fix(system): enhance system stability, watchdog, and safe shutdown

- Increase F9PSerialReadTask stack size to 8192 to prevent stack overflows
- Add timeout to BluetoothSerial flush() to avoid infinite blocking loops
- Implement Task Watchdog Timer (TWDT) for F9PSerialReadTask for auto-recovery
- Add power-fail interrupt handling via GPIO 27 to safely close SD card logs
- Enable hardware reset reason logging to SD card on startup

.vscode/extensions.json

@@ -5,6 +5,7 @@
         "platformio.platformio-ide"
     ],
     "unwantedRecommendations": [
-        "ms-vscode.cpptools-extension-pack"
+        "ms-vscode.cpptools-extension-pack",
+        "pioarduino.pioarduino-ide"
     ]
 }

lib/BluetoothSerial/BluetoothSerial.cpp

@@ -30,7 +30,8 @@ const char * _spp_server_name = "ESP32SPP";
 //#define RX_QUEUE_SIZE 512 //Original
 //#define TX_QUEUE_SIZE 32
 
-#define SPP_TX_QUEUE_TIMEOUT 1000
+// #define SPP_TX_QUEUE_TIMEOUT 1000
+#define SPP_TX_QUEUE_TIMEOUT 10
 #define SPP_TX_DONE_TIMEOUT 1000
 #define SPP_CONGESTED_TIMEOUT 1000
 
@@ -763,8 +764,10 @@ size_t BluetoothSerial::write(const uint8_t *buffer, size_t size)
 void BluetoothSerial::flush()
 {
     if (_spp_tx_queue != NULL){
-        while(uxQueueMessagesWaiting(_spp_tx_queue) > 0){
+        int timeout = 20;
+        while(uxQueueMessagesWaiting(_spp_tx_queue) > 0 && timeout > 0){
            delay(100);
+           timeout--;
         }
     }
 }

src/main.cpp

@@ -284,7 +284,8 @@ TaskHandle_t pinUART2TaskHandle = NULL; //Dummy task to start UART2 on core 0.
 volatile bool uart2pinned = false; //This variable is touched by core 0 but checked by core 1. Must be volatile. 
 
 //Reduced stack size from 10,000 to 2,000 to make room for WiFi/NTRIP server capabilities
-const int readTaskStackSize = 2500;
+// const int readTaskStackSize = 2500;
+const int readTaskStackSize = 8192; //Veremméret növelése a fagyások elkerülésére
 const int writeTaskStackSize = 2000; 
 
 bool zedUartPassed = false; //Goes true during testing if ESP can communicate with ZED over UART 
@@ -292,7 +293,15 @@ bool zedUartPassed = false; //Goes true during testing if ESP can communicate wi
 volatile int counter = 0;
 long lastTime = 0;
 
+const int ignitionPin = 27;
+volatile bool powerIsFailing = false;
+
+void IRAM_ATTR powerFailInterrupt(){
+  powerIsFailing = true;
+}
+
 #include "bluetoothSelect.h"
+#include <esp_task_wdt.h>
 
 // BluetoothSerial SerialBT;
 BTSerialInterface *bluetoothSerial; 
@@ -874,6 +883,24 @@ void setup()
     oled.display();
   }
 
+  esp_err_t wdt_result = esp_task_wdt_init(10, true);
+  if(wdt_result==ESP_OK){
+    oled.setCursor(0,33);             // Start at top-left corner
+    oled.println(F("WDT started ..."));
+    oled.display();
+  }
+  else {
+    oled.setCursor(0,33);             // Start at top-left corner
+    oled.println(F("WDT initialization error ..."));
+    oled.display();
+  }
+
+  pinMode(ignitionPin, INPUT_PULLUP); // Configure the ignition pin with an internal pull-up resistor
+  attachInterrupt(digitalPinToInterrupt(ignitionPin), powerFailInterrupt, RISING); // Attach an interrupt to the ignition pin to detect power failure
+  oled.setCursor(0,44);             // Start at top-left corner
+  oled.println(F("Interrupt attached ..."));
+  oled.display();
+
   beginBoard();
 
   beginGNSS();
@@ -927,6 +954,18 @@ void setup()
 
 void loop()
 {
+  //Külső 12V lekapcsolásának a figyelése
+  if(powerIsFailing){
+    if(online.logging==true){
+      endLogging(false, false);
+    }
+    while (1)
+    {
+      delay(1);
+    }
+    
+  }
+
   int lastUpdateTimeOnOled=0;
     if (online.gnss == true)
   {
@@ -1985,6 +2024,9 @@ void F9PSerialReadTask(void *e)
   int btConnected; //Is the RTK in a state to send Bluetooth data?
   int newBytesToRecord; //Size of data from GNSS
 
+  // feliratkozás a task watchdog-ra
+  esp_task_wdt_add(NULL);
+
   while (true)
   {
     while (serialGNSS.available())
@@ -2179,6 +2221,9 @@ void F9PSerialReadTask(void *e)
 
     delay(1);
     taskYIELD();
+
+    // Watchdog törlése, a taszk nem fagyott le
+    esp_task_wdt_reset();
   }
 } 
 
@@ -2620,25 +2665,25 @@ void beginLogging(const char *customFileName)
         if (startLogTime_minutes == 0) startLogTime_minutes = millis() / 1000L / 60;
 
         //Add NMEA txt message with restart reason
-        // char rstReason[30];
+        char rstReason[30];
-        // switch (esp_reset_reason())
+        switch (esp_reset_reason())
-        // {
+        {
-        //   case ESP_RST_UNKNOWN: strcpy(rstReason, "ESP_RST_UNKNOWN"); break;
+          case ESP_RST_UNKNOWN: strcpy(rstReason, "ESP_RST_UNKNOWN"); break;
-        //   case ESP_RST_POWERON : strcpy(rstReason, "ESP_RST_POWERON"); break;
+          case ESP_RST_POWERON : strcpy(rstReason, "ESP_RST_POWERON"); break;
-        //   case ESP_RST_SW : strcpy(rstReason, "ESP_RST_SW"); break;
+          case ESP_RST_SW : strcpy(rstReason, "ESP_RST_SW"); break;
-        //   case ESP_RST_PANIC : strcpy(rstReason, "ESP_RST_PANIC"); break;
+          case ESP_RST_PANIC : strcpy(rstReason, "ESP_RST_PANIC"); break;
-        //   case ESP_RST_INT_WDT : strcpy(rstReason, "ESP_RST_INT_WDT"); break;
+          case ESP_RST_INT_WDT : strcpy(rstReason, "ESP_RST_INT_WDT"); break;
-        //   case ESP_RST_TASK_WDT : strcpy(rstReason, "ESP_RST_TASK_WDT"); break;
+          case ESP_RST_TASK_WDT : strcpy(rstReason, "ESP_RST_TASK_WDT"); break;
-        //   case ESP_RST_WDT : strcpy(rstReason, "ESP_RST_WDT"); break;
+          case ESP_RST_WDT : strcpy(rstReason, "ESP_RST_WDT"); break;
-        //   case ESP_RST_DEEPSLEEP : strcpy(rstReason, "ESP_RST_DEEPSLEEP"); break;
+          case ESP_RST_DEEPSLEEP : strcpy(rstReason, "ESP_RST_DEEPSLEEP"); break;
-        //   case ESP_RST_BROWNOUT : strcpy(rstReason, "ESP_RST_BROWNOUT"); break;
+          case ESP_RST_BROWNOUT : strcpy(rstReason, "ESP_RST_BROWNOUT"); break;
-        //   case ESP_RST_SDIO : strcpy(rstReason, "ESP_RST_SDIO"); break;
+          case ESP_RST_SDIO : strcpy(rstReason, "ESP_RST_SDIO"); break;
-        //   default : strcpy(rstReason, "Unknown");
+          default : strcpy(rstReason, "Unknown");
-        // }
+        }
 
         char nmeaMessage[82]; //Max NMEA sentence length is 82
-        // createNMEASentence(CUSTOM_NMEA_TYPE_RESET_REASON, nmeaMessage, rstReason); //textID, buffer, text
+        createNMEASentence(CUSTOM_NMEA_TYPE_RESET_REASON, nmeaMessage, rstReason); //textID, buffer, text
-        // ubxFile->println(nmeaMessage);
+        ubxFile->println(nmeaMessage);
 
         //Record system firmware versions and info to log