Remove bluetoothTest() and setBaudrate

nseidle · nseidle · commit 830fdc55d0ea · 2025-08-01T17:11:20.000-06:00
diff --git a/Firmware/RTK_Everywhere/Bluetooth.ino b/Firmware/RTK_Everywhere/Bluetooth.ino
@@ -546,7 +546,7 @@ void bluetoothStart()
 
         if (pin_bluetoothStatusLED != PIN_UNDEFINED)
         {
-            bluetoothLedTask.detach(); // Reset BT LED blinker task rate to 2Hz
+            bluetoothLedTask.detach();                                                  // Reset BT LED blinker task rate to 2Hz
             bluetoothLedTask.attach(bluetoothLedTaskPace2Hz, tickerBluetoothLedUpdate); // Rate in seconds, callback
         }
 
@@ -556,11 +556,11 @@ void bluetoothStart()
         {
             if (bluetoothCommandTaskHandle == nullptr)
                 xTaskCreatePinnedToCore(
-                    bluetoothCommandTask,   // Function to run
-                    "BluetoothCommandTask", // Just for humans
-                    4000,                   // Stack Size - must be ~4000
-                    nullptr,                // Task input parameter
-                    0, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
+                    bluetoothCommandTask,              // Function to run
+                    "BluetoothCommandTask",            // Just for humans
+                    4000,                              // Stack Size - must be ~4000
+                    nullptr,                           // Task input parameter
+                    0,                                 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
                     &bluetoothCommandTaskHandle,       // Task handle
                     settings.bluetoothInterruptsCore); // Core where task should run, 0 = core, 1 = Arduino
         }
@@ -638,53 +638,10 @@ void bluetoothStop()
     bluetoothIncomingRTCM = false;
 }
 
-// Test the bidirectional communication through UART connected to GNSS
-// TODO Make this not ZED centric
-void bluetoothTest(bool runTest)
+// Print the current Bluetooth radio configuration and connection status
+void bluetoothPrintStatus()
 {
-    // Verify the ESP UART can communicate TX/RX to ZED UART1
-    const char *bluetoothStatusText;
-
-    if (online.gnss == true)
-    {
-        if (runTest && (zedUartPassed == false))
-        {
-            tasksStopGnssUart(); // Stop absorbing serial via task from GNSS receiver
-
-            gnss->setBaudrate(115200 * 2);
-
-            serialGNSS->begin(115200 * 2, SERIAL_8N1, pin_GnssUart_RX,
-                              pin_GnssUart_TX); // Start UART on platform depedent pins for SPP. The GNSS will be
-                                                // configured to output NMEA over its UART at the same rate.
-
-#ifdef COMPILE_ZED
-            SFE_UBLOX_GNSS_SERIAL myGNSS;
-            if (myGNSS.begin(*serialGNSS) == true) // begin() attempts 3 connections
-            {
-                zedUartPassed = true;
-                bluetoothStatusText = (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF) ? "Off" : "Online";
-            }
-            else
-                bluetoothStatusText = "Offline";
-#endif // COMPILE_ZED
-
-            gnss->setBaudrate(settings.dataPortBaud);
-
-            serialGNSS->begin(settings.dataPortBaud, SERIAL_8N1, pin_GnssUart_RX,
-                              pin_GnssUart_TX); // Start UART on platform depedent pins for SPP. The GNSS will be
-                                                // configured to output NMEA over its UART at the same rate.
-
-            tasksStartGnssUart(); // Return to normal operation
-        }
-        else
-            bluetoothStatusText = (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF) ? "Off" : "Online";
-    }
-    else
-        bluetoothStatusText = "GNSS Offline";
-
     // Display Bluetooth MAC address and test results
-    char macAddress[5];
-    snprintf(macAddress, sizeof(macAddress), "%02X%02X", btMACAddress[4], btMACAddress[5]);
     systemPrint("Bluetooth ");
     if (settings.bluetoothRadioType == BLUETOOTH_RADIO_SPP_AND_BLE)
         systemPrint("SPP and Low Energy ");
@@ -695,8 +652,19 @@ void bluetoothTest(bool runTest)
     else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_OFF)
         systemPrint("Off ");
 
+    char macAddress[5];
+    snprintf(macAddress, sizeof(macAddress), "%02X%02X", btMACAddress[4], btMACAddress[5]);
     systemPrint("(");
     systemPrint(macAddress);
-    systemPrint("): ");
-    systemPrintln(bluetoothStatusText);
+    systemPrint(")");
+
+    if (settings.bluetoothRadioType != BLUETOOTH_RADIO_OFF)
+    {
+        systemPrint(": ");
+        if (bluetoothIsConnected() == false)
+            systemPrint("Not ");
+        systemPrint("Connected");
+    }
+
+    systemPrintln();
 }
diff --git a/Firmware/RTK_Everywhere/GNSS.h b/Firmware/RTK_Everywhere/GNSS.h
@@ -331,13 +331,6 @@ class GNSS
   //   Returns true when the configuration was saved and false upon failure
   virtual bool saveConfiguration();
 
-  // Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-  // This just sets the GNSS side
-  // Used during Bluetooth testing
-  // Inputs:
-  //   baudRate: The desired baudrate
-  virtual bool setBaudrate(uint32_t baudRate);
-  
   // Enable all the valid constellations and bands for this platform
   virtual bool setConstellations();
 
diff --git a/Firmware/RTK_Everywhere/GNSS_LG290P.h b/Firmware/RTK_Everywhere/GNSS_LG290P.h
@@ -420,8 +420,6 @@ class GNSS_LG290P : GNSS
   //   Returns true when the configuration was saved and false upon failure
   bool saveConfiguration();
 
-  bool setBaudrate(uint32_t baudRate);
-
   bool setBaudRate(uint8_t uartNumber, uint32_t baudRate);
 
   bool setCommBaudrate(uint32_t baud);
diff --git a/Firmware/RTK_Everywhere/GNSS_LG290P.ino b/Firmware/RTK_Everywhere/GNSS_LG290P.ino
@@ -1145,12 +1145,6 @@ bool GNSS_LG290P::setBaudRate(uint8_t uartNumber, uint32_t baudRate)
     return (_lg290p->setPortBaudrate(uartNumber, baudRate, 250));
 }
 
-// Used only for Bluetooth test
-bool GNSS_LG290P::setBaudrate(uint32_t baudRate)
-{
-    return (setBaudRate(2, baudRate));
-}
-
 //----------------------------------------
 // Return the baud rate of port nicknamed DATA
 //----------------------------------------
diff --git a/Firmware/RTK_Everywhere/GNSS_Mosaic.h b/Firmware/RTK_Everywhere/GNSS_Mosaic.h
@@ -1006,13 +1006,6 @@ class GNSS_MOSAIC : GNSS
                           char *response = nullptr,
                           size_t responseSize = 0);
 
-    // Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-    // This just sets the GNSS side
-    // Used during Bluetooth testing
-    // Inputs:
-    //   baudRate: The desired baudrate
-    bool setBaudrate(uint32_t baudRate);
-
     // Set the baud rate of mosaic-X5 COM1
     // This is used during the Bluetooth test
     // Inputs:
diff --git a/Firmware/RTK_Everywhere/GNSS_Mosaic.ino b/Firmware/RTK_Everywhere/GNSS_Mosaic.ino
@@ -2198,18 +2198,6 @@ bool GNSS_MOSAIC::sendWithResponse(String message, const char *reply, unsigned l
     return sendWithResponse(message.c_str(), reply, timeout, wait, response, responseSize);
 }
 
-//----------------------------------------
-// Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-// This just sets the GNSS side
-// Used during Bluetooth testing
-// Inputs:
-//   baudRate: The desired baudrate
-//----------------------------------------
-bool GNSS_MOSAIC::setBaudrate(uint32_t baudRate)
-{
-    return setBaudRateCOM(1, baudRate);
-}
-
 //----------------------------------------
 // Set the baud rate of mosaic-X5 COM1
 // This is used during the Bluetooth test
diff --git a/Firmware/RTK_Everywhere/GNSS_None.h b/Firmware/RTK_Everywhere/GNSS_None.h
@@ -529,16 +529,6 @@ class GNSS_None : public GNSS
         return false;
     }
 
-    // Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-    // This just sets the GNSS side
-    // Used during Bluetooth testing
-    // Inputs:
-    //   baudRate: The desired baudrate
-    bool setBaudrate(uint32_t baudRate)
-    {
-        return true;
-    }
-
     bool setBaudRate(uint8_t uartNumber, uint32_t baudRate)
     {
         return false;
diff --git a/Firmware/RTK_Everywhere/GNSS_UM980.h b/Firmware/RTK_Everywhere/GNSS_UM980.h
@@ -431,13 +431,6 @@ class GNSS_UM980 : GNSS
     //   Returns true when the configuration was saved and false upon failure
     bool saveConfiguration();
 
-    // Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-    // This just sets the GNSS side
-    // Used during Bluetooth testing
-    // Inputs:
-    //   baudRate: The desired baudrate
-    bool setBaudrate(uint32_t baudRate);
-
     // Enable all the valid constellations and bands for this platform
     bool setConstellations();
 
diff --git a/Firmware/RTK_Everywhere/GNSS_UM980.ino b/Firmware/RTK_Everywhere/GNSS_UM980.ino
@@ -1559,19 +1559,6 @@ bool GNSS_UM980::saveConfiguration()
     return false;
 }
 
-//----------------------------------------
-// Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-// This just sets the GNSS side
-// Used during Bluetooth testing
-//----------------------------------------
-bool GNSS_UM980::setBaudrate(uint32_t baudRate)
-{
-    if (online.gnss)
-        // Set the baud rate on COM3 of the UM980
-        return setBaudRateCOM3(baudRate);
-    return false;
-}
-
 //----------------------------------------
 // Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
 //----------------------------------------
diff --git a/Firmware/RTK_Everywhere/GNSS_ZED.h b/Firmware/RTK_Everywhere/GNSS_ZED.h
@@ -675,13 +675,6 @@ class GNSS_ZED : GNSS
     //   Returns true when the configuration was saved and false upon failure
     bool saveConfiguration();
 
-    // Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-    // This just sets the GNSS side
-    // Used during Bluetooth testing
-    // Inputs:
-    //   baudRate: The desired baudrate
-    bool setBaudrate(uint32_t baudRate);
-
     // Enable all the valid constellations and bands for this platform
     bool setConstellations();
 
diff --git a/Firmware/RTK_Everywhere/GNSS_ZED.ino b/Firmware/RTK_Everywhere/GNSS_ZED.ino
@@ -2024,19 +2024,6 @@ bool GNSS_ZED::saveConfiguration()
     return true;
 }
 
-//----------------------------------------
-// Set the baud rate on the GNSS port that interfaces between the ESP32 and the GNSS
-// This just sets the GNSS side
-// Used during Bluetooth testing
-//----------------------------------------
-bool GNSS_ZED::setBaudrate(uint32_t baudRate)
-{
-    if (online.gnss)
-        return _zed->setVal32(UBLOX_CFG_UART1_BAUDRATE,
-                              (115200 * 2), VAL_LAYER_ALL); // Defaults to 230400 to maximize message output support
-    return false;
-}
-
 //----------------------------------------
 // Enable all the valid constellations and bands for this platform
 // Band support varies between platforms and firmware versions
diff --git a/Firmware/RTK_Everywhere/menuSystem.ino b/Firmware/RTK_Everywhere/menuSystem.ino
@@ -104,7 +104,7 @@ void menuSystem()
         }
 
         // Display the Bluetooth status
-        bluetoothTest(false);
+        bluetoothPrintStatus();
 
 #ifdef COMPILE_NETWORK
         networkDisplayStatus();
@@ -435,9 +435,6 @@ void menuDebugHardware()
         systemPrint("1) Print battery status messages: ");
         systemPrintf("%s\r\n", settings.enablePrintBatteryMessages ? "Enabled" : "Disabled");
 
-        // Bluetooth
-        systemPrintln("2) Run Bluetooth Test");
-
         // RTC
         systemPrint("3) Print RTC resyncs: ");
         systemPrintf("%s\r\n", settings.enablePrintRtcSync ? "Enabled" : "Disabled");
@@ -508,8 +505,6 @@ void menuDebugHardware()
 
         if (incoming == 1)
             settings.enablePrintBatteryMessages ^= 1;
-        else if (incoming == 2)
-            bluetoothTest(true);
         else if (incoming == 3)
             settings.enablePrintRtcSync ^= 1;
         else if (incoming == 4)
