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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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2
radio/src/gui/480x272/menus.h
View file

@ -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,

5
radio/src/main.cpp
View file

@ -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();

4
radio/src/opentx.h
View file

@ -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();

7
radio/src/pulses/modules_helpers.h
View file

@ -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()

37
radio/src/pulses/pulses.cpp
View file

@ -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 true;
return setupPulsesExternalModule(protocol);
}
}

20
radio/src/pulses/pxx1.cpp
View file

@ -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)) {
int channel = g_model.moduleData[port].channelsStart + i;
else if (i < sentModulePXXChannels(moduleIdx)) {
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;

4
radio/src/pulses/pxx1.h
View file

@ -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;
};

2
radio/src/storage/storage_common.cpp
View file

@ -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

6
radio/src/targets/common/arm/stm32/heartbeat_driver.cpp
View file

@ -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);
}
}

40
radio/src/tasks.cpp
View file

@ -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,