PXX synchro using Hearbeat (#6482)

* [PXX] Latency using heartbeat sync optimized for X7 (stable @ 12ms)
* [PXX] Latency using heartbeat sync optimized for XLite Pro (stable @ 9ms)

radio/src/dataconstants.h

@@ -548,9 +548,14 @@ enum SwitchSources {
   SWSRC_LAST_FLIGHT_MODE = SWSRC_FIRST_FLIGHT_MODE+MAX_FLIGHT_MODES-1,
 
   SWSRC_TELEMETRY_STREAMING,
+
   SWSRC_FIRST_SENSOR,
   SWSRC_LAST_SENSOR = SWSRC_FIRST_SENSOR+MAX_TELEMETRY_SENSORS-1,
 
+#if defined(DEBUG_LATENCY)
+  SWSRC_LATENCY_TOGGLE,
+#endif
+
   SWSRC_COUNT,
 
   SWSRC_OFF = -SWSRC_ON,

radio/src/gui/128x64/view_main.cpp

@@ -530,7 +530,6 @@ void menuMainView(event_t event)
 #endif
     }
     else {
-
       // Logical Switches
       uint8_t index = 0;
       uint8_t y = LCD_H-20;
@@ -552,7 +551,7 @@ void menuMainView(event_t event)
   }
 
   // And ! in case of unexpected shutdown
-#if defined(LOG_TELEMETRY) || defined(WATCHDOG_DISABLED)
+#if defined(LOG_TELEMETRY) || defined(WATCHDOG_DISABLED) || defined(DEBUG_LATENCY)
   lcdDrawChar(REBOOT_X, 0*FH, '!', INVERS);
 #else
   if (unexpectedShutdown) {

radio/src/gui/128x64/view_statistics.cpp

@@ -100,19 +100,8 @@ void menuStatisticsView(event_t event)
 #endif
 }
 
-  #define MENU_DEBUG_COL1_OFS          (11*FW-3)
+#define MENU_DEBUG_COL1_OFS          (11*FW-3)
-  #define MENU_DEBUG_COL2_OFS          (17*FW)
+#define MENU_DEBUG_COL2_OFS          (17*FW)
-  #define MENU_DEBUG_Y_CURRENT         (1*FH)
-  #define MENU_DEBUG_ROW1              (1*FH+1)
-  #define MENU_DEBUG_ROW2              (2*FH+1)
-  #define MENU_DEBUG_Y_MAH             (2*FH)
-  #define MENU_DEBUG_Y_CPU_TEMP        (3*FH)
-  #define MENU_DEBUG_Y_COPROC          (4*FH)
-  #define MENU_DEBUG_Y_MIXMAX          (5*FH)
-  #define MENU_DEBUG_Y_RTOS            (6*FH)
-  #define MENU_DEBUG_Y_USB             (2*FH)
-  #define MENU_DEBUG_Y_LUA             (3*FH)
-  #define MENU_DEBUG_Y_FREE_RAM        (4*FH)
 
 void menuStatisticsDebug(event_t event)
 {
@@ -134,7 +123,6 @@ void menuStatisticsDebug(event_t event)
       maxMixerDuration  = 0;
       break;
 
-
     case EVT_KEY_FIRST(KEY_UP):
 #if defined(NAVIGATION_X7)
     case EVT_KEY_BREAK(KEY_PAGE):
@@ -157,83 +145,105 @@ void menuStatisticsDebug(event_t event)
 
 #if defined(PCBSKY9X)
   if ((ResetReason&RSTC_SR_RSTTYP) == (2<<8)) {
-    lcdDrawText(LCD_W-8*FW, 0*FH, "WATCHDOG");
+    lcdDrawText(LCD_W-8*FW, 0, "WATCHDOG");
   }
   else if (unexpectedShutdown) {
-    lcdDrawText(LCD_W-13*FW, 0*FH, "UNEXP.SHTDOWN");
+    lcdDrawText(LCD_W-13*FW, 0, "UNEXP.SHTDOWN");
   }
 #endif
 
+  uint8_t y = FH + 1;
+
 #if defined(TX_CAPACITY_MEASUREMENT)
   // current
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_CURRENT, STR_CPU_CURRENT);
+  lcdDrawTextAlignedLeft(y, STR_CPU_CURRENT);
-  drawValueWithUnit(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_CURRENT, getCurrent(), UNIT_MILLIAMPS, LEFT);
+  drawValueWithUnit(MENU_DEBUG_COL1_OFS, y, getCurrent(), UNIT_MILLIAMPS, LEFT);
   uint32_t current_scale = 488 + g_eeGeneral.txCurrentCalibration;
-  lcdDrawChar(MENU_DEBUG_COL2_OFS, MENU_DEBUG_Y_CURRENT, '>');
+  lcdDrawChar(MENU_DEBUG_COL2_OFS, y, '>');
-  drawValueWithUnit(MENU_DEBUG_COL2_OFS+FW+1, MENU_DEBUG_Y_CURRENT, Current_max*10*current_scale/8192, UNIT_RAW, LEFT);
+  drawValueWithUnit(MENU_DEBUG_COL2_OFS+FW+1, y, Current_max*10*current_scale/8192, UNIT_RAW, LEFT);
+  y += FH;
+
   // consumption
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_MAH, STR_CPU_MAH);
+  lcdDrawTextAlignedLeft(y, STR_CPU_MAH);
-  drawValueWithUnit(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_MAH, g_eeGeneral.mAhUsed + Current_used*current_scale/8192/36, UNIT_MAH, LEFT|PREC1);
+  drawValueWithUnit(MENU_DEBUG_COL1_OFS, y, g_eeGeneral.mAhUsed + Current_used*current_scale/8192/36, UNIT_MAH, LEFT|PREC1);
+  y += FH;
 #endif
 
 #if defined(PCBSKY9X)
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_CPU_TEMP, STR_CPU_TEMP);
+  lcdDrawTextAlignedLeft(y, STR_CPU_TEMP);
-  drawValueWithUnit(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_CPU_TEMP, getTemperature(), UNIT_TEMPERATURE, LEFT);
+  drawValueWithUnit(MENU_DEBUG_COL1_OFS, y, getTemperature(), UNIT_TEMPERATURE, LEFT);
-  lcdDrawChar(MENU_DEBUG_COL2_OFS, MENU_DEBUG_Y_CPU_TEMP, '>');
+  lcdDrawChar(MENU_DEBUG_COL2_OFS, y, '>');
-  drawValueWithUnit(MENU_DEBUG_COL2_OFS+FW+1, MENU_DEBUG_Y_CPU_TEMP, maxTemperature+g_eeGeneral.temperatureCalib, UNIT_TEMPERATURE, LEFT);
+  drawValueWithUnit(MENU_DEBUG_COL2_OFS+FW+1, y, maxTemperature+g_eeGeneral.temperatureCalib, UNIT_TEMPERATURE, LEFT);
+  y += FH;
 #endif
 
 #if defined(COPROCESSOR)
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_COPROC, STR_COPROC_TEMP);
+  lcdDrawTextAlignedLeft(y, STR_COPROC_TEMP);
-
   if (Coproc_read==0) {
-    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, "Co Proc NACK",INVERS);
+    lcdDrawText(MENU_DEBUG_COL1_OFS, y, "Co Proc NACK",INVERS);
   }
   else if (Coproc_read==0x81) {
-    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, "Inst.TinyApp",INVERS);
+    lcdDrawText(MENU_DEBUG_COL1_OFS, y, "Inst.TinyApp",INVERS);
   }
   else if (Coproc_read<3) {
-    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, "Upgr.TinyApp",INVERS);
+    lcdDrawText(MENU_DEBUG_COL1_OFS, y, "Upgr.TinyApp",INVERS);
   }
   else {
-    drawValueWithUnit(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, Coproc_temp, UNIT_TEMPERATURE, LEFT);
+    drawValueWithUnit(MENU_DEBUG_COL1_OFS, y, Coproc_temp, UNIT_TEMPERATURE, LEFT);
-    drawValueWithUnit(MENU_DEBUG_COL2_OFS, MENU_DEBUG_Y_COPROC, Coproc_maxtemp, UNIT_TEMPERATURE, LEFT);
+    drawValueWithUnit(MENU_DEBUG_COL2_OFS, y, Coproc_maxtemp, UNIT_TEMPERATURE, LEFT);
   }
+  y += FH;
 #endif
 
-#if defined(PCBTARANIS)
+#if defined(STM32) && !defined(SIMU) && defined(DEBUG)
-#if !defined(SIMU) && defined(DEBUG)
+  lcdDrawTextAlignedLeft(y, "Usb");
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_USB, "Usb");
+  lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, charsWritten, LEFT);
-  lcdDrawNumber(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_USB, charsWritten, LEFT);
+  lcdDrawText(lcdLastRightPos, y, " ");
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_USB, " ");
+  lcdDrawNumber(lcdLastRightPos, y, APP_Rx_ptr_in, LEFT);
-  lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_Y_USB, APP_Rx_ptr_in, LEFT);
+  lcdDrawText(lcdLastRightPos, y, " ");
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_USB, " ");
+  lcdDrawNumber(lcdLastRightPos, y, APP_Rx_ptr_out, LEFT);
-  lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_Y_USB, APP_Rx_ptr_out, LEFT);
+  lcdDrawText(lcdLastRightPos, y, " ");
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_USB, " ");
+  lcdDrawNumber(lcdLastRightPos, y, usbWraps, LEFT);
-  lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_Y_USB, usbWraps, LEFT);
+  y += FH;
 #endif
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_FREE_RAM, "Free Mem");
+
-  lcdDrawNumber(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_FREE_RAM, availableMemory(), LEFT);
+#if defined(STM32)
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_FREE_RAM, "b");
+  lcdDrawTextAlignedLeft(y, "Free Mem");
+  lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, availableMemory(), LEFT);
+  lcdDrawText(lcdLastRightPos, y, "b");
+  y += FH;
+#endif
+
 #if defined(LUA)
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_LUA, "Lua scripts");
+  lcdDrawTextAlignedLeft(y, "Lua scripts");
-  lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_LUA+1, "[D]", SMLSIZE);
+  lcdDrawText(MENU_DEBUG_COL1_OFS, y+1, "[D]", SMLSIZE);
-  lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_Y_LUA, 10*maxLuaDuration, LEFT);
+  lcdDrawNumber(lcdLastRightPos, y, 10*maxLuaDuration, LEFT);
-  lcdDrawText(lcdLastRightPos+2, MENU_DEBUG_Y_LUA+1, "[I]", SMLSIZE);
+  lcdDrawText(lcdLastRightPos+2, y+1, "[I]", SMLSIZE);
-  lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_Y_LUA, 10*maxLuaInterval, LEFT);
+  lcdDrawNumber(lcdLastRightPos, y, 10*maxLuaInterval, LEFT);
-#endif // LUA
+  y += FH;
-#endif // PCBTARANIS
+#endif
 
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_MIXMAX, STR_TMIXMAXMS);
+  lcdDrawTextAlignedLeft(y, STR_TMIXMAXMS);
-  lcdDrawNumber(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_MIXMAX, DURATION_MS_PREC2(maxMixerDuration), PREC2|LEFT);
+  lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, DURATION_MS_PREC2(maxMixerDuration), PREC2|LEFT);
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_MIXMAX, "ms");
+  lcdDrawText(lcdLastRightPos, y, "ms");
+  y += FH;
 
-  lcdDrawTextAlignedLeft(MENU_DEBUG_Y_RTOS, STR_FREESTACKMINB);
+  lcdDrawTextAlignedLeft(y, STR_FREE_STACK);
-  lcdDrawNumber(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_RTOS, menusStack.available(), LEFT|SMLSIZE);
+  lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, menusStack.available(), LEFT);
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_RTOS, "/");
+  lcdDrawText(lcdLastRightPos, y, "/");
-  lcdDrawNumber(lcdLastRightPos+1, MENU_DEBUG_Y_RTOS, mixerStack.available(), LEFT|SMLSIZE);
+  lcdDrawNumber(lcdLastRightPos, y, mixerStack.available(), LEFT);
-  lcdDrawText(lcdLastRightPos, MENU_DEBUG_Y_RTOS, "/");
+  lcdDrawText(lcdLastRightPos, y, "/");
-  lcdDrawNumber(lcdLastRightPos+1, MENU_DEBUG_Y_RTOS, audioStack.available(), LEFT|SMLSIZE);
+  lcdDrawNumber(lcdLastRightPos, y, audioStack.available(), LEFT);
+  y += FH;
+
+#if defined(DEBUG_LATENCY)
+  lcdDrawTextAlignedLeft(y, "Hearbeat");
+  if (heartbeatCapture.valid)
+    lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, heartbeatCapture.count, LEFT);
+  else
+    lcdDrawText(MENU_DEBUG_COL1_OFS, y, "---");
+  y += FH;
+#endif
 
   lcdDrawText(4*FW, 7*FH+1, STR_MENUTORESET);
   lcdInvertLastLine();
@@ -269,12 +279,16 @@ void menuStatisticsDebug2(event_t event)
       break;
   }
 
-  lcdDrawTextAlignedLeft(MENU_DEBUG_ROW1, "Tlm RX Err");
+  uint8_t y = FH + 1;
-  lcdDrawNumber(MENU_DEBUG_COL1_OFS, MENU_DEBUG_ROW1, telemetryErrors, RIGHT);
 
-#if defined(PCBX7)
+  lcdDrawTextAlignedLeft(y, "Tlm RX Err");
-  lcdDrawTextAlignedLeft(MENU_DEBUG_ROW2, "BT status");
+  lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, telemetryErrors, RIGHT);
-  lcdDrawNumber(MENU_DEBUG_COL1_OFS, MENU_DEBUG_ROW2, IS_BLUETOOTH_CHIP_PRESENT(), RIGHT);
+  y += FH;
+
+#if defined(BLUETOOTH)
+  lcdDrawTextAlignedLeft(y, "BT status");
+  lcdDrawNumber(MENU_DEBUG_COL1_OFS, y, IS_BLUETOOTH_CHIP_PRESENT(), RIGHT);
+  y += FH;
 #endif
 
   lcdDrawText(4*FW, 7*FH+1, STR_MENUTORESET);

radio/src/gui/212x64/view_statistics.cpp

@@ -184,7 +184,7 @@ void menuStatisticsDebug(event_t event)
   lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_ROW4, usbWraps, LEFT);
 #endif
 
-  lcdDrawTextAlignedLeft(MENU_DEBUG_ROW5, STR_FREESTACKMINB);
+  lcdDrawTextAlignedLeft(MENU_DEBUG_ROW5, STR_FREE_STACK);
   lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_ROW5+1, "[M]", SMLSIZE);
   lcdDrawNumber(lcdLastRightPos, MENU_DEBUG_ROW5, menusStack.available(), LEFT);
   lcdDrawText(lcdLastRightPos+2, MENU_DEBUG_ROW5+1, "[X]", SMLSIZE);

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

@@ -114,7 +114,7 @@ bool menuStatsDebug(event_t event)
   lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+FH, STR_TMIXMAXMS);
   lcdDrawNumber(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+FH, DURATION_MS_PREC2(maxMixerDuration), PREC2|LEFT, 0, NULL, "ms");
 
-  lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+2*FH, STR_FREESTACKMINB);
+  lcdDrawText(MENUS_MARGIN_LEFT, MENU_CONTENT_TOP+2*FH, STR_FREE_STACK);
   lcdDrawText(MENU_STATS_COLUMN1, MENU_CONTENT_TOP+2*FH+1, "[Menus]", HEADER_COLOR|SMLSIZE);
   lcdDrawNumber(lcdNextPos+5, MENU_CONTENT_TOP+2*FH, menusStack.available(), LEFT);
   lcdDrawText(lcdNextPos+20, MENU_CONTENT_TOP+2*FH+1, "[Mix]", HEADER_COLOR|SMLSIZE);

radio/src/opentx.cpp

@@ -47,6 +47,10 @@ union ReusableBuffer reusableBuffer __DMA;
 uint8_t* MSC_BOT_Data = reusableBuffer.MSC_BOT_Data;
 #endif
 
+#if defined(DEBUG_LATENCY)
+uint8_t latencyToggleSwitch = 0;
+#endif
+
 const uint8_t bchout_ar[]  = {
     0x1B, 0x1E, 0x27, 0x2D, 0x36, 0x39,
     0x4B, 0x4E, 0x63, 0x6C, 0x72, 0x78,
@@ -1339,6 +1343,19 @@ void doMixerCalculations()
   static tmr10ms_t lastTMR = 0;
 
   tmr10ms_t tmr10ms = get_tmr10ms();
+
+#if defined(DEBUG_LATENCY)
+  static tmr10ms_t lastLatencyToggle = 0;
+  if (tmr10ms - lastLatencyToggle >= 10) {
+    lastLatencyToggle = tmr10ms;
+    latencyToggleSwitch ^= 1;
+    if (latencyToggleSwitch)
+      sportUpdatePowerOn();
+    else
+      sportUpdatePowerOff();
+  }
+#endif
+
   uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
   // handle tick10ms overrun
   // correct overflow handling costs a lot of code; happens only each 11 min;

radio/src/opentx.h

@@ -1386,4 +1386,8 @@ inline bool isSimu()
 #endif
 }
 
+#if defined(DEBUG_LATENCY)
+extern uint8_t latencyToggleSwitch;
+#endif
+
 #endif // _OPENTX_H_

radio/src/pulses/pulses.cpp

@@ -272,7 +272,14 @@ void setupPulsesInternalModule(uint8_t protocol)
 #if defined(PXX2)
     case PROTOCOL_CHANNELS_PXX2:
       intmodulePulsesData.pxx2.setupFrame(INTERNAL_MODULE);
-      scheduleNextMixerCalculation(INTERNAL_MODULE, moduleState[INTERNAL_MODULE].mode == MODULE_MODE_SPECTRUM_ANALYSER || moduleState[INTERNAL_MODULE].mode == MODULE_MODE_POWER_METER ? PXX2_TOOLS_PERIOD : PXX2_PERIOD);
+      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(INTMDULE_HEARTBEAT)
+      else {
+        scheduleNextMixerCalculation(INTERNAL_MODULE, PXX2_PERIOD);
+      }
+#endif
       break;
 #endif
 

radio/src/pulses/pulses_common.h

@@ -58,8 +58,12 @@ template <class T, int SIZE>
 class PulsesBuffer: public DataBuffer<T, SIZE> {
   public:
     T getLast() {
-        return *(DataBuffer<T, SIZE>::ptr - 1);
+      return *(DataBuffer<T, SIZE>::ptr - 1);
     };
+
+    void setLast(T value) {
+      *(DataBuffer<T, SIZE>::ptr - 1) = value;
+    }
 };
 
 #endif

radio/src/pulses/pxx1.h

@@ -23,6 +23,14 @@
 
 #include "pxx.h"
 
+struct HeartbeatCapture {
+  uint32_t timestamp;
+  uint32_t count;
+  uint8_t valid;
+};
+
+extern volatile HeartbeatCapture heartbeatCapture;
+
 class Pxx1CrcMixin {
   protected:
     void initCrc()

radio/src/pulses/pxx2.cpp

@@ -60,6 +60,12 @@ void Pxx2Pulses::addChannels(uint8_t module)
   for (int8_t i = 0; i < count; i++, channel++) {
     int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
     pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
+#if defined(DEBUG_LATENCY_RF_ONLY)
+    if (latencyToggleSwitch)
+      pulseValue = 1;
+    else
+      pulseValue = 2046;
+#endif
     if (i & 1)
       addPulsesValues(pulseValueLow, pulseValue);
     else

radio/src/strhelpers.cpp

@@ -321,6 +321,11 @@ char * getSwitchString(char * dest, swsrc_t idx)
   else if (idx == SWSRC_TELEMETRY_STREAMING) {
     strcpy(s, "Tele");
   }
+#if defined(DEBUG_LATENCY)
+  else if (idx == SWSRC_LATENCY_TOGGLE) {
+    strcpy(s, "Ltc");
+  }
+#endif
   else {
     zchar2str(s, g_model.telemetrySensors[idx-SWSRC_FIRST_SENSOR].label, TELEM_LABEL_LEN);
   }

radio/src/switches.cpp

@@ -431,6 +431,11 @@ bool getSwitch(swsrc_t swtch, uint8_t flags)
   else if (cs_idx == SWSRC_ON) {
     result = true;
   }
+#if defined(DEBUG_LATENCY)
+  else if (cs_idx == SWSRC_LATENCY_TOGGLE) {
+    result = latencyToggleSwitch;
+  }
+#endif
   else if (cs_idx <= SWSRC_LAST_SWITCH) {
 #if defined(PCBTARANIS) || defined(PCBHORUS)
     if (flags & GETSWITCH_MIDPOS_DELAY)

radio/src/targets/common/arm/CMakeLists.txt

@@ -17,6 +17,7 @@ option(MULTIMODULE "DIY Multiprotocol TX Module (https://github.com/pascallanger
 option(MULTI_SPORT "SPORT telemetry support" OFF)
 option(SUPPORT_D16_EU_ONLY "XJT module only supports D16-EU and LR12-EU" OFF) # TODO rename to XJT_EU_ONLY
 option(DEBUG_INTERRUPTS "Count interrupts" OFF)
+option(DEBUG_LATENCY "Debug latency" OFF)
 option(DEBUG_USB_INTERRUPTS "Count individual USB interrupts" OFF)
 option(DEBUG_TASKS "Task switching statistics" OFF)
 option(DEBUG_TIMERS "Time critical parts of the code" OFF)
@@ -71,6 +72,17 @@ if(DEBUG_TIMERS)
   set(DEBUG ON)
 endif()
 
+if(DEBUG_LATENCY STREQUAL MIXER_RF)
+  add_definitions(-DDEBUG_LATENCY)
+  add_definitions(-DDEBUG_LATENCY_MIXER_RF)
+endif()
+
+if(DEBUG_LATENCY STREQUAL RF_ONLY)
+  add_definitions(-DDEBUG_LATENCY)
+  add_definitions(-DDEBUG_LATENCY_RF_ONLY)
+endif()
+
+
 if(CLI)
   add_definitions(-DCLI)
   set(FIRMWARE_SRC ${FIRMWARE_SRC} cli.cpp)

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

@@ -1,60 +0,0 @@
-/*
- * Copyright (C) OpenTX
- *
- * Based on code named
- *   th9x - http://code.google.com/p/th9x 
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#include "opentx.h"
-
-volatile uint32_t HearbeatCapture = 0;
-
-void init_xjt_heartbeat()
-{
-  GPIO_InitTypeDef GPIO_InitStructure;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
-  GPIO_InitStructure.GPIO_Pin = HEARTBEAT_GPIO_PIN;
-  GPIO_Init(HEARTBEAT_GPIO, &GPIO_InitStructure);
-
-  SYSCFG_EXTILineConfig(HEARTBEAT_EXTI_PortSource, HEARTBEAT_EXTI_PinSource);
-
-  EXTI_InitTypeDef EXTI_InitStructure;
-  EXTI_StructInit(&EXTI_InitStructure);
-  EXTI_InitStructure.EXTI_Line = HEARTBEAT_EXTI_LINE;
-  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
-  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
-  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
-  EXTI_Init(&EXTI_InitStructure);
-
-  NVIC_SetPriority(HEARTBEAT_EXTI_IRQn, 0); // Highest priority interrupt
-  NVIC_EnableIRQ(HEARTBEAT_EXTI_IRQn);
-}
-
-void stop_xjt_heartbeat()
-{
-  NVIC_DisableIRQ(HEARTBEAT_EXTI_IRQn);
-}
-
-extern "C" void HEARTBEAT_EXTI_IRQHandler()
-{
-  if (EXTI_GetITStatus(HEARTBEAT_EXTI_LINE) != RESET) {
-    HearbeatCapture = TIMER_2MHz_TIMER->CNT;
-    EXTI_ClearITPendingBit(HEARTBEAT_EXTI_LINE);
-  }
-}

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

@@ -0,0 +1,83 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x 
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#include "opentx.h"
+
+volatile HeartbeatCapture heartbeatCapture;
+
+#if defined(INTMODULE_HEARTBEAT_GPIO)
+void init_intmodule_heartbeat()
+{
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+  GPIO_InitStructure.GPIO_Pin = INTMODULE_HEARTBEAT_GPIO_PIN;
+  GPIO_Init(INTMODULE_HEARTBEAT_GPIO, &GPIO_InitStructure);
+
+  SYSCFG_EXTILineConfig(INTMODULE_HEARTBEAT_EXTI_PortSource, INTMODULE_HEARTBEAT_EXTI_PinSource);
+
+  EXTI_InitTypeDef EXTI_InitStructure;
+  EXTI_StructInit(&EXTI_InitStructure);
+  EXTI_InitStructure.EXTI_Line = INTMODULE_HEARTBEAT_EXTI_LINE;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+
+  NVIC_SetPriority(INTMODULE_HEARTBEAT_EXTI_IRQn, 0); // Highest priority interrupt
+  NVIC_EnableIRQ(INTMODULE_HEARTBEAT_EXTI_IRQn);
+  heartbeatCapture.valid = true;
+}
+
+void stop_intmodule_heartbeat()
+{
+  heartbeatCapture.valid = false;
+
+#if !defined(INTMODULE_HEARTBEAT_REUSE_INTERRUPT_ROTARY_ENCODER)
+  NVIC_DisableIRQ(INTMODULE_HEARTBEAT_EXTI_IRQn);
+#endif
+
+  EXTI_InitTypeDef EXTI_InitStructure;
+  EXTI_StructInit(&EXTI_InitStructure);
+  EXTI_InitStructure.EXTI_Line = INTMODULE_HEARTBEAT_EXTI_LINE;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = INTMODULE_HEARTBEAT_TRIGGER;
+  EXTI_InitStructure.EXTI_LineCmd = DISABLE;
+  EXTI_Init(&EXTI_InitStructure);
+}
+
+void check_xjt_heartbeat()
+{
+  if (EXTI_GetITStatus(INTMODULE_HEARTBEAT_EXTI_LINE) != RESET) {
+    heartbeatCapture.timestamp = TIMER_2MHz_TIMER->CNT;
+    heartbeatCapture.count++;
+    EXTI_ClearITPendingBit(INTMODULE_HEARTBEAT_EXTI_LINE);
+  }
+}
+#endif
+
+#if defined(INTMDULE_HEARTBEAT) && !defined(INTMODULE_HEARTBEAT_REUSE_INTERRUPT_ROTARY_ENCODER)
+extern "C" void INTMODULE_HEARTBEAT_EXTI_IRQHandler()
+{
+  check_xjt_heartbeat();
+}
+#endif

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

@@ -90,6 +90,10 @@ extern "C" void ROTARY_ENCODER_EXTI_IRQHandler1(void)
     EXTI_ClearITPendingBit(ROTARY_ENCODER_EXTI_LINE2);
   }
 #endif
+
+#if !defined(BOOT) && defined(INTMODULE_HEARTBEAT_REUSE_INTERRUPT_ROTARY_ENCODER)
+  check_xjt_heartbeat();
+#endif
 }
 
 #if defined(ROTARY_ENCODER_EXTI_IRQn2)

radio/src/targets/horus/hal.h

@@ -626,8 +626,9 @@
 
 // Heartbeat (not used)
 #define TRAINER_MODULE_RCC_AHB1Periph   RCC_AHB1Periph_GPIOD
-#define HEARTBEAT_GPIO                  GPIOD
+#define INTMODULE_HEARTBEAT_GPIO        GPIOD
-#define HEARTBEAT_GPIO_PIN              GPIO_Pin_12 // PD.12
+#define INTMODULE_HEARTBEAT_GPIO_PIN    GPIO_Pin_12 // PD.12
+#define INTMODULE_HEARTBEAT_TRIGGER     EXTI_Trigger_Falling
 
 // Trainer Port
 #define TRAINER_RCC_AHB1Periph          (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_DMA1)

radio/src/targets/taranis/CMakeLists.txt

@@ -255,6 +255,7 @@ set(TARGET_SRC
   trainer_driver.cpp
   ../common/arm/stm32/audio_dac_driver.cpp
   ../common/arm/stm32/adc_driver.cpp
+  ../common/arm/stm32/heartbeat_driver.cpp
   )
 
 if(PCB STREQUAL XLITE OR PCB STREQUAL XLITES)

radio/src/targets/taranis/board.cpp

@@ -362,14 +362,15 @@ void checkTrainerSettings()
         stop_trainer_ppm();
         break;
       case TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE:
-        stop_trainer_module_cppm() ;
+        stop_trainer_module_cppm();
         break;
       case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
-        stop_trainer_module_sbus() ;
+        stop_trainer_module_sbus();
         break;
 #if defined(TRAINER_BATTERY_COMPARTMENT)
       case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
         auxSerialStop();
+        break;
 #endif
     }
 
@@ -397,6 +398,11 @@ void checkTrainerSettings()
         init_trainer_capture();
         break;
     }
+
+    if (requiredTrainerMode == TRAINER_MODE_MASTER_CPPM_EXTERNAL_MODULE || requiredTrainerMode == TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE)
+      stop_intmodule_heartbeat();
+    else
+      init_intmodule_heartbeat();
   }
 }
 

radio/src/targets/taranis/board.h

@@ -270,6 +270,16 @@ void extmoduleSendNextFrame();
   #define stop_trainer_module_sbus()
 #endif
 
+#if defined(INTMODULE_HEARTBEAT_GPIO)
+void init_intmodule_heartbeat();
+void stop_intmodule_heartbeat();
+void check_xjt_heartbeat();
+#else
+#define init_intmodule_heartbeat()
+#define stop_intmodule_heartbeat()
+#define check_xjt_heartbeat()
+#endif
+
 // SBUS
 int sbusGetByte(uint8_t * byte);
 

radio/src/targets/taranis/hal.h

@@ -1164,36 +1164,80 @@
   #define SPORT_UPDATE_RCC_AHB1Periph   0
 #endif
 
-// Heartbeat for XJT synchro
+#if defined(PCBXLITES) || defined(PCBX9LITE)
-#if defined(PCBXLITE) || defined(PCBX9LITE)
+  #define INTMODULE_HEARTBEAT_TRIGGER             EXTI_Trigger_Rising
-  #define HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOD
-  #define HEARTBEAT_GPIO                GPIOD
-  #define HEARTBEAT_GPIO_PIN            GPIO_Pin_15
-  #define HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOD
-  #define HEARTBEAT_EXTI_PinSource      GPIO_PinSource15
-  #define HEARTBEAT_EXTI_LINE           EXTI_Line15
-  #define HEARTBEAT_EXTI_IRQn           EXTI15_10_IRQn
-  #define HEARTBEAT_EXTI_IRQHandler     EXTI15_10_IRQHandler
 #else
-  #define HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOC
+  #define INTMODULE_HEARTBEAT_TRIGGER             EXTI_Trigger_Falling
-  #define HEARTBEAT_GPIO                GPIOC
+#endif
-  #define HEARTBEAT_GPIO_PIN            GPIO_Pin_7
+
-  #define HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOC
+// Heartbeat for iXJT / ISRM synchro
-  #define HEARTBEAT_EXTI_PinSource      GPIO_PinSource7
+#if defined(PCBXLITE)
-  #define HEARTBEAT_EXTI_LINE           EXTI_Line7
+  #define INTMODULE_HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOD
-  #define HEARTBEAT_EXTI_IRQn           EXTI9_5_IRQn
+  #define INTMODULE_HEARTBEAT_GPIO                GPIOD
-  #define HEARTBEAT_EXTI_IRQHandler     EXTI9_5_IRQHandler
+  #define INTMODULE_HEARTBEAT_GPIO_PIN            GPIO_Pin_15
+  #define INTMODULE_HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOD
+  #define INTMODULE_HEARTBEAT_EXTI_PinSource      GPIO_PinSource15
+  #define INTMODULE_HEARTBEAT_EXTI_LINE           EXTI_Line15
+  #define INTMODULE_HEARTBEAT_EXTI_IRQn           EXTI15_10_IRQn
+  #define INTMODULE_HEARTBEAT_EXTI_IRQHandler     EXTI15_10_IRQHandler
+#elif defined(PCBX9LITE)
+  #define INTMODULE_HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOC
+  // #define INTMODULE_HEARTBEAT_GPIO                GPIOC
+  // #define INTMODULE_HEARTBEAT_GPIO_PIN            GPIO_Pin_9
+  #define INTMODULE_HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOC
+  #define INTMODULE_HEARTBEAT_EXTI_PinSource      GPIO_PinSource9
+  #define INTMODULE_HEARTBEAT_EXTI_LINE           EXTI_Line9
+  #define INTMODULE_HEARTBEAT_EXTI_IRQn           EXTI9_5_IRQn
+  #define INTMODULE_HEARTBEAT_EXTI_IRQHandler     EXTI9_5_IRQHandler
+#elif defined(RADIO_X7)
+  #define INTMODULE_HEARTBEAT_REUSE_INTERRUPT_ROTARY_ENCODER
+  #define INTMODULE_HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOC
+  #define INTMODULE_HEARTBEAT_GPIO                GPIOC
+  #define INTMODULE_HEARTBEAT_GPIO_PIN            GPIO_Pin_7
+  #define INTMODULE_HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOC
+  #define INTMODULE_HEARTBEAT_EXTI_PinSource      GPIO_PinSource7
+  #define INTMODULE_HEARTBEAT_EXTI_LINE           EXTI_Line7
+  #define INTMODULE_HEARTBEAT_EXTI_IRQn           EXTI9_5_IRQn
+#else
+  #define INTMODULE_HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOC
+  #define INTMODULE_HEARTBEAT_GPIO                GPIOC
+  #define INTMODULE_HEARTBEAT_GPIO_PIN            GPIO_Pin_7
+  #define INTMODULE_HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOC
+  #define INTMODULE_HEARTBEAT_EXTI_PinSource      GPIO_PinSource7
+  #define INTMODULE_HEARTBEAT_EXTI_LINE           EXTI_Line7
+  #define INTMODULE_HEARTBEAT_EXTI_IRQn           EXTI9_5_IRQn
+  #define INTMODULE_HEARTBEAT_EXTI_IRQHandler     EXTI9_5_IRQHandler
+#endif
+
+#if defined(PCBX9LITE)
+  #define EXTMODULE_HEARTBEAT_RCC_AHB1Periph      RCC_AHB1Periph_GPIOD
+  #define EXTMODULE_HEARTBEAT_GPIO                GPIOD
+  #define EXTMODULE_HEARTBEAT_GPIO_PIN            GPIO_Pin_15
+  #define EXTMODULE_HEARTBEAT_EXTI_PortSource     EXTI_PortSourceGPIOD
+  #define EXTMODULE_HEARTBEAT_EXTI_PinSource      GPIO_PinSource15
+  #define EXTMODULE_HEARTBEAT_EXTI_LINE           EXTI_Line15
+  #define EXTMODULE_HEARTBEAT_EXTI_IRQn           EXTI15_10_IRQn
+  #define EXTMODULE_HEARTBEAT_EXTI_IRQHandler     EXTI15_10_IRQHandler
 #endif
 
 // Trainer / Trainee from the module bay
-#if defined(PCBXLITE) || defined(PCBX9LITE)
+#if defined(PCBX9LITE)
   #define TRAINER_MODULE_CPPM
-  #define TRAINER_MODULE_RCC_AHB1Periph      RCC_AHB1Periph_GPIOD
+  #define TRAINER_MODULE_RCC_AHB1Periph      EXTMODULE_HEARTBEAT_RCC_AHB1Periph
   #define TRAINER_MODULE_RCC_APB1Periph      RCC_APB1Periph_TIM4
   #define TRAINER_MODULE_RCC_APB2Periph      0
-  #define TRAINER_MODULE_CPPM_GPIO           HEARTBEAT_GPIO
+  #define TRAINER_MODULE_CPPM_GPIO           EXTMODULE_HEARTBEAT_GPIO
-  #define TRAINER_MODULE_CPPM_GPIO_PIN       HEARTBEAT_GPIO_PIN
+  #define TRAINER_MODULE_CPPM_GPIO_PIN       EXTMODULE_HEARTBEAT_GPIO_PIN
-  #define TRAINER_MODULE_CPPM_GPIO_PinSource GPIO_PinSource15
+  #define TRAINER_MODULE_CPPM_GPIO_PinSource EXTMODULE_HEARTBEAT_EXTI_PinSource
+  #define TRAINER_MODULE_CPPM_GPIO_AF        GPIO_AF_TIM4
+#elif defined(PCBXLITE)
+  #define TRAINER_MODULE_CPPM
+  #define TRAINER_MODULE_RCC_AHB1Periph      INTMODULE_HEARTBEAT_RCC_AHB1Periph
+  #define TRAINER_MODULE_RCC_APB1Periph      RCC_APB1Periph_TIM4
+  #define TRAINER_MODULE_RCC_APB2Periph      0
+  #define TRAINER_MODULE_CPPM_GPIO           INTMODULE_HEARTBEAT_GPIO
+  #define TRAINER_MODULE_CPPM_GPIO_PIN       INTMODULE_HEARTBEAT_GPIO_PIN
+  #define TRAINER_MODULE_CPPM_GPIO_PinSource INTMODULE_HEARTBEAT_EXTI_PinSource
   #define TRAINER_MODULE_CPPM_GPIO_AF        GPIO_AF_TIM4
 #else
   #define TRAINER_MODULE_CPPM
@@ -1201,9 +1245,9 @@
   #define TRAINER_MODULE_RCC_AHB1Periph      RCC_AHB1Periph_GPIOC
   #define TRAINER_MODULE_RCC_APB2Periph      RCC_APB2Periph_USART6
   #define TRAINER_MODULE_RCC_APB1Periph      RCC_APB1Periph_TIM3
-  #define TRAINER_MODULE_CPPM_GPIO           HEARTBEAT_GPIO
+  #define TRAINER_MODULE_CPPM_GPIO           INTMODULE_HEARTBEAT_GPIO
-  #define TRAINER_MODULE_CPPM_GPIO_PIN       HEARTBEAT_GPIO_PIN
+  #define TRAINER_MODULE_CPPM_GPIO_PIN       INTMODULE_HEARTBEAT_GPIO_PIN
-  #define TRAINER_MODULE_CPPM_GPIO_PinSource GPIO_PinSource7
+  #define TRAINER_MODULE_CPPM_GPIO_PinSource INTMODULE_HEARTBEAT_EXTI_PinSource
   #define TRAINER_MODULE_SBUS_GPIO_AF        GPIO_AF_USART6
   #define TRAINER_MODULE_CPPM_GPIO_AF        GPIO_AF_TIM3
   #define TRAINER_MODULE_SBUS_USART               USART6

radio/src/targets/taranis/intmodule_pulses_driver.cpp

@@ -20,8 +20,6 @@
 
 #include "opentx.h"
 
-extern volatile uint32_t HeartbeatCapture;
-
 void intmoduleStop()
 {
   INTERNAL_MODULE_OFF();
@@ -34,17 +32,27 @@ void intmoduleStop()
   INTMODULE_TIMER->CR1 &= ~TIM_CR1_CEN;
 }
 
+#if defined(DEBUG_LATENCY)
+#define HEARBEAT_OFFSET unsigned(5500 + g_model.flightModeData[0].gvars[0] * 100)
+#else
+constexpr int HEARBEAT_OFFSET = 5500;
+#endif
+
 void intmoduleSendNextFrame()
 {
   switch (moduleState[INTERNAL_MODULE].protocol) {
 #if defined(PXX1)
     case PROTOCOL_CHANNELS_PXX1_PULSES:
     {
-#if 0
+      uint32_t last = intmodulePulsesData.pxx.getLast();
-      // TODO this will be needed if we want to use HEARTBEAT for synchro with the module
+      if (heartbeatCapture.valid) {
-      INTMODULE_TIMER->ARR = TIMER_2MHz_TIMER->CNT - HeartbeatCapture > 0x2A00 ? 17979 : 18019;
+        if (TIMER_2MHz_TIMER->CNT - heartbeatCapture.timestamp > HEARBEAT_OFFSET)
-#endif
+          last -= 21;
-      INTMODULE_TIMER->CCR2 = intmodulePulsesData.pxx.getLast() - 4000; // 2mS in advance
+        else
+          last += 19;
+        intmodulePulsesData.pxx.setLast(last);
+      }
+      INTMODULE_TIMER->CCR2 = last - 4000; // 2mS in advance
       INTMODULE_DMA_STREAM->CR &= ~DMA_SxCR_EN; // Disable DMA
       INTMODULE_DMA_STREAM->CR |= INTMODULE_DMA_CHANNEL | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PSIZE_0 | DMA_SxCR_MSIZE_0 | DMA_SxCR_PL_0 | DMA_SxCR_PL_1;
       INTMODULE_DMA_STREAM->PAR = CONVERT_PTR_UINT(&INTMODULE_TIMER->ARR);

radio/src/tasks.cpp

@@ -134,17 +134,28 @@ TASK_FUNCTION(mixerTask)
 
     uint32_t now = RTOS_GET_MS();
     bool run = false;
-    if ((now - lastRunTime) >= 10) {     // run at least every 10ms
+
+    if ((now - lastRunTime) >= 10) {
+      // run at least every 10ms
       run = true;
     }
-    else if (now == nextMixerTime[0]) {
+
-      run = true;
+#if defined(PXX2) && defined(INTMDULE_HEARTBEAT)
-    }
+    if (moduleState[0].protocol == PROTOCOL_CHANNELS_PXX2 && heartbeatCapture.valid && heartbeatCapture.timestamp > lastRunTime) {
-#if NUM_MODULES >= 2
-    else if (now == nextMixerTime[1]) {
       run = true;
     }
 #endif
+
+    if (now == nextMixerTime[0]) {
+      run = true;
+    }
+
+#if NUM_MODULES >= 2
+    if (now == nextMixerTime[1]) {
+      run = true;
+    }
+#endif
+
     if (!run) {
       continue;  // go back to sleep
     }

radio/src/translations.cpp

@@ -210,7 +210,7 @@ const char STR_TX[] = TR_TXnRX;
 const char STR_NODATA[] = TR_NODATA;
 const char STR_US[] = TR_US;
 const char STR_TMIXMAXMS[] = TR_TMIXMAXMS;
-const char STR_FREESTACKMINB[] = TR_FREESTACKMINB;
+const char STR_FREE_STACK[] = TR_FREE_STACK;
 const char STR_MENUTORESET[] = TR_MENUTORESET;
 const char STR_PPM_TRAINER[] = TR_PPM_TRAINER;
 const char STR_CH[] = TR_CH;

radio/src/translations.h

@@ -333,7 +333,7 @@ extern const char STR_TX[];
 extern const char STR_NODATA[];
 extern const char STR_US[];
 extern const char STR_TMIXMAXMS[];
-extern const char STR_FREESTACKMINB[];
+extern const char STR_FREE_STACK[];
 extern const char STR_MENUTORESET[];
 extern const char STR_PPM_TRAINER[];
 extern const char STR_CH[];

radio/src/translations/cz.h.txt

@@ -639,7 +639,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS                "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS                 "Tmix max"
-#define TR_FREESTACKMINB             "Free Stack"
+#define TR_FREE_STACK             "Free stack"
 #define TR_MENUTORESET                 CENTER TR_ENTER" >> Reset"
 #define TR_PPM_TRAINER                 "TR"
 #define TR_CH                          "CH"

radio/src/translations/de.h.txt

@@ -648,7 +648,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "Tmix max"
-#define TR_FREESTACKMINB     "Freier Stack"
+#define TR_FREE_STACK     "Freier Stack"
 #define TR_MENUTORESET         CENTER TR_ENTER " für Reset"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "CH"

radio/src/translations/en.h.txt

@@ -643,7 +643,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS                "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS                 "Tmix max"
-#define TR_FREESTACKMINB             "Free Stack"
+#define TR_FREE_STACK             "Free stack"
 #define TR_MENUTORESET                 CENTER TR_ENTER " to reset"
 #define TR_PPM_TRAINER                 "TR"
 #define TR_CH                          "CH"

radio/src/translations/es.h.txt

@@ -653,7 +653,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "Tmix max"
-#define TR_FREESTACKMINB     "Free Stack"
+#define TR_FREE_STACK     "Free stack"
 #define TR_MENUTORESET         CENTER TR_ENTER "Resetear"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "CH"

radio/src/translations/fi.h.txt

@@ -646,7 +646,7 @@
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 
   #define TR_TMIXMAXMS         "Tmix max"
-  #define TR_FREESTACKMINB     "Free Stack"
+  #define TR_FREE_STACK     "Free stack"
 
 #define TR_MENUTORESET         CENTER TR_ENTER " to reset"
 #define TR_PPM_TRAINER         "TR"

radio/src/translations/fr.h.txt

@@ -657,7 +657,7 @@
 #define TR_TMR1JITTERUS                "Tmr1 Jitter\037\124us"
 
   #define TR_TMIXMAXMS                 "Tmix max"
-  #define TR_FREESTACKMINB             "Free Stack"
+  #define TR_FREE_STACK             "Free stack"
 
 #define TR_MENUTORESET                 CENTER TR_ENTER" pour reset"
 #define TR_PPM_TRAINER                 "TR"

radio/src/translations/it.h.txt

@@ -656,7 +656,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "Tmix max"
-#define TR_FREESTACKMINB     "Free Stack"
+#define TR_FREE_STACK     "Free stack"
 #define TR_MENUTORESET         CENTER TR_ENTER" x Azzerare"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "CH"

radio/src/translations/nl.h.txt

@@ -642,7 +642,7 @@ TR_GYR_VSRCRAW
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "Tmix max"
-#define TR_FREESTACKMINB     "Free Stack"
+#define TR_FREE_STACK     "Free stack"
 #define TR_MENUTORESET         CENTER TR_ENTER" voor Reset"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "CH"

radio/src/translations/pl.h.txt

@@ -656,7 +656,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "TmixMaks"
-#define TR_FREESTACKMINB     "Wolny stos"
+#define TR_FREE_STACK     "Wolny stos"
 #define TR_MENUTORESET         CENTER TR_ENTER " >> Reset"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "KN"

radio/src/translations/pt.h.txt

@@ -638,7 +638,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "Tmix max"
-#define TR_FREESTACKMINB     "Free Stack"
+#define TR_FREE_STACK     "Free stack"
 #define TR_MENUTORESET         CENTER TR_ENTER" Reinicia"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "CH"

radio/src/translations/se.h.txt

@@ -655,7 +655,7 @@
 #define TR_US                         "us"
 #define TR_TMR1JITTERUS        "Tmr1 Jitter\037\124us"
 #define TR_TMIXMAXMS         "Tmix max"
-#define TR_FREESTACKMINB     "Free Stack"
+#define TR_FREE_STACK     "Free stack"
 #define TR_MENUTORESET         CENTER TR_ENTER " Nollar"
 #define TR_PPM_TRAINER         "TR"
 #define TR_CH                  "KN"