Bsongis/modules sync issue 7288 (#7294)

Fixes #7288

radio/src/gui/480x272/menus.h

@@ -192,7 +192,7 @@ extern const MenuHandlerFunc menuTabModel[MENU_MODEL_PAGES_COUNT];
 enum EnumTabRadio {
   MENU_RADIO_SETUP,
   MENU_RADIO_SD_MANAGER,
-#if defined(LUA) || defined(PXX2)
+#if defined(LUA) || defined(PXX2) || defined(MULTIMODULE)
   MENU_RADIO_TOOLS,
 #endif
   MENU_RADIO_SPECIAL_FUNCTIONS,

radio/src/gui/480x272/view_statistics.cpp

@@ -27,7 +27,7 @@
 
 bool menuStatsGraph(event_t event)
 {
-  switch(event) {
+  switch (event) {
     case EVT_KEY_LONG(KEY_ENTER):
       g_eeGeneral.globalTimer = 0;
       storageDirty(EE_GENERAL);

radio/src/main.cpp

@@ -169,6 +169,7 @@ void checkEeprom()
 {
 #if defined(RTC_BACKUP_RAM) && !defined(SIMU)
   if (TIME_TO_BACKUP_RAM()) {
+    if (!globalData.unexpectedShutdown)
       rambackupWrite();
     rambackupDirtyMsk = 0;
   }
@@ -486,10 +487,10 @@ void perMain()
   periodicTick();
   DEBUG_TIMER_STOP(debugTimerPerMain1);
 
-  if (mainRequestFlags & (1 << REQUEST_FLIGHT_RESET)) {
+  if (mainRequestFlags & (1u << REQUEST_FLIGHT_RESET)) {
     TRACE("Executing requested Flight Reset");
     flightReset();
-    mainRequestFlags &= ~(1 << REQUEST_FLIGHT_RESET);
+    mainRequestFlags &= ~(1u << REQUEST_FLIGHT_RESET);
   }
 
   checkBacklight();

radio/src/opentx.h

@@ -488,10 +488,12 @@ extern uint8_t flightModeTransitionLast;
   #define availableMemory() ((unsigned int)((unsigned char *)&_heap_end - heap))
 #endif
 
+extern uint32_t nextMixerTime[NUM_MODULES];
+
 void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
 void evalMixes(uint8_t tick10ms);
 void doMixerCalculations();
-void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms);
+void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms);
 
 void checkTrims();
 void perMain();

radio/src/pulses/modules_helpers.h

@@ -345,6 +345,11 @@ inline int8_t defaultModuleChannels_M8(uint8_t idx)
     return maxModuleChannels_M8(idx);
 }
 
+inline uint8_t sentModulePXXChannels(uint8_t idx)
+{
+  return 8 + g_model.moduleData[idx].channelsCount;
+}
+
 inline int8_t sentModuleChannels(uint8_t idx)
 {
   if (isModuleCrossfire(idx))
@@ -354,7 +359,7 @@ inline int8_t sentModuleChannels(uint8_t idx)
   else if (isModuleSBUS(idx))
     return 16;
   else
-    return 8 + g_model.moduleData[idx].channelsCount;
+    return sentModulePXXChannels(idx);
 }
 
 inline bool isDefaultModelRegistrationID()

radio/src/pulses/pulses.cpp

@@ -219,21 +219,21 @@ void enablePulsesExternalModule(uint8_t protocol)
   }
 }
 
-void setupPulsesExternalModule(uint8_t protocol)
+bool setupPulsesExternalModule(uint8_t protocol)
 {
   switch (protocol) {
 #if defined(PXX1)
     case PROTOCOL_CHANNELS_PXX1_PULSES:
       extmodulePulsesData.pxx.setupFrame(EXTERNAL_MODULE);
       scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
     case PROTOCOL_CHANNELS_PXX1_SERIAL:
       extmodulePulsesData.pxx_uart.setupFrame(EXTERNAL_MODULE);
       scheduleNextMixerCalculation(EXTERNAL_MODULE, EXTMODULE_PXX1_SERIAL_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(PXX2)
@@ -241,14 +241,14 @@ void setupPulsesExternalModule(uint8_t protocol)
     case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
       extmodulePulsesData.pxx2.setupFrame(EXTERNAL_MODULE);
       scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX2_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(SBUS)
     case PROTOCOL_CHANNELS_SBUS:
       setupPulsesSbus();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, SBUS_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(DSM2)
@@ -257,32 +257,33 @@ void setupPulsesExternalModule(uint8_t protocol)
     case PROTOCOL_CHANNELS_DSM2_DSMX:
       setupPulsesDSM2();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, DSM2_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(CROSSFIRE)
     case PROTOCOL_CHANNELS_CROSSFIRE:
       setupPulsesCrossfire();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(MULTIMODULE)
     case PROTOCOL_CHANNELS_MULTIMODULE:
       setupPulsesMultiExternalModule();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
-      break;
+      return true;
 #endif
 
 #if defined(PPM)
     case PROTOCOL_CHANNELS_PPM:
       setupPulsesPPMExternalModule();
       scheduleNextMixerCalculation(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
-      break;
+      return true;
 #endif
 
     default:
-      break;
+      scheduleNextMixerCalculation(EXTERNAL_MODULE, 50/*ms*/);
+      return false;
   }
 }
 
@@ -338,7 +339,9 @@ bool setupPulsesInternalModule(uint8_t protocol)
 #if defined(PXX1) && defined(INTMODULE_USART)
     case PROTOCOL_CHANNELS_PXX1_SERIAL:
       intmodulePulsesData.pxx_uart.setupFrame(INTERNAL_MODULE);
-#if !defined(INTMODULE_HEARTBEAT)
+#if defined(INTMODULE_HEARTBEAT)
+      scheduleNextMixerCalculation(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD + 1 /* backup */);
+#else
       scheduleNextMixerCalculation(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
 #endif
       return true;
@@ -351,11 +354,13 @@ bool setupPulsesInternalModule(uint8_t protocol)
       if (moduleState[INTERNAL_MODULE].mode == MODULE_MODE_SPECTRUM_ANALYSER || moduleState[INTERNAL_MODULE].mode == MODULE_MODE_POWER_METER) {
         scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_TOOLS_PERIOD);
       }
-#if !defined(INTMODULE_HEARTBEAT)
       else {
+#if defined(INTMODULE_HEARTBEAT)
+        scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_PERIOD + 1 /* backup */);
+#else
         scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_PERIOD);
-      }
 #endif
+      }
       return result;
     }
 #endif
@@ -375,7 +380,8 @@ bool setupPulsesInternalModule(uint8_t protocol)
 #endif
 
     default:
-      return true;
+      scheduleNextMixerCalculation(INTERNAL_MODULE, 50/*ms*/);
+      return false;
   }
 }
 
@@ -410,8 +416,7 @@ bool setupPulsesExternalModule()
     return false;
   }
   else {
-    setupPulsesExternalModule(protocol);
+    return setupPulsesExternalModule(protocol);
-    return true;
   }
 }
 

radio/src/pulses/pxx1.cpp

@@ -69,17 +69,17 @@ void Pxx1Pulses<PxxTransport>::addExtraFlags(uint8_t module)
 }
 
 template <class PxxTransport>
-void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, uint8_t sendUpperChannels)
+void Pxx1Pulses<PxxTransport>::addChannels(uint8_t moduleIdx, uint8_t sendFailsafe, uint8_t sendUpperChannels)
 {
   uint16_t pulseValue = 0;
   uint16_t pulseValueLow = 0;
 
-  for (int8_t i=0; i<8; i++) {
+  for (uint8_t i = 0; i < 8; i++) {
     if (sendFailsafe) {
-      if (g_model.moduleData[port].failsafeMode == FAILSAFE_HOLD) {
+      if (g_model.moduleData[moduleIdx].failsafeMode == FAILSAFE_HOLD) {
         pulseValue = (i < sendUpperChannels ? 4095 : 2047);
       }
-      else if (g_model.moduleData[port].failsafeMode == FAILSAFE_NOPULSES) {
+      else if (g_model.moduleData[moduleIdx].failsafeMode == FAILSAFE_NOPULSES) {
         pulseValue = (i < sendUpperChannels ? 2048 : 0);
       }
       else {
@@ -92,7 +92,7 @@ void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, u
             pulseValue = 2048;
           }
           else {
-            failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
+            failsafeValue += 2*PPM_CH_CENTER(8+g_model.moduleData[moduleIdx].channelsStart+i) - 2*PPM_CENTER;
             pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
           }
         }
@@ -105,7 +105,7 @@ void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, u
             pulseValue = 0;
           }
           else {
-            failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - 2*PPM_CENTER;
+            failsafeValue += 2*PPM_CH_CENTER(g_model.moduleData[moduleIdx].channelsStart+i) - 2*PPM_CENTER;
             pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
           }
         }
@@ -113,12 +113,12 @@ void Pxx1Pulses<PxxTransport>::addChannels(uint8_t port, uint8_t sendFailsafe, u
     }
     else {
       if (i < sendUpperChannels) {
-        int channel = 8 + g_model.moduleData[port].channelsStart + i;
+        int channel = 8 + g_model.moduleData[moduleIdx].channelsStart + i;
         int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
         pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
       }
-      else if (i < sentModuleChannels(port)) {
+      else if (i < sentModulePXXChannels(moduleIdx)) {
-        int channel = g_model.moduleData[port].channelsStart + i;
+        int channel = g_model.moduleData[moduleIdx].channelsStart + i;
         int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
         pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
       }
@@ -186,7 +186,7 @@ void Pxx1Pulses<PxxTransport>::setupFrame(uint8_t module)
       moduleState[module].counter = 1000;
     }
     add8ChannelsFrame(module, 0, sendFailsafe);
-    if (sentModuleChannels(module) > 8) {
+    if (sentModulePXXChannels(module) > 8) {
       add8ChannelsFrame(module, 8, sendFailsafe);
     }
     return;

radio/src/pulses/pxx1.h

@@ -25,8 +25,12 @@
 #include "crc.h"
 
 struct HeartbeatCapture {
+#if !defined(INTMODULE_USART)
   uint32_t timestamp;
+#endif
+#if defined(DEBUG_LATENCY)
   uint32_t count;
+#endif
   uint8_t valid;
 };
 

radio/src/storage/storage_common.cpp

@@ -25,7 +25,7 @@ uint8_t   storageDirtyMsk;
 tmr10ms_t storageDirtyTime10ms;
 
 #if defined(RTC_BACKUP_RAM)
-uint8_t   rambackupDirtyMsk;
+uint8_t   rambackupDirtyMsk = EE_GENERAL | EE_MODEL;
 tmr10ms_t rambackupDirtyTime10ms;
 #endif
 

radio/src/targets/common/arm/stm32/heartbeat_driver.cpp

@@ -20,9 +20,9 @@
 
 #include "opentx.h"
 
+#if defined(INTMODULE_HEARTBEAT_GPIO)
 volatile HeartbeatCapture heartbeatCapture;
 
-#if defined(INTMODULE_HEARTBEAT_GPIO)
 void init_intmodule_heartbeat()
 {
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -69,11 +69,13 @@ void check_intmodule_heartbeat()
 {
   if (EXTI_GetITStatus(INTMODULE_HEARTBEAT_EXTI_LINE) != RESET) {
 #if defined(INTMODULE_USART)
-    heartbeatCapture.timestamp = RTOS_GET_MS();
+    nextMixerTime[INTERNAL_MODULE] = RTOS_GET_MS();
 #else
     heartbeatCapture.timestamp = getTmr2MHz();
 #endif
+#if defined(DEBUG_LATENCY)
     heartbeatCapture.count++;
+#endif
     EXTI_ClearITPendingBit(INTMODULE_HEARTBEAT_EXTI_LINE);
   }
 }

radio/src/tasks.cpp

@@ -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) {
+    if (now >= nextMixerTime[0]) {
-      // run at least every 10ms
+      runMask |= (1 << 0);
-      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 NUM_MODULES >= 2
-    if (now == nextMixerTime[1]) {
+    if (now >= nextMixerTime[1]) {
-      run = true;
+      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,