PXX2 continued + simu segfault fix

radio/src/pulses/pxx.cpp

@@ -127,56 +127,6 @@ void PxxPulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, ui
   }
 }
 
-template <class PxxTransport>
-uint8_t PxxPulses<PxxTransport>::addFlag1(uint8_t port)
-{
-  uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
-  if (moduleFlag[port] == MODULE_BIND) {
-    flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
-  }
-  else if (moduleFlag[port] == MODULE_RANGECHECK) {
-    flag1 |= PXX_SEND_RANGECHECK;
-  }
-  else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
-    if (failsafeCounter[port]-- == 0) {
-      failsafeCounter[port] = 1000;
-      flag1 |= PXX_SEND_FAILSAFE;
-    }
-    if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
-      flag1 |= PXX_SEND_FAILSAFE;
-    }
-  }
-  PxxTransport::addByte(flag1);
-  return flag1;
-}
-
-template <class PxxTransport>
-void PxxPulses<PxxTransport>::addExtraFlags(uint8_t port)
-{
-  // Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
-  uint8_t extra_flags = 0;
-
-#if defined(PCBHORUS) || defined(PCBXLITE)
-  if (port == INTERNAL_MODULE) {
-    extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
-  }
-#endif
-
-  extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
-  extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
-  if (isModuleR9M(port)) {
-    extra_flags |= (min<uint8_t>(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
-    if (isModuleR9M_EUPLUS(port))
-      extra_flags |= (1 << 6);
-  }
-
-  // Disable S.PORT if internal module is active
-  if (IS_TELEMETRY_INTERNAL_MODULE()) {
-    extra_flags |= (1 << 5);
-  }
-  PxxTransport::addByte(extra_flags);
-}
-
 template class PxxPulses<StandardPxxTransport<PwmPxxBitTransport> >;
 template class PxxPulses<StandardPxxTransport<SerialPxxBitTransport> >;
 template class PxxPulses<Pxx2Transport>;

radio/src/pulses/pxx.h

@@ -232,9 +232,7 @@ class UartPxxTransport: public DataBuffer<uint8_t, 64>, public PxxCrcMixin {
 template <class PxxTransport>
 class PxxPulses: public PxxTransport {
   protected:
-    uint8_t addFlag1(uint8_t port);
     void addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels);
-    void addExtraFlags(uint8_t port);
 };
 
 #endif

radio/src/pulses/pxx1.cpp

@@ -21,6 +21,56 @@
 #include "opentx.h"
 #include "pulses/pxx1.h"
 
+template <class PxxTransport>
+uint8_t Pxx1Pulses<PxxTransport>::addFlag1(uint8_t port)
+{
+  uint8_t flag1 = (g_model.moduleData[port].rfProtocol << 6);
+  if (moduleFlag[port] == MODULE_BIND) {
+    flag1 |= (g_eeGeneral.countryCode << 1) | PXX_SEND_BIND;
+  }
+  else if (moduleFlag[port] == MODULE_RANGECHECK) {
+    flag1 |= PXX_SEND_RANGECHECK;
+  }
+  else if (g_model.moduleData[port].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[port].failsafeMode != FAILSAFE_RECEIVER) {
+    if (failsafeCounter[port]-- == 0) {
+      failsafeCounter[port] = 1000;
+      flag1 |= PXX_SEND_FAILSAFE;
+    }
+    if (failsafeCounter[port] == 0 && g_model.moduleData[port].channelsCount > 0) {
+      flag1 |= PXX_SEND_FAILSAFE;
+    }
+  }
+  PxxTransport::addByte(flag1);
+  return flag1;
+}
+
+template <class PxxTransport>
+void Pxx1Pulses<PxxTransport>::addExtraFlags(uint8_t port)
+{
+  // Ext. flag (holds antenna selection on Horus internal module, 0x00 otherwise)
+  uint8_t extra_flags = 0;
+
+#if defined(PCBHORUS) || defined(PCBXLITE)
+  if (port == INTERNAL_MODULE) {
+    extra_flags |= (g_model.moduleData[port].pxx.external_antenna << 0);
+  }
+#endif
+
+  extra_flags |= (g_model.moduleData[port].pxx.receiver_telem_off << 1);
+  extra_flags |= (g_model.moduleData[port].pxx.receiver_channel_9_16 << 2);
+  if (isModuleR9M(port)) {
+    extra_flags |= (min<uint8_t>(g_model.moduleData[port].pxx.power, isModuleR9M_FCC_VARIANT(port) ? (uint8_t)R9M_FCC_POWER_MAX : (uint8_t)R9M_LBT_POWER_MAX) << 3);
+    if (isModuleR9M_EUPLUS(port))
+      extra_flags |= (1 << 6);
+  }
+
+  // Disable S.PORT if internal module is active
+  if (IS_TELEMETRY_INTERNAL_MODULE()) {
+    extra_flags |= (1 << 5);
+  }
+  PxxTransport::addByte(extra_flags);
+}
+
 template <class PxxTransport>
 void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels)
 {
@@ -33,7 +83,7 @@ void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpper
   PxxTransport::addByte(g_model.header.modelId[port]);
 
   // Flag1
-  uint8_t flag1 = PxxPulses<PxxTransport>::addFlag1(port);
+  uint8_t flag1 = addFlag1(port);
 
   // Flag2
   PxxTransport::addByte(0);
@@ -42,7 +92,7 @@ void Pxx1Pulses<PxxTransport>::add8ChannelsFrame(uint8_t port, uint8_t sendUpper
   PxxPulses<PxxTransport>::addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
 
   // Extra flags
-  PxxPulses<PxxTransport>::addExtraFlags(port);
+  addExtraFlags(port);
 
   // CRC
   addCrc();

radio/src/pulses/pxx1.h

@@ -42,6 +42,9 @@ class Pxx1Pulses: public PxxPulses<PxxTransport>
       PxxTransport::addByteWithoutCrc(PxxCrcMixin::crc);
     }
 
+    uint8_t addFlag1(uint8_t port);
+    void addExtraFlags(uint8_t port);
+
     void add8ChannelsFrame(uint8_t port, uint8_t sendUpperChannels);
 };
 

radio/src/pulses/pxx2.cpp

@@ -21,29 +21,39 @@
 #include "opentx.h"
 #include "pulses/pxx2.h"
 
-void Pxx2Pulses::setupFrame(uint8_t port)
+uint8_t Pxx2Pulses::addFlag1(uint8_t module)
+{
+  uint8_t flag1 = g_model.header.modelId[module] & 0x3F;
+  if (g_model.moduleData[module].failsafeMode != FAILSAFE_NOT_SET && g_model.moduleData[module].failsafeMode != FAILSAFE_RECEIVER) {
+    if (failsafeCounter[module]-- == 0) {
+      failsafeCounter[module] = 1000;
+      flag1 |= PXX2_FLAG1_FAILSAFE;
+    }
+  }
+  Pxx2Transport::addByte(flag1);
+  return flag1;
+}
+
+void Pxx2Pulses::setupFrame(uint8_t module)
 {
   initFrame();
 
-  static uint8_t pass[NUM_MODULES] = { MODULES_INIT(0) };
+  addFrameType(PXX2_TYPE_C_MODULE, PXX2_TYPE_ID_CHANNELS);
-  uint8_t sendUpperChannels = 0;
-  if (pass[port]++ & 0x01) {
-    sendUpperChannels = g_model.moduleData[port].channelsCount;
-  }
 
   // Model ID
-  addByte(g_model.header.modelId[port]);
+  // TODO addByte(g_model.header.modelId[port]);
 
   // Flag1
-  uint8_t flag1 = addFlag1(port);
+  uint8_t flag1 = addFlag1(module);
 
   // Flag2 = Extra flags
-  addExtraFlags(port);
+  // TODO addExtraFlags(module);
 
   // Channels
-  addChannels(port, flag1 & PXX_SEND_FAILSAFE, sendUpperChannels);
+  addChannels(module, flag1 & PXX2_FLAG1_FAILSAFE, 0);
+  addChannels(module, flag1 & PXX2_FLAG1_FAILSAFE, 1);
 
-#if defined(LUA)
+#if 0
   if (outputTelemetryBufferTrigger != 0x7E && outputTelemetryBufferSize > 0) {
     // primID (1 byte) + dataID (2 bytes) + value (4 bytes)
     addByte(outputTelemetryBufferTrigger);

radio/src/pulses/pxx2.h

@@ -23,6 +23,19 @@
 
 #include "./pxx.h"
 
+#define PXX2_TYPE_C_MODULE          0x01
+  #define PXX2_TYPE_ID_REGISTER     0x01
+  #define PXX2_TYPE_ID_BIND         0x02
+  #define PXX2_TYPE_ID_CHANNELS     0x03
+  #define PXX2_TYPE_ID_SPORT        0xFE
+
+#define PXX2_TYPE_C_POWER_METER     0x02
+
+#define PXX2_TYPE_C_OTA             0xFE
+
+#define PXX2_FLAG1_FAILSAFE         (1 << 6)
+
+
 // should not be used anymore
 class SportCrcMixin {
   protected:
@@ -67,17 +80,19 @@ class Pxx2Pulses: public PxxPulses<Pxx2Transport> {
 
       // reserve 1 byte for LEN
       Pxx2Transport::addByteWithoutCrc(0x00);
-
-      // TYPE_C + TYPE_ID
-      // TODO optimization ? Pxx2Transport::addByte(0x26); // This one is CRC-ed on purpose
     }
 
     void addFrameType(uint8_t type_c, uint8_t type_id)
     {
+      // TYPE_C + TYPE_ID
+      // TODO optimization ? Pxx2Transport::addByte(0x26); // This one is CRC-ed on purpose
+
       Pxx2Transport::addByte(type_c);
       Pxx2Transport::addByte(type_id);
     }
 
+    uint8_t addFlag1(uint8_t module);
+
     void addCrc()
     {
       Pxx2Transport::addByteWithoutCrc(PxxCrcMixin::crc >> 8);

radio/src/targets/taranis/extmodule_driver.cpp

@@ -20,8 +20,6 @@
 
 #include "opentx.h"
 
-void extmoduleSendNextFrame();
-
 void extmoduleStop()
 {
   NVIC_DisableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
@@ -98,8 +96,6 @@ void extmodulePpmStart()
   EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC2PE; // PWM mode 1
   EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
 
-  extmoduleSendNextFrame();
-
   NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
   NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
   NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
@@ -132,8 +128,6 @@ void extmoduleSerialStart(uint32_t /*baudrate*/, uint32_t period_half_us)
   EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0;
   EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
 
-  extmoduleSendNextFrame();
-
   NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
   NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
   NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);
@@ -232,8 +226,6 @@ void extmodulePxxStart()
   EXTMODULE_TIMER->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2;
   EXTMODULE_TIMER->CR1 |= TIM_CR1_CEN;
 
-  extmoduleSendNextFrame();
-
   NVIC_EnableIRQ(EXTMODULE_TIMER_DMA_STREAM_IRQn);
   NVIC_SetPriority(EXTMODULE_TIMER_DMA_STREAM_IRQn, 7);
   NVIC_EnableIRQ(EXTMODULE_TIMER_CC_IRQn);

radio/src/tasks.cpp

@@ -179,8 +179,19 @@ TASK_FUNCTION(mixerTask)
 void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
 {
   // Schedule next mixer calculation time,
+
+  if (isProtocolSynchronous(s_current_protocol[module])) {
+    nextMixerTime[module] += period_ms / RTOS_MS_PER_TICK;
+    if (nextMixerTime[module] < RTOS_GET_TIME()) {
+      // we are late ... let's add some small delay
+      nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
+    }
+  }
+  else {
     // for now assume mixer calculation takes 2 ms.
     nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK) - 1 /* 1 tick in advance*/;
+  }
+
   DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
 }