: %d\n\r", ESP.getFreeHeap());
+      Serial.printf("FreeHeap: %d\n\r", ESP.getFreeHeap());
     }
   }
 }

Firmware/RTK_Surveyor/Tasks.ino

@@ -8,23 +8,23 @@ void F9PSerialWriteTask(void *e)
   while (true)
   {
     //Receive RTCM corrections or UBX config messages over bluetooth and pass along to ZED
-    if (SerialBT.available())
+    while (SerialBT.available())
     {
-      while (SerialBT.available())
+      taskYIELD();
+      if (inTestMode == false)
       {
-        taskYIELD();
-        if (inTestMode == false)
-        {
-          //Pass bytes to GNSS receiver
-          auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
-          serialGNSS.write(wBuffer, s);
-        }
-        else
-        {
-          char incoming = SerialBT.read();
-          Serial.printf("I heard: %c\n", incoming);
-          incomingBTTest = incoming; //Displayed during system test
-        }
+        //Pass bytes to GNSS receiver
+        auto s = SerialBT.readBytes(wBuffer, SERIAL_SIZE_RX);
+        serialGNSS.write(wBuffer, s);
+
+        if (settings.enableTaskReports == true)
+          Serial.printf("SerialWriteTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
+      }
+      else
+      {
+        char incoming = SerialBT.read();
+        Serial.printf("I heard: %c\n", incoming);
+        incomingBTTest = incoming; //Displayed during system test
       }
     }
 
@@ -54,14 +54,8 @@ void F9PSerialReadTask(void *e)
         SerialBT.write(rBuffer, s);
       }
 
-      if (settings.enableHeapReport == true)
-      {
-        if (millis() - lastTaskHeapReport > 1000)
-        {
-          lastTaskHeapReport = millis();
-          Serial.printf("Task freeHeap: %d\n\r", ESP.getFreeHeap());
-        }
-      }
+      if (settings.enableTaskReports == true)
+        Serial.printf("SerialReadTask High watermark: %d\n\r",  uxTaskGetStackHighWaterMark(NULL));
 
       //If user wants to log, record to SD
       if (online.logging == true)

Firmware/RTK_Surveyor/menuDebug.ino

@@ -23,14 +23,18 @@ void menuDebug()
     if (settings.enableHeapReport == true) Serial.println(F("Enabled"));
     else Serial.println(F("Disabled"));
 
-    Serial.print(F("3) Set SPI/SD Interface Frequency: "));
+    Serial.print(F("3) Toggle Task Highwater Reporting: "));
+    if (settings.enableTaskReports == true) Serial.println(F("Enabled"));
+    else Serial.println(F("Disabled"));
+
+    Serial.print(F("4) Set SPI/SD Interface Frequency: "));
     Serial.print(settings.spiFrequency);
     Serial.println(" MHz");
 
-    Serial.print(F("4) Set SPP RX Buffer Size: "));
+    Serial.print(F("5) Set SPP RX Buffer Size: "));
     Serial.println(settings.sppRxQueueSize);
 
-    Serial.print(F("5) Set SPP TX Buffer Size: "));
+    Serial.print(F("6) Set SPP TX Buffer Size: "));
     Serial.println(settings.sppTxQueueSize);
 
     Serial.println(F("x) Exit"));
@@ -51,6 +55,10 @@ void menuDebug()
       settings.enableHeapReport ^= 1;
     }
     else if (incoming == '3')
+    {
+      settings.enableTaskReports ^= 1;
+    }
+    else if (incoming == '4')
     {
       Serial.print(F("Enter SPI frequency in MHz (1 to 48): "));
       int freq = getNumber(menuTimeout); //Timeout after x seconds
@@ -63,7 +71,7 @@ void menuDebug()
         settings.spiFrequency = freq; //Recorded to NVM and file at main menu exit
       }
     }
-    else if (incoming == '4')
+    else if (incoming == '5')
     {
       Serial.print(F("Enter SPP RX Queue Size in Bytes (32 to 16384): "));
       uint16_t queSize = getNumber(menuTimeout); //Timeout after x seconds
@@ -76,7 +84,7 @@ void menuDebug()
         settings.sppRxQueueSize = queSize; //Recorded to NVM and file at main menu exit
       }
     }
-    else if (incoming == '5')
+    else if (incoming == '6')
     {
       Serial.print(F("Enter SPP TX Queue Size in Bytes (32 to 16384): "));
       uint16_t queSize = getNumber(menuTimeout); //Timeout after x seconds

Firmware/RTK_Surveyor/settings.h

@@ -276,6 +276,7 @@ struct struct_settings {
   ubxMsg ubxMessages; //Report rates for all known messages
   bool enableI2Cdebug = false; //Turn on to display GNSS library debug messages
   bool enableHeapReport = false; //Turn on to display free heap
+  bool enableTaskReports = false; //Turn on to display task high water marks
   muxConnectionType_e dataPortChannel = MUX_UBLOX_NMEA; //Mux default to ublox UART1
   uint16_t spiFrequency = 8; //By default, use 8MHz SPI
   bool enableLogging = true; //If an SD card is present, log default sentences