Allow BLE chip to fully initialize before doing anything

software/firmware/src/app/app_config.h

@@ -40,6 +40,8 @@
 
 #define BATTERY_CHECK_INTERVAL_S                    300
 
+#define BLE_INIT_TIMEOUT_MS                         1000
+
 
 // Battery Configuration -----------------------------------------------------------------------------------------------
 

software/firmware/src/tasks/app_task_maintenance.c

@@ -69,8 +69,10 @@ void AppTaskMaintenance(void *uid)
       storage_flush_and_shutdown();
 
    // Wait until the BLE stack has been fully initialized
-   while (!bluetooth_is_initialized())
-      vTaskDelay(1);
+   for (int i = 0; !bluetooth_is_initialized() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
+      vTaskDelay(pdMS_TO_TICKS(100));
+   if (!bluetooth_is_initialized())
+      system_reset();
 
    // Clear the BLE address whitelist
    bluetooth_clear_whitelist();

software/firmware/src/tasks/app_task_ranging.c

@@ -81,7 +81,7 @@ static void handle_notification(app_notification_t notification)
 
       // Reset the devices-found flag and verify the app configuration
       while (bluetooth_is_scanning())
-         am_hal_delay_us(1);
+         vTaskDelay(pdMS_TO_TICKS(1));
       devices_found = false;
       verify_app_configuration();
    }
@@ -208,8 +208,10 @@ void AppTaskRanging(void *uid)
 
    // Wait until the BLE stack has been fully initialized
    devices_found = false;
-   while (!bluetooth_is_initialized())
-      vTaskDelay(1);
+   for (int i = 0; !bluetooth_is_initialized() && (i < BLE_INIT_TIMEOUT_MS); i += 100)
+      vTaskDelay(pdMS_TO_TICKS(100));
+   if (!bluetooth_is_initialized())
+      system_reset();
 
    // Update the BLE address whitelist
    bluetooth_clear_whitelist();

software/firmware/tests/tasks/test_ble_and_ranging.c

@@ -39,7 +39,7 @@ int main(void)
    // Create tasks with the following priority order:
    //    IdleTask < AppTask < BLETask < RangingTask
    configASSERT1(xTaskCreate(RangingTask, "RangingTask", 512, uid, 5, &ranging_task_handle));
-   configASSERT1(xTaskCreate(BLETask, "BLETask", 512, NULL, 3, &ble_task_handle));
+   configASSERT1(xTaskCreate(BLETask, "BLETask", 1024, NULL, 3, &ble_task_handle));
    configASSERT1(xTaskCreate(AppTaskRanging, "AppTask", 512, uid, 2, &app_task_handle));
 
    // Start the task scheduler