Make start/stop Bluetooth/WiFi reentrant.

Author: nseidle

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -44,6 +44,7 @@
     Add ntripServer_CasterUser/PW to AP config
     Add maxLogLength_minutes to AP config
     Add LBand to AP config
+
 */
 
 const int FIRMWARE_VERSION_MAJOR = 2;
@@ -159,8 +160,7 @@ uint32_t sdUsedSpaceMB = 0;
 #include <WiFiClientSecure.h> //Built-in. 
 #include <PubSubClient.h> //Built-in. Used for MQTT obtaining of keys
 
-#include "esp_wifi.h" //Needed for init/deinit of resources to free up RAM
-#include "base64.h" //Built-in ESP32 library. Needed for NTRIP Client credential encoding.
+#include "base64.h" //Built-in. Needed for NTRIP Client credential encoding.
 
 WiFiClient ntripServer; // The WiFi connection to the NTRIP caster. We use this to push local RTCM to the caster.
 WiFiClient ntripClient; // The WiFi connection to the NTRIP caster. We use this to obtain RTCM from the caster.
@@ -259,8 +259,6 @@ float battChangeRate = 0.0;
 //We use a local copy of the BluetoothSerial library so that we can increase the RX buffer. See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/23
 #include "src/BluetoothSerial/BluetoothSerial.h"
 BluetoothSerial SerialBT;
-#include "esp_bt.h" //Core access is needed for BT stop. See customBTstop() for more info.
-#include "esp_gap_bt_api.h" //Needed for setting of pin. See issue: https://github.com/sparkfun/SparkFun_RTK_Firmware/issues/5
 #endif
 
 char platformPrefix[40] = "Surveyor"; //Sets the prefix for broadcast names

Firmware/RTK_Surveyor/States.ino

@@ -153,7 +153,7 @@ void updateSystemState()
           {
             //Turn off Bluetooth and turn on WiFi
             stopBluetooth();
-            startClientWiFi();
+            startWiFi(settings.ntripClient_wifiSSID, settings.ntripClient_wifiPW);
             wifiStartTime = millis();
 
             ntripClientAttempted = true; //Do not allow re-entry into STATE_ROVER_CLIENT_WIFI_STARTED
@@ -605,7 +605,7 @@ void updateSystemState()
           {
             //Turn off Bluetooth and turn on WiFi
             stopBluetooth();
-            startServerWiFi();
+            startWiFi(settings.ntripServer_wifiSSID, settings.ntripServer_wifiPW);
 
             changeState(STATE_BASE_TEMP_WIFI_STARTED);
           }
@@ -834,7 +834,7 @@ void updateSystemState()
           {
             //Turn off Bluetooth and turn on WiFi
             stopBluetooth();
-            startServerWiFi();
+            startWiFi(settings.ntripServer_wifiSSID, settings.ntripServer_wifiPW);
 
             rtcmPacketsSent = 0; //Reset any previous number
 
@@ -1128,7 +1128,7 @@ void updateSystemState()
           //If we don't have keys, begin zero touch provisioning
           else if (strlen(settings.pointPerfectCurrentKey) == 0 || strlen(settings.pointPerfectNextKey) == 0)
           {
-            startHomeWiFi();
+            startWiFi(settings.home_wifiSSID, settings.home_wifiPW);
             wifiStartTime = millis(); //Start timer for WiFi connection timeout
             changeState(STATE_KEYS_PROVISION_WIFI_STARTED);
           }
@@ -1163,7 +1163,7 @@ void updateSystemState()
 
           if (online.rtc == false)
           {
-            startHomeWiFi();
+            startWiFi(settings.home_wifiSSID, settings.home_wifiPW);
             wifiStartTime = 0; //Start timer for WiFi connection timeout
             changeState(STATE_KEYS_WIFI_STARTED); //If we can't check the RTC, continue
           }
@@ -1174,7 +1174,7 @@ void updateSystemState()
             settings.lastKeyAttempt = rtc.getEpoch(); //Mark it
             recordSystemSettings(); //Record these settings to unit
 
-            startHomeWiFi();
+            startWiFi(settings.home_wifiSSID, settings.home_wifiPW);
             wifiStartTime = 0; //Start timer for WiFi connection timeout
             changeState(STATE_KEYS_WIFI_STARTED);
           }

Firmware/RTK_Surveyor/System.ino

@@ -1,172 +1,121 @@
 //Get MAC, start radio
 //Tack device's MAC address to end of friendly broadcast name
 //This allows multiple units to be on at same time
-bool startBluetooth()
+void startBluetooth()
 {
+  if (radioState == WIFI_ON_NOCONNECTION || radioState == WIFI_CONNECTED)
+    stopWiFi();
+
+  if (radioState == RADIO_OFF)
+  {
 #ifdef COMPILE_BT
-  char stateName[10];
-  if (buttonPreviousState == BUTTON_ROVER)
-    strcpy(stateName, "Rover");
-  else
-    strcpy(stateName, "Base");
+    char stateName[10];
+    if (buttonPreviousState == BUTTON_ROVER)
+      strcpy(stateName, "Rover");
+    else
+      strcpy(stateName, "Base");
 
-  sprintf(deviceName, "%s %s-%02X%02X", platformPrefix, stateName, unitMACAddress[4], unitMACAddress[5]); //Base mode
+    sprintf(deviceName, "%s %s-%02X%02X", platformPrefix, stateName, unitMACAddress[4], unitMACAddress[5]); //Base mode
 
-  if (SerialBT.begin(deviceName, false, settings.sppRxQueueSize, settings.sppTxQueueSize) == false) //localName, isMaster, rxBufferSize, txBufferSize
-  {
-    Serial.println(F("An error occurred initializing Bluetooth"));
-    radioState = RADIO_OFF;
+    //if (SerialBT.begin(deviceName, false, settings.sppRxQueueSize, settings.sppTxQueueSize) == false) //localName, isMaster, rxBufferSize, txBufferSize
+    if (SerialBT.begin(deviceName, false) == false) //localName, isMaster
+    {
+      Serial.println(F("An error occurred initializing Bluetooth"));
+      radioState = RADIO_OFF;
 
-    if (productVariant == RTK_SURVEYOR)
-      digitalWrite(pin_bluetoothStatusLED, LOW);
-    return (false);
-  }
+      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
-  //https://github.com/espressif/esp-idf/issues/1541
-  //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-  esp_bt_sp_param_t param_type = ESP_BT_SP_IOCAP_MODE;
+    //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
+    //https://github.com/espressif/esp-idf/issues/1541
+    //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+    esp_bt_sp_param_t param_type = ESP_BT_SP_IOCAP_MODE;
 
-  esp_bt_io_cap_t iocap = ESP_BT_IO_CAP_NONE; //Requires pin 1234 on old BT dongle, No prompt on new BT dongle
-  //esp_bt_io_cap_t iocap = ESP_BT_IO_CAP_OUT; //Works but prompts for either pin (old) or 'Does this 6 pin appear on the device?' (new)
+    esp_bt_io_cap_t iocap = ESP_BT_IO_CAP_NONE; //Requires pin 1234 on old BT dongle, No prompt on new BT dongle
+    //esp_bt_io_cap_t iocap = ESP_BT_IO_CAP_OUT; //Works but prompts for either pin (old) or 'Does this 6 pin appear on the device?' (new)
 
-  esp_bt_gap_set_security_param(param_type, &iocap, sizeof(uint8_t));
+    esp_bt_gap_set_security_param(param_type, &iocap, sizeof(uint8_t));
 
-  esp_bt_pin_type_t pin_type = ESP_BT_PIN_TYPE_FIXED;
-  esp_bt_pin_code_t pin_code;
-  pin_code[0] = '1';
-  pin_code[1] = '2';
-  pin_code[2] = '3';
-  pin_code[3] = '4';
-  esp_bt_gap_set_pin(pin_type, 4, pin_code);
-  //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+    esp_bt_pin_type_t pin_type = ESP_BT_PIN_TYPE_FIXED;
+    esp_bt_pin_code_t pin_code;
+    pin_code[0] = '1';
+    pin_code[1] = '2';
+    pin_code[2] = '3';
+    pin_code[3] = '4';
+    esp_bt_gap_set_pin(pin_type, 4, pin_code);
+    //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
-  SerialBT.register_callback(btCallback); //Controls BT Status LED on Surveyor
-  SerialBT.setTimeout(250);
+    SerialBT.register_callback(btCallback); //Controls BT Status LED on Surveyor
+    SerialBT.setTimeout(250);
 
-  Serial.print(F("Bluetooth broadcasting as: "));
-  Serial.println(deviceName);
+    Serial.print(F("Bluetooth broadcasting as: "));
+    Serial.println(deviceName);
 
-  radioState = BT_ON_NOCONNECTION;
+    //Start task for controlling Bluetooth pair LED
+    if (productVariant == RTK_SURVEYOR)
+    {
+      ledcWrite(ledBTChannel, 255); //Turn on BT LED
+      btLEDTask.detach(); //Slow down the BT LED blinker task
+      btLEDTask.attach(btLEDTaskPace2Hz, updateBTled); //Rate in seconds, callback
+    }
+#endif
 
-  //Start task for controlling Bluetooth pair LED
-  if (productVariant == RTK_SURVEYOR)
-  {
-    ledcWrite(ledBTChannel, 255); //Turn on BT LED
-    btLEDTask.detach(); //Slow down the BT LED blinker task
-    btLEDTask.attach(btLEDTaskPace2Hz, updateBTled); //Rate in seconds, callback
+    radioState = BT_ON_NOCONNECTION;
   }
-#endif
 
-  return (true);
 }
 
 //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 stopBluetooth()
 {
+  if (radioState == BT_ON_NOCONNECTION || radioState == BT_CONNECTED)
+  {
 #ifdef COMPILE_BT
-  SerialBT.flush(); //Complete any transfers
-  SerialBT.disconnect(); //Drop any clients
-  SerialBT.end(); //SerialBT.end() will release significant RAM (~100k!) but a SerialBT.start will crash.
+    SerialBT.register_callback(NULL);
+    SerialBT.flush(); //Complete any transfers
+    SerialBT.disconnect(); //Drop any clients
+    SerialBT.end(); //SerialBT.end() will release significant RAM (~100k!) but a SerialBT.start will crash.
 #endif
 
-  //The following code releases the BT hardware so that it can be restarted with a SerialBT.begin
-  customBTstop();
-  Serial.println(F("Bluetooth turned off"));
-
-  radioState = RADIO_OFF;
-}
-
-//Starting and restarting BT is a problem. See issue: https://github.com/espressif/arduino-esp32/issues/2718
-//To work around the bug without modifying the core we create our own btStop() function with
-//the patch from github
-bool customBTstop() {
-#ifdef COMPILE_BT
-  if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_IDLE) {
-    return true;
-  }
-  if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_ENABLED) {
-    if (esp_bt_controller_disable()) {
-      log_e("BT Disable failed");
-      return false;
-    }
-    while (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_ENABLED);
-  }
-  if (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_INITED)
-  {
-    log_i("inited");
-    if (esp_bt_controller_deinit())
-    {
-      log_e("BT deint failed");
-      return false;
-    }
-    while (esp_bt_controller_get_status() == ESP_BT_CONTROLLER_STATUS_INITED)
-      ;
-    return true;
+    log_d("Bluetooth turned off");
+    radioState = RADIO_OFF;
   }
-  log_e("BT Stop failed");
-#endif
-  return false;
 }
 
-//Start WiFi assuming it was previously fully released
-//See WiFiBluetoothSwitch sketch for more info
-void startServerWiFi()
+void startWiFi(char* ssid, char* pw)
 {
-#ifdef COMPILE_WIFI
-  wifi_init_config_t wifi_init_config = WIFI_INIT_CONFIG_DEFAULT();
-  esp_wifi_init(&wifi_init_config); //Restart WiFi resources
-
-  Serial.printf("Connecting to local WiFi: %s\n\r", settings.ntripServer_wifiSSID);
-  WiFi.begin(settings.ntripServer_wifiSSID, settings.ntripServer_wifiPW);
-#endif
+  if (radioState == BT_ON_NOCONNECTION || radioState == BT_CONNECTED)
+    stopBluetooth();
 
-  radioState = WIFI_ON_NOCONNECTION;
-}
-
-void startClientWiFi()
-{
-#ifdef COMPILE_WIFI
-  wifi_init_config_t wifi_init_config = WIFI_INIT_CONFIG_DEFAULT();
-  esp_wifi_init(&wifi_init_config); //Restart WiFi resources
-
-  Serial.printf("Connecting to local WiFi: %s\n\r", settings.ntripClient_wifiSSID);
-  WiFi.begin(settings.ntripClient_wifiSSID, settings.ntripClient_wifiPW);
-#endif
-
-  radioState = WIFI_ON_NOCONNECTION;
-}
-
-void startHomeWiFi()
-{
+  if (radioState == RADIO_OFF)
+  {
 #ifdef COMPILE_WIFI
-  wifi_init_config_t wifi_init_config = WIFI_INIT_CONFIG_DEFAULT();
-  esp_wifi_init(&wifi_init_config); //Restart WiFi resources
-
-  Serial.printf("Connecting to home WiFi: %s", settings.home_wifiSSID);
-  WiFi.begin(settings.home_wifiSSID, settings.home_wifiPW);
+    Serial.printf("Connecting to WiFi: %s", ssid);
+    WiFi.begin(ssid, pw);
 #endif
 
-  radioState = WIFI_ON_NOCONNECTION;
+    radioState = WIFI_ON_NOCONNECTION;
+  }
 }
 
 //Stop WiFi and release all resources
 //See WiFiBluetoothSwitch sketch for more info
 void stopWiFi()
 {
+  if (radioState == WIFI_ON_NOCONNECTION || radioState == WIFI_CONNECTED)
+  {
 #ifdef COMPILE_WIFI
   ntripServer.stop();
   WiFi.mode(WIFI_OFF);
-
-  if (radioState == WIFI_ON_NOCONNECTION || radioState == WIFI_CONNECTED)
-    esp_wifi_deinit(); //Free all resources
 #endif
 
   log_d("WiFi Stopped");
-
   radioState = RADIO_OFF;
+  }
 }
 
 //Setup the u-blox module for any setup (base or rover)
@@ -180,12 +129,12 @@ bool configureUbloxModule()
   int maxWait = 2000;
 
   //Wait for initial report from module
-  while(pvtUpdated == false)
+  while (pvtUpdated == false)
   {
     i2cGNSS.checkUblox(); //Regularly poll to get latest data and any RTCM
     i2cGNSS.checkCallbacks(); //Process any callbacks: ie, eventTriggerReceived
     delay(10);
-    if(millis() - startTime > maxWait) break;
+    if (millis() - startTime > maxWait) break;
   }
 
   //The first thing we do is go to 1Hz to lighten any I2C traffic from a previous configuration
@@ -494,7 +443,7 @@ void danceLEDs()
   else
   {
     //Units can boot under 1s. Keep splash screen up for at least 2s.
-    while(millis() - splashStart < 2000) delay(1); 
+    while (millis() - splashStart < 2000) delay(1);
   }
 }
 

Firmware/RTK_Surveyor/menuPP.ino

@@ -69,7 +69,7 @@ void menuPointPerfect()
     else if (incoming == '5')
     {
 #ifdef COMPILE_WIFI
-      startHomeWiFi();
+      startWiFi(settings.home_wifiSSID, settings.home_wifiPW);
 
       unsigned long startTime = millis();
       while (WiFi.status() != WL_CONNECTED)