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Bsongis/modules sync issue 7288 (#7294)

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Fixes #7288
This commit is contained in:
Bertrand Songis 2020-01-13 23:43:13 +01:00 • committed by GitHub
parent 013cf6e968
commit 8c3f226a6e
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GPG key ID: 4AEE18F83AFDEB23
11 changed files with 68 additions and 63 deletions
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40
radio/src/tasks.cpp
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@ -73,9 +73,9 @@ bool isForcePowerOffRequested()
return false;
}
bool isModuleSynchronous(uint8_t module)
bool isModuleSynchronous(uint8_t moduleIdx)
{
uint8_t protocol = moduleState[module].protocol;
uint8_t protocol = moduleState[moduleIdx].protocol;
if (protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || protocol == PROTOCOL_CHANNELS_PXX2_LOWSPEED || protocol == PROTOCOL_CHANNELS_CROSSFIRE || protocol == PROTOCOL_CHANNELS_NONE)
return true;
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
@ -85,16 +85,16 @@ bool isModuleSynchronous(uint8_t module)
return false;
}
void sendSynchronousPulses()
void sendSynchronousPulses(uint8_t runMask)
{
#if defined(HARDWARE_INTERNAL_MODULE)
if (isModuleSynchronous(INTERNAL_MODULE)) {
if ((runMask & (1 << INTERNAL_MODULE)) && isModuleSynchronous(INTERNAL_MODULE)) {
if (setupPulsesInternalModule())
intmoduleSendNextFrame();
}
#endif
if (isModuleSynchronous(EXTERNAL_MODULE)) {
if ((runMask & (1 << EXTERNAL_MODULE)) && isModuleSynchronous(EXTERNAL_MODULE)) {
if (setupPulsesExternalModule())
extmoduleSendNextFrame();
}
@ -104,7 +104,6 @@ uint32_t nextMixerTime[NUM_MODULES];
TASK_FUNCTION(mixerTask)
{
static uint32_t lastRunTime;
s_pulses_paused = true;
while (true) {
@ -134,35 +133,22 @@ TASK_FUNCTION(mixerTask)
#endif
uint32_t now = RTOS_GET_MS();
bool run = false;
uint8_t runMask = 0;
if (now - lastRunTime >= 10) {
// run at least every 10ms
run = true;
}
#if defined(INTMODULE_USART) && defined(INTMODULE_HEARTBEAT)
if ((moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX1_SERIAL) && heartbeatCapture.valid && heartbeatCapture.timestamp > lastRunTime) {
run = true;
}
#endif
if (now == nextMixerTime[0]) {
run = true;
if (now >= nextMixerTime[0]) {
runMask |= (1 << 0);
}
#if NUM_MODULES >= 2
if (now == nextMixerTime[1]) {
run = true;
if (now >= nextMixerTime[1]) {
runMask |= (1 << 1);
}
#endif
if (!run) {
if (!runMask) {
continue; // go back to sleep
}
lastRunTime = now;
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();
@ -197,12 +183,12 @@ TASK_FUNCTION(mixerTask)
if (t0 > maxMixerDuration)
maxMixerDuration = t0;
sendSynchronousPulses();
sendSynchronousPulses(runMask);
}
}
}
void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms)
{
// Schedule next mixer calculation time,