Merge branch 'release_candidate' into rtk-reset

Author: LeeLeahy2

.github/workflows/compile-rtk-firmware.yml

@@ -6,7 +6,7 @@ on:
 env:
   FILENAME_PREFIX: RTK_Surveyor_Firmware
   FIRMWARE_VERSION_MAJOR: 3
-  FIRMWARE_VERSION_MINOR: 4
+  FIRMWARE_VERSION_MINOR: 5
   POINTPERFECT_TOKEN: ${{ secrets.POINTPERFECT_TOKEN }}
 
 jobs:
@@ -126,7 +126,7 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           directory: ./Firmware/RTK_Surveyor
           branch: ${{ env.BRANCH }}
-          message: 'Update form.h via Python ${date}'
+          message: 'Update form.h via Python'
 
       - name: Copy custom app3M_fat9M_16MB.csv
         run:

Firmware/RTK_Surveyor/Begin.ino

@@ -557,14 +557,15 @@ void beginUART2()
             2000,        // Stack Size
             nullptr,     // Task input parameter
             0,           // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
-            &pinUART2TaskHandle, // Task handle
-            0);                  // Core where task should run, 0=core, 1=Arduino
+            &pinUART2TaskHandle,              // Task handle
+            settings.gnssUartInterruptsCore); // Core where task should run, 0=core, 1=Arduino
 
     while (uart2pinned == false) // Wait for task to run once
         delay(1);
 }
 
-// Assign UART2 interrupts to the core 0. See: https://github.com/espressif/arduino-esp32/issues/3386
+// Assign UART2 interrupts to the core that started the task. See:
+// https://github.com/espressif/arduino-esp32/issues/3386
 void pinUART2Task(void *pvParameters)
 {
     // Note: ESP32 2.0.6 does some strange auto-bauding thing here which takes 20s to complete if there is no data for
@@ -586,7 +587,7 @@ void pinUART2Task(void *pvParameters)
         // Reduce threshold value above which RX FIFO full interrupt is generated
         // Allows more time between when the UART interrupt occurs and when the FIFO buffer overruns
         // serialGNSS.setRxFIFOFull(50); //Available in >v2.0.5
-        uart_set_rx_full_threshold(2, 50); // uart_num, threshold
+        uart_set_rx_full_threshold(2, settings.serialGNSSRxFullThreshold); // uart_num, threshold
     }
 
     uart2pinned = true;
@@ -1150,7 +1151,24 @@ void beginIdleTasks()
 
 void beginI2C()
 {
-    Wire.begin(); // Start I2C on core 1
+    if (pinI2CTaskHandle == nullptr)
+        xTaskCreatePinnedToCore(
+            pinI2CTask,
+            "I2CStart",        // Just for humans
+            2000,              // Stack Size
+            nullptr,           // Task input parameter
+            0,                 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest
+            &pinI2CTaskHandle, // Task handle
+            settings.i2cInterruptsCore); // Core where task should run, 0=core, 1=Arduino
+
+    while (i2cPinned == false) // Wait for task to run once
+        delay(1);
+}
+
+// Assign I2C interrupts to the core that started the task. See: https://github.com/espressif/arduino-esp32/issues/3386
+void pinI2CTask(void *pvParameters)
+{
+    Wire.begin(); // Start I2C on core the core that was chosen when the task was started
     // Wire.setClock(400000);
 
     // begin/end wire transmission to see if bus is responding correctly
@@ -1166,6 +1184,10 @@ void beginI2C()
         online.i2c = true;
     else
         systemPrintln("Error: I2C Bus Not Responding");
+
+    i2cPinned = true;
+
+    vTaskDelete(nullptr); // Delete task once it has run once
 }
 
 // Depending on radio selection, begin hardware

Firmware/RTK_Surveyor/Bluetooth.ino

@@ -166,6 +166,20 @@ void bluetoothStart()
         else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_BLE)
             bluetoothSerial = new BTLESerial();
 
+        // Not yet implemented
+        //  if (pinBluetoothTaskHandle == nullptr)
+        //      xTaskCreatePinnedToCore(
+        //          pinBluetoothTask,
+        //          "BluetoothStart", // Just for humans
+        //          2000,        // Stack Size
+        //          nullptr,     // Task input parameter
+        //          0,           // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the
+        //          lowest &pinBluetoothTaskHandle,              // Task handle settings.bluetoothInterruptsCore); //
+        //          Core where task should run, 0=core, 1=Arduino
+
+        // while (bluetoothPinned == false) // Wait for task to run once
+        //     delay(1);
+
         if (bluetoothSerial->begin(deviceName) == false)
         {
             systemPrintln("An error occurred initializing Bluetooth");
@@ -216,6 +230,25 @@ void bluetoothStart()
 #endif // COMPILE_BT
 }
 
+// Assign Bluetooth interrupts to the core that started the task. See:
+// https://github.com/espressif/arduino-esp32/issues/3386
+void pinBluetoothTask(void *pvParameters)
+{
+#ifdef COMPILE_BT
+    if (bluetoothSerial->begin(deviceName) == false)
+    {
+        systemPrintln("An error occurred initializing Bluetooth");
+
+        if (productVariant == RTK_SURVEYOR)
+            digitalWrite(pin_bluetoothStatusLED, LOW);
+    }
+
+    bluetoothPinned = true;
+
+    vTaskDelete(nullptr); // Delete task once it has run once
+#endif // COMPILE_BT
+}
+
 // This function stops BT so that it can be restarted later
 // It also releases as much system resources as possible so that WiFi/caster is more stable
 void bluetoothStop()
@@ -227,7 +260,7 @@ void bluetoothStop()
         bluetoothSerial->flush();      // Complete any transfers
         bluetoothSerial->disconnect(); // Drop any clients
         bluetoothSerial->end();        // bluetoothSerial->end() will release significant RAM (~100k!) but a
-                                // bluetoothSerial->start will crash.
+                                       // bluetoothSerial->start will crash.
 
         log_d("Bluetooth turned off");
 

Firmware/RTK_Surveyor/NVM.ino

@@ -413,6 +413,16 @@ void recordSystemSettingsToFile(File *settingsFile)
     }
 
     settingsFile->printf("%s=%d\r\n", "mdnsEnable", settings.mdnsEnable);
+    settingsFile->printf("%s=%d\r\n", "serialGNSSRxFullThreshold", settings.serialGNSSRxFullThreshold);
+    settingsFile->printf("%s=%d\r\n", "btReadTaskPriority", settings.btReadTaskPriority);
+    settingsFile->printf("%s=%d\r\n", "gnssReadTaskPriority", settings.gnssReadTaskPriority);
+    settingsFile->printf("%s=%d\r\n", "handleGnssDataTaskPriority", settings.handleGnssDataTaskPriority);
+    settingsFile->printf("%s=%d\r\n", "btReadTaskCore", settings.btReadTaskCore);
+    settingsFile->printf("%s=%d\r\n", "gnssReadTaskCore", settings.gnssReadTaskCore);
+    settingsFile->printf("%s=%d\r\n", "handleGnssDataTaskCore", settings.handleGnssDataTaskCore);
+    settingsFile->printf("%s=%d\r\n", "gnssUartInterruptsCore", settings.gnssUartInterruptsCore);
+    settingsFile->printf("%s=%d\r\n", "bluetoothInterruptsCore", settings.bluetoothInterruptsCore);
+    settingsFile->printf("%s=%d\r\n", "i2cInterruptsCore", settings.i2cInterruptsCore);
 }
 
 // Given a fileName, parse the file and load the given settings struct
@@ -733,8 +743,7 @@ bool parseLine(char *str, Settings *settings)
 
         // Check to see if this setting file is compatible with this version of RTK Surveyor
         if (d != sizeof(Settings))
-            systemPrintf("Warning: Settings size is %d but current firmware expects %d. Attempting to use settings "
-                         "from file.\r\n",
+            log_d("Settings size is %d but current firmware expects %d. Attempting to use settings from file.",
                          (int)d, sizeof(Settings));
     }
 
@@ -1275,6 +1284,26 @@ bool parseLine(char *str, Settings *settings)
     }
     else if (strcmp(settingName, "mdnsEnable") == 0)
         settings->mdnsEnable = d;
+    else if (strcmp(settingName, "serialGNSSRxFullThreshold") == 0)
+        settings->serialGNSSRxFullThreshold = d;
+    else if (strcmp(settingName, "btReadTaskPriority") == 0)
+        settings->btReadTaskPriority = d;
+    else if (strcmp(settingName, "gnssReadTaskPriority") == 0)
+        settings->gnssReadTaskPriority = d;
+    else if (strcmp(settingName, "handleGnssDataTaskPriority") == 0)
+        settings->handleGnssDataTaskPriority = d;
+    else if (strcmp(settingName, "btReadTaskCore") == 0)
+        settings->btReadTaskCore = d;
+    else if (strcmp(settingName, "gnssReadTaskCore") == 0)
+        settings->gnssReadTaskCore = d;
+    else if (strcmp(settingName, "handleGnssDataTaskCore") == 0)
+        settings->handleGnssDataTaskCore = d;
+    else if (strcmp(settingName, "gnssUartInterruptsCore") == 0)
+        settings->gnssUartInterruptsCore = d;
+    else if (strcmp(settingName, "bluetoothInterruptsCore") == 0)
+        settings->bluetoothInterruptsCore = d;
+    else if (strcmp(settingName, "i2cInterruptsCore") == 0)
+        settings->i2cInterruptsCore = d;
 
     // Check for bulk settings (WiFi credentials, constellations, message rates, ESPNOW Peers)
     // Must be last on else list
@@ -1456,7 +1485,7 @@ void loadProfileNumber()
     File fileProfileNumber = LittleFS.open("/profileNumber.txt", FILE_READ);
     if (!fileProfileNumber)
     {
-        systemPrintln("profileNumber.txt not found");
+        log_d("profileNumber.txt not found");
         settings.updateZEDSettings = true; // Force module update
         recordProfileNumber(0);            // Record profile
     }
@@ -1469,7 +1498,7 @@ void loadProfileNumber()
     // We have arbitrary limit of user profiles
     if (profileNumber >= MAX_PROFILE_COUNT)
     {
-        systemPrintln("ProfileNumber invalid. Going to zero.");
+        log_d("ProfileNumber invalid. Going to zero.");
         settings.updateZEDSettings = true; // Force module update
         recordProfileNumber(0);            // Record profile
     }

Firmware/RTK_Surveyor/NtripClient.ino

@@ -169,10 +169,9 @@ bool ntripClientConnectLimitReached()
     ntripClientStop(false); // Allocate new wifiClient
 
     // Retry the connection a few times
-    bool limitReached = false;
-    if (ntripClientConnectionAttempts++ >= MAX_NTRIP_CLIENT_CONNECTION_ATTEMPTS)
-        limitReached = true;
+    bool limitReached = (ntripClientConnectionAttempts >= MAX_NTRIP_CLIENT_CONNECTION_ATTEMPTS);
 
+    ntripClientConnectionAttempts++;
     ntripClientConnectionAttemptsTotal++;
 
     if (limitReached == false)
@@ -434,6 +433,12 @@ void ntripClientUpdate()
             else
             {
                 // Wait for ethernet to connect
+                static unsigned long lastDebug = millis();
+                if (millis() > (lastDebug + 5000))
+                {
+                    lastDebug = millis();
+                    log_d("NTRIP Client: Ethernet not connected. Waiting to retry.");
+                }
             }
         }
         else

Firmware/RTK_Surveyor/NtripServer.ino

@@ -130,16 +130,24 @@ bool ntripServerConnectLimitReached()
     ntripServerStop(false); // Allocate new wifiClient
 
     // Retry the connection a few times
-    bool limitReached = false;
-    if (ntripServerConnectionAttempts++ >= MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS)
-        limitReached = true;
+    bool limitReached = (ntripServerConnectionAttempts >= MAX_NTRIP_SERVER_CONNECTION_ATTEMPTS);
 
+    ntripServerConnectionAttempts++;
     ntripServerConnectionAttemptsTotal++;
 
     if (limitReached == false)
     {
-        ntripServerConnectionAttemptTimeout =
-            ntripServerConnectionAttempts * 5 * 60 * 1000L; // Wait 5, 10, 15, etc minutes between attempts
+        if (ntripServerConnectionAttempts == 1)
+            ntripServerConnectionAttemptTimeout = 15 * 1000L; // Wait 15s
+        else if (ntripServerConnectionAttempts == 2)
+            ntripServerConnectionAttemptTimeout = 30 * 1000L; // Wait 30s    
+        else if (ntripServerConnectionAttempts == 3)
+            ntripServerConnectionAttemptTimeout = 1 * 60 * 1000L; // Wait 1 minute
+        else if (ntripServerConnectionAttempts == 4)
+            ntripServerConnectionAttemptTimeout = 2 * 60 * 1000L; // Wait 2 minutes        
+        else 
+            ntripServerConnectionAttemptTimeout =
+                (ntripServerConnectionAttempts - 4) * 5 * 60 * 1000L; // Wait 5, 10, 15, etc minutes between attempts
 
         reportHeapNow();
     }
@@ -419,8 +427,18 @@ void ntripServerUpdate()
         {
             if (online.ethernetStatus == ETH_CONNECTED)
                 ntripServerSetState(NTRIP_SERVER_WIFI_ETHERNET_CONNECTED);
-            else
+            else if (online.ethernetStatus == ETH_CAN_NOT_BEGIN) // Ethernet hardware failure or not available
                 ntripServerSetState(NTRIP_SERVER_OFF);
+            else
+            {
+                // Wait for ethernet to connect
+                static unsigned long lastDebug = millis();
+                if (millis() > (lastDebug + 5000))
+                {
+                    lastDebug = millis();
+                    log_d("NTRIP Server: Ethernet not connected. Waiting to retry.");
+                }
+            }
         }
         else
         {
@@ -456,18 +474,20 @@ void ntripServerUpdate()
         // Attempt a connection to the NTRIP caster
         if (!ntripServerConnectCaster())
         {
-            if (ntripServerConnectionAttemptTimeout / 1000 < 120)
-                systemPrintf("NTRIP Server failed to connect to caster. Trying again in %d seconds.\r\n",
-                             ntripServerConnectionAttemptTimeout / 1000);
-            else
-                systemPrintf("NTRIP Server failed to connect to caster. Trying again in %d minutes.\r\n",
-                             ntripServerConnectionAttemptTimeout / 1000 / 60);
-
             // Assume service not available
-            if (ntripServerConnectLimitReached())
+            if (ntripServerConnectLimitReached()) // Update ntripServerConnectionAttemptTimeout
             {
                 systemPrintln("NTRIP Server failed to connect! Do you have your caster address and port correct?");
             }
+            else            
+            {
+                if (ntripServerConnectionAttemptTimeout / 1000 < 120)
+                    systemPrintf("NTRIP Server failed to connect to caster. Trying again in %d seconds.\r\n",
+                                 ntripServerConnectionAttemptTimeout / 1000);
+                else
+                    systemPrintf("NTRIP Server failed to connect to caster. Trying again in %d minutes.\r\n",
+                                 ntripServerConnectionAttemptTimeout / 1000 / 60);
+            }
         }
         else
         {

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -14,7 +14,7 @@
 
   The RTK Surveyor implements classic Bluetooth SPP to transfer data from the
   ZED-F9P to the phone and receive any RTCM from the phone and feed it back
-  to the ZED-F9P to achieve RTK: F9PSerialWriteTask(), F9PSerialReadTask().
+  to the ZED-F9P to achieve RTK: btReadTask(), gnssReadTask().
 
   Settings are loaded from microSD if available otherwise settings are pulled from ESP32's file system LittleFS.
 */
@@ -123,8 +123,8 @@ char profileNames[MAX_PROFILE_COUNT][50];  // Populated based on names found in
 char settingsFileName[60];                 // Contains the %s_Settings_%d.txt with current profile number set
 
 char stationCoordinateECEFFileName[60]; // Contains the /StationCoordinates-ECEF_%d.csv with current profile number set
-char stationCoordinateGeodeticFileName[60]; // Contains the /StationCoordinates-Geodetic_%d.csv with current profile
-                                            // number set
+char stationCoordinateGeodeticFileName[60];     // Contains the /StationCoordinates-Geodetic_%d.csv with current profile
+                                                // number set
 const int COMMON_COORDINATES_MAX_STATIONS = 50; // Record upto 50 ECEF and Geodetic commonly used stations
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
@@ -252,7 +252,8 @@ char neoFirmwareVersion[20];       // Output to system status menu.
 uint8_t zedFirmwareVersionInt = 0; // Controls which features (constellations) can be configured (v1.12 doesn't support
                                    // SBAS). Note: will fail above 2.55!
 uint8_t zedModuleType = PLATFORM_F9P; // Controls which messages are supported and configured
-char zedUniqueId[11] = { '0', '0', '0', '0', '0', '0', '0', '0', '0', '0', 0 }; // Output to system status menu and log file.
+char zedUniqueId[11] = {'0', '0', '0', '0', '0', '0',
+                        '0', '0', '0', '0', 0}; // Output to system status menu and log file.
 
 // Use Michael's lock/unlock methods to prevent the UART2 task from calling checkUblox during a sendCommand and
 // waitForResponse. Also prevents pushRawData from being called too.
@@ -263,7 +264,7 @@ class SFE_UBLOX_GNSS_SUPER_DERIVED : public SFE_UBLOX_GNSS_SUPER
 
     // Revert to a simple bool lock. The Mutex was causing occasional panics caused by
     // vTaskPriorityDisinheritAfterTimeout in lock() (I think possibly / probably caused by the GNSS not being pinned to
-    //one core?
+    // one core?
     bool iAmLocked = false;
 
     bool createLock(void)
@@ -391,25 +392,28 @@ HardwareSerial serialGNSS(2); // TX on 17, RX on 16
 
 #define SERIAL_SIZE_TX 512
 uint8_t wBuffer[SERIAL_SIZE_TX]; // Buffer for writing from incoming SPP to F9P
-TaskHandle_t F9PSerialWriteTaskHandle =
+TaskHandle_t btReadTaskHandle =
     nullptr; // Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
-const uint8_t F9PSerialWriteTaskPriority = 1; // 3 being the highest, and 0 being the lowest
-const int writeTaskStackSize = 2000;
+const int btReadTaskStackSize = 2000;
 
 uint8_t *ringBuffer; // Buffer for reading from F9P. At 230400bps, 23040 bytes/s. If SD blocks for 250ms, we need 23040
                      // * 0.25 = 5760 bytes worst case.
-TaskHandle_t F9PSerialReadTaskHandle =
+TaskHandle_t gnssReadTaskHandle =
     nullptr; // Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
-const uint8_t F9PSerialReadTaskPriority = 1; // 3 being the highest, and 0 being the lowest
-const int readTaskStackSize = 2000;
+const int gnssReadTaskStackSize = 2500;
 
-TaskHandle_t handleGNSSDataTaskHandle = nullptr;
-const uint8_t handleGNSSDataTaskPriority = 1; // 3 being the highest, and 0 being the lowest
-const int handleGNSSDataTaskStackSize = 3000;
+TaskHandle_t handleGnssDataTaskHandle = nullptr;
+const int handleGnssDataTaskStackSize = 3000;
 
-TaskHandle_t pinUART2TaskHandle = nullptr; // Dummy task to start UART2 on core 0.
+TaskHandle_t pinUART2TaskHandle = nullptr; // Dummy task to start hardware on an assigned core
 volatile bool uart2pinned = false; // This variable is touched by core 0 but checked by core 1. Must be volatile.
 
+TaskHandle_t pinI2CTaskHandle = nullptr; // Dummy task to start hardware on an assigned core
+volatile bool i2cPinned = false; // This variable is touched by core 0 but checked by core 1. Must be volatile.
+
+TaskHandle_t pinBluetoothTaskHandle = nullptr; // Dummy task to start hardware on an assigned core
+volatile bool bluetoothPinned = false; // This variable is touched by core 0 but checked by core 1. Must be volatile.
+
 volatile static int combinedSpaceRemaining = 0; // Overrun indicator
 volatile static long fileSize = 0;              // Updated with each write
 int bufferOverruns = 0;                         // Running count of possible data losses since power-on