Reduce buffer sizes, pin UART2 to core 0.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -327,27 +327,17 @@ void beginUART2()
 {
   rBuffer = (uint8_t*)malloc(settings.gnssHandlerBufferSize);
 
-  //TODO - For testing, pin to core 1
-  serialGNSS.setRxBufferSize(settings.uartReceiveBufferSize);
-  serialGNSS.setTimeout(settings.serialTimeoutGNSS);
-  serialGNSS.begin(settings.dataPortBaud); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at the same rate.
-
-  //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
+  if (pinUART2TaskHandle == NULL) xTaskCreatePinnedToCore(
+      pinUART2Task,
+      "UARTStart", //Just for humans
+      2000, //Stack Size
+      NULL, //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
 
-  //  if (pinUART2TaskHandle == NULL) xTaskCreatePinnedToCore(
-  //      pinUART2Task,
-  //      "UARTStart", //Just for humans
-  //      2000, //Stack Size
-  //      NULL, //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
-  //
-  //  while (uart2pinned == false) //Wait for task to run once
-  //    delay(1);
+  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

Firmware/RTK_Surveyor/Tasks.ino

@@ -343,29 +343,28 @@ void handleGNSSDataTask(void *e)
     } //End logging
 
     //Update space available for use in UART task
-    //    btBytesToSend = lastDataHead - btTail;
-    //    if (btBytesToSend < 0)
-    //      btBytesToSend += settings.gnssHandlerBufferSize;
-    //
-    //    nmeaBytesToSend = lastDataHead - nmeaTail;
-    //    if (nmeaBytesToSend < 0)
-    //      nmeaBytesToSend += settings.gnssHandlerBufferSize;
+    btBytesToSend = lastDataHead - btTail;
+    if (btBytesToSend < 0)
+      btBytesToSend += settings.gnssHandlerBufferSize;
+
+    nmeaBytesToSend = lastDataHead - nmeaTail;
+    if (nmeaBytesToSend < 0)
+      nmeaBytesToSend += settings.gnssHandlerBufferSize;
 
     sdBytesToRecord = lastDataHead - sdTail;
     if (sdBytesToRecord < 0)
       sdBytesToRecord += settings.gnssHandlerBufferSize;
 
     //Determine the inteface that is most behind: SD writing, SPP transmission, or TCP transmission
-    //    int usedSpace = 0;
-    //    if (sdBytesToRecord >= btBytesToSend && sdBytesToRecord >= nmeaBytesToSend)
-    //      usedSpace = sdBytesToRecord;
-    //    else if (btBytesToSend >= sdBytesToRecord && btBytesToSend >= nmeaBytesToSend)
-    //      usedSpace = btBytesToSend;
-    //    else
-    //      usedSpace = nmeaBytesToSend;
-
-    //    availableHandlerSpace = settings.gnssHandlerBufferSize - usedSpace;
-    availableHandlerSpace = settings.gnssHandlerBufferSize - sdBytesToRecord;
+    int usedSpace = 0;
+    if (nmeaBytesToSend >= btBytesToSend && nmeaBytesToSend >= sdBytesToRecord)
+      usedSpace = nmeaBytesToSend;
+    else if (btBytesToSend >= sdBytesToRecord && btBytesToSend >= nmeaBytesToSend)
+      usedSpace = btBytesToSend;
+    else
+      usedSpace = sdBytesToRecord;
+
+    availableHandlerSpace = settings.gnssHandlerBufferSize - usedSpace;
 
     //Don't fill the last byte to prevent buffer overflow
     if (availableHandlerSpace)

Firmware/RTK_Surveyor/settings.h

@@ -523,8 +523,8 @@ typedef struct {
   uint16_t antennaHeight = 0; //in mm
   float antennaReferencePoint = 0.0; //in mm
   bool echoUserInput = true;
-  int uartReceiveBufferSize = 1024 * 5; //This buffer is filled automatically as the UART receives characters.
-  int gnssHandlerBufferSize = 1024 * 5; //This buffer is filled from the UART receive buffer, and is then written to SD
+  int uartReceiveBufferSize = 1024 * 2; //This buffer is filled automatically as the UART receives characters.
+  int gnssHandlerBufferSize = 1024 * 4; //This buffer is filled from the UART receive buffer, and is then written to SD
   bool enablePrintBufferOverrun = false;
   bool enablePrintSDBuffers = false;
 } Settings;