Decrease serial buffer to match SPP buffer to prevent SPP congestion. Add delays to prio1 tasks for WDT pet.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -236,7 +236,7 @@ void startUART2Tasks()
       "F9Read", //Just for humans
       readTaskStackSize, //Stack Size
       NULL, //Task input parameter
-      1, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
+      F9PSerialReadTaskPriority, //Priority
       &F9PSerialReadTaskHandle); //Task handle
 
   if (F9PSerialWriteTaskHandle == NULL)
@@ -245,7 +245,7 @@ void startUART2Tasks()
       "F9Write", //Just for humans
       writeTaskStackSize, //Stack Size
       NULL, //Task input parameter
-      0, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
+      F9PSerialWriteTaskPriority, //Priority
       &F9PSerialWriteTaskHandle); //Task handle
 }
 
@@ -452,6 +452,6 @@ void beginSystemState()
       "BtnCheck", //Just for humans
       buttonTaskStackSize, //Stack Size
       NULL, //Task input parameter
-      0, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
+      ButtonCheckTaskPriority, //Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
       &ButtonCheckTaskHandle); //Task handle
 }

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -41,9 +41,9 @@
 const int FIRMWARE_VERSION_MAJOR = 1;
 const int FIRMWARE_VERSION_MINOR = 5;
 
-//#define COMPILE_WIFI 1 //Comment out to remove all WiFi functionality
-//#define COMPILE_BT 1 //Comment out to disable all Bluetooth
-#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
+#define COMPILE_WIFI 1 //Comment out to remove all WiFi functionality
+#define COMPILE_BT 1 //Comment out to disable all Bluetooth
+//#define ENABLE_DEVELOPER //Uncomment this line to enable special developer modes (don't check power button at startup)
 
 //Define the RTK board identifier:
 //  This is an int which is unique to this variant of the RTK Surveyor hardware which allows us
@@ -216,11 +216,13 @@ HardwareSerial serialGNSS(2);
 #define RXD2 16
 #define TXD2 17
 
-#define SERIAL_SIZE_RX 4096 //Reduced from 16384 to make room for WiFi/NTRIP server capabilities
+#define SERIAL_SIZE_RX (1024 * 2) //Should match buffer size in BluetoothSerial.cpp. Reduced from 16384 to make room for WiFi/NTRIP server capabilities
 uint8_t rBuffer[SERIAL_SIZE_RX]; //Buffer for reading from F9P to SPP
 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
+const uint8_t F9PSerialWriteTaskPriority = 1; //Priority, with 3 being the highest, and 0 being the lowest.
+const uint8_t F9PSerialReadTaskPriority = 1;
 
 TaskHandle_t pinUART2TaskHandle = NULL; //Dummy task to start UART2 on core 0.
 bool uart2pinned = false;
@@ -273,6 +275,7 @@ Button *setupBtn = NULL; //We can't instantiate the buttons here because we don'
 Button *powerBtn = NULL;
 
 TaskHandle_t ButtonCheckTaskHandle = NULL;
+const uint8_t ButtonCheckTaskPriority = 1; //Priority, with 3 being the highest, and 0 being the lowest.
 const int buttonTaskStackSize = 2000;
 
 const int shutDownButtonTime = 2000; //ms press and hold before shutdown

Firmware/RTK_Surveyor/Tasks.ino

@@ -28,11 +28,13 @@ void F9PSerialWriteTask(void *e)
           Serial.printf("I heard: %c\n", incoming);
           incomingBTTest = incoming; //Displayed during system test
         }
+        delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
         taskYIELD();
       }
     }
 #endif
 
+    delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
     taskYIELD();
   }
 }
@@ -116,10 +118,12 @@ void F9PSerialReadTask(void *e)
         } //End maxLogTime
       } //End logging
 
+      delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
       taskYIELD();
 
     } //End Serial.available()
 
+    delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
     taskYIELD();
   }
 }
@@ -414,7 +418,7 @@ void ButtonCheckTask(void *e)
       }
     } //End Platform = RTK Facet
 
-    delay(1); //Yield to other tasks. Pet WDT.
+    delay(1); //Poor man's way of feeding WDT. Required to prevent Priority 1 tasks from causing WDT reset
     taskYIELD();
   }
 }

Firmware/RTK_Surveyor/src/BluetoothSerial/BluetoothSerial.cpp

@@ -169,8 +169,8 @@ static esp_err_t _spp_queue_packet(uint8_t *data, size_t len){
 //Above 50kbps it becomes unstable
 
 //const uint16_t SPP_TX_MAX = 330; //Original 
-const uint16_t SPP_TX_MAX = 512*4;
-static uint8_t _spp_tx_buffer[SPP_TX_MAX];
+const uint16_t SPP_TX_MAX = 1024*2; //Should match the SERIAL_SIZE_RX buffer size in RTK_Surveyor.ino
+static uint8_t _spp_tx_buffer[SPP_TX_MAX]; 
 static uint16_t _spp_tx_buffer_len = 0;
 
 static bool _spp_send_buffer(){