Move hardware interrupt core assignment to NVM.

nseidle · nseidle · commit 1dad275d350b · 2023-06-12T09:16:52.000-06:00
diff --git a/Firmware/RTK_Surveyor/Begin.ino b/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
@@ -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
diff --git a/Firmware/RTK_Surveyor/Bluetooth.ino b/Firmware/RTK_Surveyor/Bluetooth.ino
@@ -166,14 +166,21 @@ void bluetoothStart()
         else if (settings.bluetoothRadioType == BLUETOOTH_RADIO_BLE)
             bluetoothSerial = new BTLESerial();
 
-        if (bluetoothSerial->begin(deviceName) == false)
-        {
-            systemPrintln("An error occurred initializing Bluetooth");
+    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 (productVariant == RTK_SURVEYOR)
-                digitalWrite(pin_bluetoothStatusLED, LOW);
-            return;
-        }
 
         // Set PIN to 1234 so we can connect to older BT devices, but not require a PIN for modern device pairing
         // See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/5
@@ -216,6 +223,24 @@ 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)
+{
+
+        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
+}
+
 // 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()
diff --git a/Firmware/RTK_Surveyor/NVM.ino b/Firmware/RTK_Surveyor/NVM.ino
@@ -420,6 +420,9 @@ void recordSystemSettingsToFile(File *settingsFile)
     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
@@ -1296,6 +1299,12 @@ bool parseLine(char *str, Settings *settings)
         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
diff --git a/Firmware/RTK_Surveyor/RTK_Surveyor.ino b/Firmware/RTK_Surveyor/RTK_Surveyor.ino
@@ -394,7 +394,6 @@ HardwareSerial serialGNSS(2); // TX on 17, RX on 16
 uint8_t wBuffer[SERIAL_SIZE_TX]; // Buffer for writing from incoming SPP to F9P
 TaskHandle_t btReadTaskHandle =
     nullptr; // Store handles so that we can kill them if user goes into WiFi NTRIP Server mode
-const uint8_t btReadTaskPriority = 1; // 3 being the highest, and 0 being the lowest
 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
@@ -406,9 +405,15 @@ const int gnssReadTaskStackSize = 2000;
 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
diff --git a/Firmware/RTK_Surveyor/menuSystem.ino b/Firmware/RTK_Surveyor/menuSystem.ino
@@ -685,6 +685,15 @@ void menuDebug()
         systemPrint("47) Set Serial GNSS RX Full Threshold: ");
         systemPrintln(settings.serialGNSSRxFullThreshold);
 
+        systemPrint("48) Set Core used for GNSS UART Interrupts: ");
+        systemPrintln(settings.gnssUartInterruptsCore);
+
+        systemPrint("49) Set Core used for Bluetooth Interrupts: ");
+        systemPrintln(settings.bluetoothInterruptsCore);
+
+        systemPrint("50) Set Core used for I2C Interrupts: ");
+        systemPrintln(settings.i2cInterruptsCore);
+
         systemPrintln("t) Enter Test Screen");
 
         systemPrintln("e) Erase LittleFS");
diff --git a/Firmware/RTK_Surveyor/settings.h b/Firmware/RTK_Surveyor/settings.h
@@ -713,7 +713,7 @@ const ubxCmd ubxCommands[] = {
     {UBLOX_CFG_USBINPROT_SPARTN, "CFG_USBINPROT_SPARTN", 120, 9999}, //
 
     {UBLOX_CFG_NAV2_OUT_ENABLED, "CFG_NAV2_OUT_ENABLED", 130,
-     130},                                                            // Supported on F9P 130 and up. Supported on F9R 130 and up.
+     130}, // Supported on F9P 130 and up. Supported on F9R 130 and up.
     {UBLOX_CFG_NAVSPG_INFIL_MINCNO, "CFG_NAVSPG_INFIL_MINCNO", 0, 0}, //
 };
 
@@ -739,26 +739,26 @@ typedef struct
     double fixedLong = -105.18505761;
     double fixedAltitude = 1560.089;
     uint32_t dataPortBaud =
-        (115200 * 2);                     // Default to 230400bps. This limits GNSS fixes at 4Hz but allows SD buffer to be reduced to 6k.
+        (115200 * 2); // Default to 230400bps. This limits GNSS fixes at 4Hz but allows SD buffer to be reduced to 6k.
     uint32_t radioPortBaud = 57600;       // Default to 57600bps to support connection to SiK1000 type telemetry radios
     float surveyInStartingAccuracy = 1.0; // Wait for 1m horizontal positional accuracy before starting survey in
     uint16_t measurementRate = 250;       // Elapsed ms between GNSS measurements. 25ms to 65535ms. Default 4Hz.
     uint16_t navigationRate =
-        1;                                                // Ratio between number of measurements and navigation solutions. Default 1 for 4Hz (with measurementRate).
+        1; // Ratio between number of measurements and navigation solutions. Default 1 for 4Hz (with measurementRate).
     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 = 16;                           // By default, use 16MHz SPI
     bool enableLogging = true;                            // If an SD card is present, log default sentences
-    bool enableARPLogging = false;                        // Log the Antenna Reference Position from RTCM 1005/1006 - if available
-    uint16_t ARPLoggingInterval_s = 10;                   // Log the ARP every 10 seconds - if available
+    bool enableARPLogging = false;      // Log the Antenna Reference Position from RTCM 1005/1006 - if available
+    uint16_t ARPLoggingInterval_s = 10; // Log the ARP every 10 seconds - if available
     uint16_t sppRxQueueSize = 2048;
     uint16_t sppTxQueueSize = 512;
     uint8_t dynamicModel = DYN_MODEL_PORTABLE;
     SystemState lastState = STATE_NOT_SET; // Start unit in last known state
-    bool enableSensorFusion = false;       // If IMU is available, avoid using it unless user specifically selects automotive
-    bool autoIMUmountAlignment = true;     // Allows unit to automatically establish device orientation in vehicle
+    bool enableSensorFusion = false; // If IMU is available, avoid using it unless user specifically selects automotive
+    bool autoIMUmountAlignment = true; // Allows unit to automatically establish device orientation in vehicle
     bool enableResetDisplay = false;
     uint8_t resetCount = 0;
     bool enableExternalPulse = true;                           // Send pulse once lock is achieved
@@ -892,14 +892,14 @@ typedef struct
 
     bool wifiConfigOverAP = true; // Configure device over Access Point or have it connect to WiFi
     uint16_t wifiTcpPort =
-        2947;             // TCP port to use in Client/Server mode. 2947 is GPS Daemon: http://tcp-udp-ports.com/port-2947.htm
+        2947; // TCP port to use in Client/Server mode. 2947 is GPS Daemon: http://tcp-udp-ports.com/port-2947.htm
     uint8_t minElev = 10; // Minimum elevation (in deg) for a GNSS satellite to be used in NAV
     uint8_t ubxMessageRatesBase[MAX_UBX_MSG_RTCM] = {
-        254};                             // Mark first record with key so defaults will be applied. Int value for each supported message - Report
-                                          // rates for RTCM Base. Default to u-blox recommended rates.
-    uint32_t imuYaw = 0;                  // User defined IMU mount yaw angle (0 to 36,000) CFG-SFIMU-IMU_MNTALG_YAW
-    int16_t imuPitch = 0;                 // User defined IMU mount pitch angle (-9000 to 9000) CFG-SFIMU-IMU_MNTALG_PITCH
-    int16_t imuRoll = 0;                  // User defined IMU mount roll angle (-18000 to 18000) CFG-SFIMU-IMU_MNTALG_ROLL
+        254}; // Mark first record with key so defaults will be applied. Int value for each supported message - Report
+              // rates for RTCM Base. Default to u-blox recommended rates.
+    uint32_t imuYaw = 0;  // User defined IMU mount yaw angle (0 to 36,000) CFG-SFIMU-IMU_MNTALG_YAW
+    int16_t imuPitch = 0; // User defined IMU mount pitch angle (-9000 to 9000) CFG-SFIMU-IMU_MNTALG_PITCH
+    int16_t imuRoll = 0;  // User defined IMU mount roll angle (-18000 to 18000) CFG-SFIMU-IMU_MNTALG_ROLL
     bool sfDisableWheelDirection = false; // CFG-SFODO-DIS_AUTODIRPINPOL
     bool sfCombineWheelTicks = false;     // CFG-SFODO-COMBINE_TICKS
     uint8_t rateNavPrio = 0;              // Output rate of priority nav mode message - CFG-RATE-NAV_PRIO
@@ -932,18 +932,22 @@ typedef struct
                               0}; // NTPpacket::defaultReferenceId. Ref ID is 4 chars. Add one extra for a NULL.
 
     CoordinateInputType coordinateInputType = COORDINATE_INPUT_TYPE_DD; // Default DD.ddddddddd
-    uint16_t lbandFixTimeout_seconds = 180;                             // Number of seconds of no L-Band fix before resetting ZED
-    int16_t minCNO_F9P = 6;                                             // Minimum satellite signal level for navigation. ZED-F9P default is 6 dBHz
-    int16_t minCNO_F9R = 20;                                            // Minimum satellite signal level for navigation. ZED-F9R default is 20 dBHz
-    bool mdnsEnable = false;                                            // Allows locating of device from browser address 'rtk.local'
-    uint16_t serialGNSSRxFullThreshold = 50;                            // RX FIFO full interrupt. Max of ~128. See pinUART2Task().
-
-    uint8_t btReadTaskPriority = 1;             // Read from BT SPP and Write to GNSS. 3 being the highest, and 0 being the lowest
-    uint8_t gnssReadTaskPriority = 1;           // Read from ZED-F9x and Write to circular buffer (SD, TCP, BT). 3 being the highest, and 0 being the lowest
+    uint16_t lbandFixTimeout_seconds = 180; // Number of seconds of no L-Band fix before resetting ZED
+    int16_t minCNO_F9P = 6;                 // Minimum satellite signal level for navigation. ZED-F9P default is 6 dBHz
+    int16_t minCNO_F9R = 20;                // Minimum satellite signal level for navigation. ZED-F9R default is 20 dBHz
+    bool mdnsEnable = false;                // Allows locating of device from browser address 'rtk.local'
+    uint16_t serialGNSSRxFullThreshold = 50; // RX FIFO full interrupt. Max of ~128. See pinUART2Task().
+    uint8_t btReadTaskPriority = 1; // Read from BT SPP and Write to GNSS. 3 being the highest, and 0 being the lowest
+    uint8_t gnssReadTaskPriority =
+        1; // Read from ZED-F9x and Write to circular buffer (SD, TCP, BT). 3 being the highest, and 0 being the lowest
     uint8_t handleGnssDataTaskPriority = 1; // Read from the cicular buffer and dole out to end points (SD, TCP, BT).
-    uint8_t btReadTaskCore = 1;                 // Core where task should run, 0=core, 1=Arduino
-    uint8_t gnssReadTaskCore = 1;               // Core where task should run, 0=core, 1=Arduino
-    uint8_t handleGnssDataTaskCore = 1;         // Core where task should run, 0=core, 1=Arduino
+    uint8_t btReadTaskCore = 1;             // Core where task should run, 0=core, 1=Arduino
+    uint8_t gnssReadTaskCore = 1;           // Core where task should run, 0=core, 1=Arduino
+    uint8_t handleGnssDataTaskCore = 1;     // Core where task should run, 0=core, 1=Arduino
+    uint8_t gnssUartInterruptsCore =
+        1;                         // Core where hardware is started and interrupts are assigned to, 0=core, 1=Arduino
+    uint8_t bluetoothInterruptsCore = 1;  // Core where hardware is started and interrupts are assigned to, 0=core, 1=Arduino
+    uint8_t i2cInterruptsCore = 1; // Core where hardware is started and interrupts are assigned to, 0=core, 1=Arduino
 
 } Settings;
 Settings settings;
