[Horus] Emergency mode + some simu refactoring to avoid duplicated code

CMakeLists.txt

@@ -9,6 +9,7 @@ set(VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_REVISION}${VERSION_SUFFI
 message(STATUS "OpenTX ${VERSION}")
 
 cmake_minimum_required(VERSION 2.8)
+set(CMAKE_CXX_STANDARD 11)
 
 set(RADIO_DIRECTORY ${PROJECT_SOURCE_DIR}/radio)
 set(RADIO_SRC_DIRECTORY ${RADIO_DIRECTORY}/src)

companion/src/firmwares/opentx/simulator/opentxsimulator.cpp

@@ -538,12 +538,12 @@ void OpenTxSimulator::start(const char * filename, bool tests)
 
   StartEepromThread(filename);
   StartAudioThread(volumeGain);
-  StartMainThread(tests);
+  StartSimu(tests);
 }
 
 void OpenTxSimulator::stop()
 {
-  StopMainThread();
+  StopSimu();
 #if defined(CPUARM)  
   StopAudioThread();
 #endif

radio/src/main_arm.cpp

@@ -338,6 +338,15 @@ void perMain()
   if (sticks_evt) evt = sticks_evt;
 #endif
 
+#if defined(RAMBACKUP)
+  if (unexpectedShutdown) {
+    lcd->clear();
+    lcdDrawText(LCD_W/2, LCD_H/2-20, "EMERGENCY MODE", DBLSIZE|CENTERED|TEXT_BGCOLOR);
+    lcdRefresh();
+    return;
+  }
+#endif
+
 #if defined(USB_MASS_STORAGE)
   if (usbPlugged()) {
     // disable access to menus

radio/src/opentx.cpp

@@ -2543,7 +2543,9 @@ void opentxInit(OPENTX_INIT_ARGS)
   TRACE("opentxInit()");
 
 #if !defined(EEPROM)
-  sdInit();
+  if (!UNEXPECTED_SHUTDOWN()) {
+    sdInit();
+  }
 #endif
 
 #if defined(COLORLCD)
@@ -2551,7 +2553,16 @@ void opentxInit(OPENTX_INIT_ARGS)
   luaInit();
 #endif
 
+#if defined(RAMBACKUP)
+  if (UNEXPECTED_SHUTDOWN()) {
+    rambackupRestore();
+  }
+  else {
+    storageReadAll();
+  }
+#else
   storageReadAll();
+#endif
 
 #if defined(CPUARM)
   if (UNEXPECTED_SHUTDOWN()) {
@@ -2635,10 +2646,20 @@ void opentxInit(OPENTX_INIT_ARGS)
   startPulses();
 
   wdt_enable(WDTO_500MS);
+
+#if defined(GUI)
+  menuHandlers[0] = menuMainView;
+  #if MENUS_LOCK != 2/*no menus*/
+    menuHandlers[1] = menuModelSelect;
+  #endif
+#endif
 }
 
-#if !defined(SIMU)
+#if defined(SIMU)
-int main(void)
+void * simuMain(void *)
+#else
+int main()
+#endif
 {
   // G: The WDT remains active after a WDT reset -- at maximum clock speed. So it's
   // important to disable it before commencing with system initialisation (or
@@ -2663,13 +2684,8 @@ int main(void)
   lcdInit();
 #endif
 
+#if !defined(SIMU)
   stackPaint();
-
-#if defined(GUI)
-  menuHandlers[0] = menuMainView;
-  #if MENUS_LOCK != 2/*no menus*/
-    menuHandlers[1] = menuModelSelect;
-  #endif
 #endif
 
 #if defined(GUI) && !defined(PCBTARANIS)
@@ -2710,19 +2726,16 @@ int main(void)
   init_rotary_sw();
 #endif
 
-#if !defined(CPUARM)
-  opentxInit(mcusr);
-#endif
-
 #if defined(CPUARM)
   tasksStart();
 #else
+  opentxInit(mcusr);
 #if defined(CPUM2560)
   uint8_t shutdown_state = 0;
 #endif
 
 #if defined(PCBFLAMENCO)
-  menuEntryTime = get_tmr10ms() - 200;
+  // TODO not here it's an ARM board ... menuEntryTime = get_tmr10ms() - 200;
 #endif
 
   while (1) {
@@ -2751,8 +2764,11 @@ int main(void)
   wdt_disable();
   while(1); // never return from main() - there is no code to return back, if any delays occurs in physical power it does dead loop.
 #endif
+
+#if defined(SIMU)
+  return NULL;
+#endif
 }
-#endif // !SIMU
 
 #if defined(PWR_BUTTON_DELAY)
 

radio/src/simu.cpp

@@ -127,7 +127,7 @@ Open9xSim::Open9xSim(FXApp* a):
 
 Open9xSim::~Open9xSim()
 {
-  StopMainThread();
+  StopSimu();
   StopAudioThread();
   StopEepromThread();
 
@@ -533,7 +533,7 @@ int main(int argc,char **argv)
 
   StartEepromThread(argc >= 2 ? argv[1] : "eeprom.bin");
   StartAudioThread();
-  StartMainThread();
+  StartSimu();
 
   return application.run();
 }

radio/src/storage/modelslist.h

@@ -44,7 +44,7 @@ class ModelCell
         buffer.drawBitmapPattern(5, 23, LBM_LIBRARY_SLOT, TEXT_COLOR);
       }
       else {
-        char timer[LEN_TIMER_STRING];z
+        char timer[LEN_TIMER_STRING];
         buffer.drawSizedText(5, 2, header.name, LEN_MODEL_NAME, ZCHAR|TEXT_COLOR);
         getTimerString(timer, 0);
         buffer.drawText(104, 41, timer, TEXT_COLOR);

radio/src/targets/simu/simpgmspace.cpp

@@ -40,6 +40,7 @@
   #include <SDL.h>
 #endif
 
+uint8_t MCUCSR, MCUSR;
 volatile uint8_t pina=0xff, pinb=0xff, pinc=0xff, pind, pine=0xff, pinf=0xff, ping=0xff, pinh=0xff, pinj=0, pinl=0;
 uint8_t portb, portc, porth=0, dummyport;
 uint16_t dummyport16;
@@ -47,6 +48,10 @@ const char *eepromFile = NULL;
 FILE *fp = NULL;
 int g_snapshot_idx = 0;
 
+pthread_t main_thread_pid = 0;
+uint8_t main_thread_running = 0;
+char * main_thread_error = NULL;
+
 #if defined(CPUSTM32)
 uint32_t Peri1_frequency, Peri2_frequency;
 GPIO_TypeDef gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog, gpioh, gpioi, gpioj;
@@ -86,6 +91,10 @@ char simuSdDirectory[1024] = "";
 uint8_t eeprom[EESIZE_SIMU];
 sem_t *eeprom_write_sem;
 
+void lcdInit()
+{
+}
+
 void simuInit()
 {
   for (int i = 0; i <= 17; i++) {
@@ -314,110 +323,19 @@ void *eeprom_write_function(void *)
 }
 #endif
 
-uint8_t main_thread_running = 0;
-char * main_thread_error = NULL;
-extern void opentxStart();
-void * main_thread(void *)
-{
-#ifdef SIMU_EXCEPTIONS
-  signal(SIGFPE, sig);
-  signal(SIGSEGV, sig);
-
-  try {
-#endif
-
-#if defined(CPUARM)
-    stackPaint();
-#endif
-
-    s_current_protocol[0] = 255;
-
-    menuLevel = 0;
-    menuHandlers[0] = menuMainView;
-    menuHandlers[1] = menuModelSelect;
-
-#if defined(COLORLCD)
-    topbar = new Topbar(&g_model.topbarData);
-    luaInit();
-    // TODO the theme is not initialized, in case of sdcard error, we should have something strange
-#endif
-
-    storageReadAll(); // load general setup and selected model
-
-#if defined(COLORLCD)
-    loadTheme();
-#endif
-
-#if defined(SIMU_DISKIO)
-    f_mount(&g_FATFS_Obj, "", 1);
-    // call sdGetFreeSectors() now because f_getfree() takes a long time first time it's called
-    sdGetFreeSectors();
-#endif
-
-#if defined(CPUARM) && defined(SDCARD)
-    referenceSystemAudioFiles();
-#endif
-
-    if (g_eeGeneral.backlightMode != e_backlight_mode_off) backlightOn(); // on Tx start turn the light on
-
-    if (main_thread_running == 1) {
-      opentxStart();
-    }
-
-    s_current_protocol[0] = 0;
-
-#if defined(PCBFLAMENCO)
-    menuEntryTime = get_tmr10ms() - 200;
-#endif
-
-    while (main_thread_running) {
-#if defined(CPUARM)
-      doMixerCalculations();
-#if defined(FRSKY) || defined(MAVLINK)
-      telemetryWakeup();
-#endif
-      checkTrims();
-#endif
-      perMain();
-      sleep(10/*ms*/);
-    }
-
-#if defined(LUA)
-    luaClose();
-#endif
-
-#ifdef SIMU_EXCEPTIONS
-  }
-  catch (...) {
-    main_thread_running = 0;
-  }
-#endif
-
-#if defined(SIMU_DISKIO)
-  if (diskImage) {
-    fclose(diskImage);
-  }
-#endif
-
-  return NULL;
-}
-
 #if defined WIN32 || !defined __GNUC__
 #define chdir  _chdir
 #define getcwd _getcwd
 #endif
 
-pthread_t main_thread_pid;
+void StartSimu(bool tests)
-void StartMainThread(bool tests)
 {
-#if defined(SDCARD)
+  main_thread_running = (tests ? 1 : 2);
-  if (strlen(simuSdDirectory) == 0)
-    getcwd(simuSdDirectory, 1024);
-#endif
 
-#if defined(CPUARM)
+#if defined(SDCARD)
-  pthread_mutex_init(&mixerMutex, NULL);
+  if (strlen(simuSdDirectory) == 0) {
-  pthread_mutex_init(&audioMutex, NULL);
+    getcwd(simuSdDirectory, 1024);
+  }
 #endif
 
   /*
@@ -439,14 +357,30 @@ void StartMainThread(bool tests)
   g_rtcTime = time(0);
 #endif
 
-  main_thread_running = (tests ? 1 : 2);
+#if defined(SIMU_EXCEPTIONS)
-  pthread_create(&main_thread_pid, NULL, &main_thread, NULL);
+  signal(SIGFPE, sig);
+  signal(SIGSEGV, sig);
+  try {
+#endif
+
+#if defined(CPUARM)
+    simuMain();
+#else
+    pthread_create(&main_thread_pid, NULL, &simuMain, NULL);
+#endif
+
+#if defined(SIMU_EXCEPTIONS)
+  }
+  catch (...) {
+  }
+#endif
 }
 
-void StopMainThread()
+void StopSimu()
 {
   main_thread_running = 0;
-  pthread_join(main_thread_pid, NULL);
+  if (main_thread_pid)
+    pthread_join(main_thread_pid, NULL);
 }
 
 #if defined(CPUARM)
@@ -1330,7 +1264,7 @@ void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct) { }
 void I2S_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState) { }
 void SPI_I2S_ITConfig(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT, FunctionalState NewState) { }
 void RCC_LSEConfig(uint8_t RCC_LSE) { }
-FlagStatus RCC_GetFlagStatus(uint8_t RCC_FLAG) { return RESET; }
+FlagStatus RCC_GetFlagStatus(uint8_t RCC_FLAG) { return SET; }
 ErrorStatus RTC_WaitForSynchro(void) { return SUCCESS; }
 void unlockFlash() { }
 void lockFlash() { }
@@ -1362,3 +1296,17 @@ void serialPrintf(const char * format, ...) { }
 void serialCrlf() { }
 void serialPutc(char c) { }
 uint16_t stackSize() { return 0; }
+
+void * start_routine(void * attr)
+{
+  FUNCPtr task = (FUNCPtr)attr;
+  task(NULL);
+  return NULL;
+}
+
+OS_TID CoCreateTask(FUNCPtr task, void *argv, uint32_t parameter, void * stk, uint32_t stksize)
+{
+  pthread_t tid;
+  pthread_create(&tid, NULL, start_routine, (void *)task);
+  return tid;
+}

radio/src/targets/simu/simpgmspace.h

@@ -349,8 +349,9 @@ void simuSetKey(uint8_t key, bool state);
 void simuSetTrim(uint8_t trim, bool state);
 void simuSetSwitch(uint8_t swtch, int8_t state);
 
-void StartMainThread(bool tests=true);
+void StartSimu(bool tests=true);
-void StopMainThread();
+void StopSimu();
+
 void StartEepromThread(const char *filename="eeprom.bin");
 void StopEepromThread();
 #if defined(SIMU_AUDIO) && defined(CPUARM)
@@ -364,6 +365,7 @@ void StopEepromThread();
 extern const char * eepromFile;
 void eepromReadBlock (uint8_t * pointer_ram, uint32_t address, uint32_t size);
 
+#define wdt_disable(...)  sleep(1/*ms*/)
 #define wdt_enable(...) sleep(1/*ms*/)
 #define wdt_reset() sleep(1/*ms*/)
 #define boardInit()
@@ -380,11 +382,23 @@ extern OS_MutexID audioMutex;
 #define E_OK   0
 #define WDRF   0
 
+void * simuMain(void * args = NULL);
+extern uint8_t MCUCSR, MCUSR;
+
+typedef unsigned int       U32;
+typedef unsigned long long U64;
+typedef void               (*FUNCPtr)(void*);
+
 #define CoInitOS(...)
 #define CoStartOS(...)
-#define CoCreateTask(...)              0
+
+OS_TID CoCreateTask(FUNCPtr task, void *argv, uint32_t parameter, void * stk, uint32_t stksize);
 #define CoCreateTaskEx(...)            0
+
 #define CoCreateMutex(...)             PTHREAD_MUTEX_INITIALIZER
+#define CoEnterMutexSection(m)         pthread_mutex_lock(&(m))
+#define CoLeaveMutexSection(m)         pthread_mutex_unlock(&(m))
+
 #define CoSetFlag(...)
 #define CoClearFlag(...)
 #define CoSetTmrCnt(...)
@@ -392,8 +406,6 @@ extern OS_MutexID audioMutex;
 #define CoExitISR(...)
 #define CoStartTmr(...)
 #define CoWaitForSingleFlag(...)       0
-#define CoEnterMutexSection(m)         pthread_mutex_lock(&(m))
-#define CoLeaveMutexSection(m)         pthread_mutex_unlock(&(m))
 #define CoTickDelay(...)
 #define CoCreateFlag(...)              0
 #define CoGetOSTime(...)               0
@@ -443,4 +455,6 @@ extern char simuSdDirectory[1024];
 #define sd_card_ready()  (true)
 #define sdMounted()      (true)
 
+inline void ledOff() { }
+
 #endif // _SIMPGMSPACE_H_

radio/src/tasks_arm.cpp

@@ -91,8 +91,6 @@ uint16_t stackAvailable()
 }
 #endif
 
-#if !defined(SIMU)
-
 void mixerTask(void * pdata)
 {
   s_pulses_paused = true;
@@ -190,14 +188,12 @@ void tasksStart()
 
   mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack.stack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
   menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack.stack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
-  audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack.stack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
-
 #if !defined(SIMU)
+  // TODO move the SIMU audio in this task
+  audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack.stack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
+#endif
   audioMutex = CoCreateMutex();
   mixerMutex = CoCreateMutex();
-#endif
 
   CoStartOS();
 }
-
-#endif // !defined(SIMU)