cleanup application task priotity gaps

Author: iltis42

analyze_core

@@ -1,2 +1,2 @@
-espcoredump.py dbg_corefile --core-format b64 --core $1   /home/gittest2/XCVario/build/sensor.elf 
+espcoredump.py dbg_corefile --core-format b64 --core $1   ~/XCVario/build/sensor.elf 
 

main/ESPAudio.cpp

@@ -459,7 +459,7 @@ void Audio::startAudio(){
 	_testmode = false;
 	evaluateChopping();
 	p_wiper = &wiper;
-	xTaskCreatePinnedToCore(&dactask, "dactask", 2400, NULL, 25, &dactid, 0);
+	xTaskCreatePinnedToCore(&dactask, "dactask", 2400, NULL, 19, &dactid, 0);
 }
 
 bool Audio::calcS2Fmode(){

main/Serial.cpp

@@ -299,9 +299,9 @@ void Serial::taskStart(){
 	bool serial2 = (serial2_speed.get() != 0 && hardwareRevision.get() >= 3);
 
 	if( serial1 ){
-		xTaskCreatePinnedToCore(&serialHandler, "serialHandler1", 4096, &S1, 22, &S1.pid, 0);  // stay below canbus
+		xTaskCreatePinnedToCore(&serialHandler, "serialHandler1", 4096, &S1, 16, &S1.pid, 0);  // stay below canbus
 	}
 	if( serial2 ){
-		xTaskCreatePinnedToCore(&serialHandler, "serialHandler2", 4096, &S2, 22, &S2.pid, 0);  // stay below canbus
+		xTaskCreatePinnedToCore(&serialHandler, "serialHandler2", 4096, &S2, 16, &S2.pid, 0);  // stay below canbus
 	}
 }

main/canbus.cpp

@@ -168,8 +168,8 @@ void CANbus::begin()
 	}
 	ESP_LOGI(FNAME,"CANbus::begin");
 	driverInstall( TWAI_MODE_NORMAL );
-	xTaskCreatePinnedToCore(&canTxTask, "canTxTask", 4096, this, 23, 0, 0);
-	xTaskCreatePinnedToCore(&canRxTask, "canRxTask", 4096, this, 23, 0, 0);
+	xTaskCreatePinnedToCore(&canTxTask, "canTxTask", 4096, this, 17, 0, 0);
+	xTaskCreatePinnedToCore(&canRxTask, "canRxTask", 4096, this, 17, 0, 0);
 }
 
 // receive message of corresponding ID,