WiP

radio/src/pulses/pulses.cpp

@@ -163,12 +163,14 @@ void enablePulsesExternalModule(uint8_t protocol)
 #if defined(PXX1)
     case PROTOCOL_CHANNELS_PXX1_PULSES:
       extmodulePxx1PulsesStart();
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
       break;
 #endif
 
 #if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
     case PROTOCOL_CHANNELS_PXX1_SERIAL:
       extmodulePxx1SerialStart();
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, EXTMODULE_PXX1_SERIAL_PERIOD);
       break;
 #endif
 
@@ -176,41 +178,48 @@ void enablePulsesExternalModule(uint8_t protocol)
     case PROTOCOL_CHANNELS_DSM2_LP45:
     case PROTOCOL_CHANNELS_DSM2_DSM2:
     case PROTOCOL_CHANNELS_DSM2_DSMX:
-      extmoduleSerialStart(DSM2_BAUDRATE, DSM2_PERIOD * 2000, false);
+      extmoduleSerialStart(DSM2_BAUDRATE, DSM2_PERIOD * 2, false);
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, DSM2_PERIOD);
       break;
 #endif
 
 #if defined(CROSSFIRE)
     case PROTOCOL_CHANNELS_CROSSFIRE:
       EXTERNAL_MODULE_ON();
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
       break;
 #endif
 
 #if defined(PXX2) && defined(EXTMODULE_USART)
     case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
       extmoduleInvertedSerialStart(PXX2_HIGHSPEED_BAUDRATE);
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX2_PERIOD);
       break;
 
     case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
       extmoduleInvertedSerialStart(PXX2_LOWSPEED_BAUDRATE);
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, PXX2_PERIOD);
       break;
 #endif
 
 #if defined(MULTIMODULE)
     case PROTOCOL_CHANNELS_MULTIMODULE:
-      extmoduleSerialStart(MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000, true);
+      extmoduleSerialStart(MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2, true);
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, 6666/*MULTIMODULE_PERIOD*/);
       break;
 #endif
 
 #if defined(SBUS)
     case PROTOCOL_CHANNELS_SBUS:
       extmoduleSerialStart(SBUS_BAUDRATE, SBUS_PERIOD_HALF_US, false);
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, SBUS_PERIOD);
       break;
 #endif
 
 #if defined(PPM)
     case PROTOCOL_CHANNELS_PPM:
       extmodulePpmStart();
+      mixerSchedulerSetPeriod(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
       break;
 #endif
 
@@ -295,12 +304,24 @@ static void enablePulsesInternalModule(uint8_t protocol)
 #if defined(PXX1) && !defined(INTMODULE_USART)
     case PROTOCOL_CHANNELS_PXX1_PULSES:
       intmodulePxx1PulsesStart();
+#if defined(INTMODULE_HEARTBEAT)
+      mixerSchedulerStop();
+#else
+      mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
+      mixerSchedulerStart();
+#endif
       break;
 #endif
 
 #if defined(PXX1) && defined(INTMODULE_USART)
     case PROTOCOL_CHANNELS_PXX1_SERIAL:
       intmodulePxx1SerialStart();
+#if defined(INTMODULE_HEARTBEAT)
+      mixerSchedulerStop();
+#else
+      mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX1_SERIAL_PERIOD);
+      mixerSchedulerStart();
+#endif
       break;
 #endif
 
@@ -310,6 +331,13 @@ static void enablePulsesInternalModule(uint8_t protocol)
 #if defined(HARDWARE_INTERNAL_MODULE) && defined(INTERNAL_MODULE_PXX2) && defined(ACCESS_LIB)
       globalData.authenticationCount = 0;
 #endif
+
+#if defined(INTMODULE_HEARTBEAT)
+      mixerSchedulerStop();
+#else
+      mixerSchedulerSetPeriod(INTERNAL_MODULE, INTMODULE_PXX2_PERIOD);
+      mixerSchedulerStart();
+#endif
       break;
 #endif
 
@@ -317,6 +345,7 @@ static void enablePulsesInternalModule(uint8_t protocol)
     case PROTOCOL_CHANNELS_MULTIMODULE:
       intmodulePulsesData.multi.initFrame();
       intmoduleSerialStart(MULTIMODULE_BAUDRATE, true, USART_Parity_Even, USART_StopBits_2, USART_WordLength_9b);
+      mixerSchedulerSetPeriod(INTERNAL_MODULE, MULTIMODULE_PERIOD);
       break;
 #endif
     default:

radio/src/pulses/pulses.h

@@ -232,14 +232,14 @@ typedef Dsm2TimerPulsesData Dsm2PulsesData;
 #endif
 
 #define PPM_PERIOD_HALF_US(module)   ((g_model.moduleData[module].ppm.frameLength * 5 + 225) * 200) /*half us*/
-#define PPM_PERIOD(module)           (PPM_PERIOD_HALF_US(module) / 2000) /*ms*/
+#define PPM_PERIOD(module)           (PPM_PERIOD_HALF_US(module) / 2) /*us*/
 #define DSM2_BAUDRATE                125000
-#define DSM2_PERIOD                  22 /*ms*/
+#define DSM2_PERIOD                  22000 /*us*/
 #define SBUS_BAUDRATE                100000
 #define SBUS_PERIOD_HALF_US          ((g_model.moduleData[EXTERNAL_MODULE].sbus.refreshRate * 5 + 225) * 200) /*half us*/
-#define SBUS_PERIOD                  (SBUS_PERIOD_HALF_US / 2000) /*ms*/
+#define SBUS_PERIOD                  (SBUS_PERIOD_HALF_US / 2) /*us*/
 #define MULTIMODULE_BAUDRATE         100000
-#define MULTIMODULE_PERIOD           7 /*ms*/
+#define MULTIMODULE_PERIOD           7000 /*us*/
 
 #define CROSSFIRE_FRAME_MAXLEN         64
 PACK(struct CrossfirePulsesData {

radio/src/pulses/pxx.h

@@ -29,20 +29,20 @@
 
 #define PXX2_LOWSPEED_BAUDRATE             230400
 #define PXX2_HIGHSPEED_BAUDRATE            450000
-#define PXX2_PERIOD                        4 // 4ms
+#define PXX2_PERIOD                        4000/*us*/
-#define PXX2_TOOLS_PERIOD                  1 // 1ms
+#define PXX2_TOOLS_PERIOD                  1000/*us*/
 #define PXX2_FRAME_MAXLENGTH               64
 
-#define PXX_PULSES_PERIOD                  9/*ms*/
+#define PXX_PULSES_PERIOD                  9000/*us*/
-#define EXTMODULE_PXX1_SERIAL_PERIOD       4/*ms*/
+#define EXTMODULE_PXX1_SERIAL_PERIOD       4000/*us*/
 #define EXTMODULE_PXX1_SERIAL_BAUDRATE     420000
 
 #if defined(PXX_FREQUENCY_HIGH)
   #define INTMODULE_PXX1_SERIAL_BAUDRATE   450000
-  #define INTMODULE_PXX1_SERIAL_PERIOD     4/*ms*/
+  #define INTMODULE_PXX1_SERIAL_PERIOD     4000/*us*/
 #else
   #define INTMODULE_PXX1_SERIAL_BAUDRATE   115200
-  #define INTMODULE_PXX1_SERIAL_PERIOD     9/*ms*/
+  #define INTMODULE_PXX1_SERIAL_PERIOD     9000/*us*/
 #endif
 
 // Used by the Sky9x family boards

radio/src/rtos.h

@@ -78,7 +78,8 @@ extern "C++" {
 
   static inline void RTOS_CREATE_FLAG(uint32_t &flag)
   {
-    flag = 0; // TODO: real flags (use semaphores?)
+    //TODO: use pthread condition
+    flag = 0;
   }
 
   static inline void RTOS_SET_FLAG(uint32_t &flag)
@@ -86,6 +87,14 @@ extern "C++" {
     flag = 1;
   }
 
+  static inline void RTOS_CLEAR_FLAG(uint32_t &flag)
+  {
+    flag = 0;
+  }
+
+  //TODO: #define RTOS_WAIT_FLAG(flag, timeout)
+  #define RTOS_ISR_SET_FLAG RTOS_SET_FLAG
+
   template<int SIZE>
   class FakeTaskStack
   {
@@ -146,6 +155,7 @@ template<int SIZE>
   {
     return (uint32_t)(simuTimerMicros() / 1000);
   }
+  
 #elif defined(RTOS_COOS)
 #ifdef __cplusplus
   extern "C" {
@@ -233,6 +243,15 @@ template<int SIZE>
   #define RTOS_CLEAR_FLAG(flag)         (void)CoClearFlag(flag)
   #define RTOS_WAIT_FLAG(flag,timeout)  (void)CoWaitForSingleFlag(flag,timeout)
 
+  static inline void RTOS_ISR_SET_FLAG(RTOS_FLAG_HANDLE flag)
+  {
+    CoEnterISR();
+    CoSchedLock();
+    isr_SetFlag(flag);
+    CoSchedUnlock();
+    CoExitISR();
+  }
+  
 #ifdef __cplusplus
   template<int SIZE>
   class TaskStack

radio/src/targets/common/arm/stm32/board_common.h

@@ -148,4 +148,6 @@ void delay_ms(uint32_t ms);
   GPIO_Init(GPIO, &GPIO_InitStructure); \
   GPIO_SetBits(GPIO, KEYS_ ## GPIO ## _PINS)
 
+#include "mixer_scheduler_driver.h"
+
 #endif

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

@@ -65,6 +65,9 @@ void stop_intmodule_heartbeat()
   EXTI_Init(&EXTI_InitStructure);
 }
 
+// from mixer_scheduler_driver
+void mixerScheduleISRTrigger();
+
 void check_intmodule_heartbeat()
 {
   if (EXTI_GetITStatus(INTMODULE_HEARTBEAT_EXTI_LINE) != RESET) {
@@ -75,6 +78,8 @@ void check_intmodule_heartbeat()
 #endif
     heartbeatCapture.count++;
     EXTI_ClearITPendingBit(INTMODULE_HEARTBEAT_EXTI_LINE);
+
+    mixerScheduleISRTrigger();
   }
 }
 #endif

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

@@ -20,20 +20,51 @@
 
 #include "opentx.h"
 
+#define MIXER_SCHEDULER_DEFAULT_PERIOD_US 4000u // 4ms
+
+// Global trigger flag
 RTOS_FLAG_HANDLE mixerFlag;
 
+// Mixer schedule
+struct MixerSchedule {
+
+    // period in us
+    volatile uint16_t period;
+};
+
+static MixerSchedule mixerSchedules[NUM_MODULES];
+
+static inline uint32_t getSchedulePeriod()
+{
+    if (mixerSchedules[INTERNAL_MODULE].period) {
+        return mixerSchedules[INTERNAL_MODULE].period;
+    }
+    else if (mixerSchedules[EXTERNAL_MODULE].period) {
+        return mixerSchedules[EXTERNAL_MODULE].period;
+    }
+    
+    return MIXER_SCHEDULER_DEFAULT_PERIOD_US;
+}
+
 void mixerSchedulerInit()
 {
     RTOS_CREATE_FLAG(mixerFlag);
+    memset(mixerSchedules, 0, sizeof(mixerSchedules));
 }
 
-void mixerSchedulerStart(uint16_t periodUs)
+void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs)
+{
+    mixerSchedules[moduleIdx].period = periodUs;
+}
+
+// Start scheduler with default period
+void mixerSchedulerStart()
 {
     MIXER_SCHEDULER_TIMER->CR1   = TIM_CR1_URS; // do not generate interrupt on soft update
-    MIXER_SCHEDULER_TIMER->PSC   = INTMODULE_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
+    MIXER_SCHEDULER_TIMER->PSC   = MIXER_SCHEDULER_TIMER_FREQ / 2000000 - 1; // 0.5uS (2Mhz)
     MIXER_SCHEDULER_TIMER->CCER  = 0;
     MIXER_SCHEDULER_TIMER->CCMR1 = 0;
-    MIXER_SCHEDULER_TIMER->ARR   = 2 * periodUs - 1;
+    MIXER_SCHEDULER_TIMER->ARR   = 2 * getSchedulePeriod() - 1;
     MIXER_SCHEDULER_TIMER->EGR   = TIM_EGR_UG;   // reset timer
 
     NVIC_EnableIRQ(MIXER_SCHEDULER_TIMER_IRQn);
@@ -66,15 +97,19 @@ void mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
     RTOS_WAIT_FLAG(mixerFlag, timeoutMs);
 }
 
+void mixerScheduleISRTrigger()
+{
+    RTOS_ISR_SET_FLAG(mixerFlag);
+}
+
 extern "C" void MIXER_SCHEDULER_TIMER_IRQHandler(void)
 {
     MIXER_SCHEDULER_TIMER->SR &= ~TIM_SR_UIF; // clear flag
     mixerSchedulerDisableTrigger();
 
+    // set next period
+    MIXER_SCHEDULER_TIMER->ARR = 2 * getSchedulePeriod() - 1;
+
     // trigger mixer start
-    CoEnterISR();
+    mixerScheduleISRTrigger();
-    CoSchedLock();
-    isr_SetFlag(mixerFlag);
-    CoSchedUnlock();
-    CoExitISR();
 }

radio/src/targets/common/arm/stm32/mixer_scheduler_driver.h

@@ -0,0 +1,45 @@
+/*
+ * 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.
+ */
+
+#ifndef _MIXER_SCHEDULER_DRIVER_H_
+#define _MIXER_SCHEDULER_DRIVER_H_
+
+// Call once to initialize the mixer scheduler
+void mixerSchedulerInit();
+
+// Configure and start the scheduler timer
+void mixerSchedulerStart();
+
+// Stop the scheduler timer
+void mixerSchedulerStop();
+
+// Set the scheduling period for a given module
+void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs);
+
+// Wait for the scheduler timer to trigger
+void mixerSchedulerWaitForTrigger(uint8_t timeoutMs);
+
+// Enable the timer trigger
+void mixerSchedulerEnableTrigger();
+
+// Disable the timer trigger
+void mixerSchedulerDisableTrigger();
+
+#endif

radio/src/targets/horus/CMakeLists.txt

@@ -190,7 +190,7 @@ set(TARGET_SRC
   led_driver.cpp
   extmodule_driver.cpp
   trainer_driver.cpp
-  mixer_scheduler_driver.cpp
+  ../common/arm/stm32/mixer_scheduler_driver.cpp
   ../common/arm/stm32/heartbeat_driver.cpp
   ../common/arm/stm32/timers_driver.cpp
   ../common/arm/stm32/intmodule_serial_driver.cpp

radio/src/targets/horus/board.h

@@ -190,14 +190,6 @@ void stop_trainer_ppm();
 void init_trainer_capture();
 void stop_trainer_capture();
 
-// Mixer scheduler driver
-void mixerSchedulerInit();
-void mixerSchedulerStart(uint16_t periodUs);
-void mixerSchedulerStop();
-void mixerSchedulerWaitForTrigger(uint8_t timeoutMs);
-void mixerSchedulerEnableTrigger();
-void mixerSchedulerDisableTrigger();
-  
 // Keys driver
 enum EnumKeys
 {

radio/src/targets/taranis/CMakeLists.txt

@@ -373,6 +373,7 @@ set(TARGET_SRC
   ../common/arm/stm32/audio_dac_driver.cpp
   ../common/arm/stm32/adc_driver.cpp
   ../common/arm/stm32/heartbeat_driver.cpp
+  ../common/arm/stm32/mixer_scheduler_driver.cpp
   )
 
 if(PCB STREQUAL XLITE OR PCB STREQUAL XLITES)

radio/src/targets/taranis/board.cpp

@@ -102,6 +102,7 @@ void boardInit()
                          AUX_SERIAL_RCC_APB1Periph |
                          INTMODULE_RCC_APB1Periph |
                          TRAINER_MODULE_RCC_APB1Periph |
+                         MIXER_SCHEDULER_TIMER_RCC_APB1Periph |
                          BT_RCC_APB1Periph |
                          GYRO_RCC_APB1Periph,
                          ENABLE);

radio/src/targets/taranis/extmodule_driver.cpp

@@ -356,7 +356,7 @@ extern "C" void EXTMODULE_TIMER_CC_IRQHandler()
 {
   EXTMODULE_TIMER->DIER &= ~TIM_DIER_CC2IE; // Stop this interrupt
   EXTMODULE_TIMER->SR &= ~TIM_SR_CC2IF;
-  if (setupPulsesExternalModule()) {
-    extmoduleSendNextFrame();
-  }
 }
+  // if (setupPulsesExternalModule()) {
+  //   extmoduleSendNextFrame();
+  // }

radio/src/targets/taranis/hal.h

@@ -1970,4 +1970,11 @@
 #define TIMER_2MHz_RCC_APB1Periph       RCC_APB1Periph_TIM7
 #define TIMER_2MHz_TIMER                TIM7
 
+// Mixer scheduler timer
+#define MIXER_SCHEDULER_TIMER_RCC_APB1Periph RCC_APB1Periph_TIM13
+#define MIXER_SCHEDULER_TIMER                TIM13
+#define MIXER_SCHEDULER_TIMER_FREQ           (PERI1_FREQUENCY * TIMER_MULT_APB1)
+#define MIXER_SCHEDULER_TIMER_IRQn           TIM8_UP_TIM13_IRQn
+#define MIXER_SCHEDULER_TIMER_IRQHandler     TIM8_UP_TIM13_IRQHandler
+
 #endif // _HAL_H_

radio/src/tasks.cpp

@@ -123,7 +123,7 @@ TASK_FUNCTION(mixerTask)
   s_pulses_paused = true;
 
   mixerSchedulerInit();
-  mixerSchedulerStart(6666); // 150 Hz
+  mixerSchedulerStart();
 
   while (true) {
 #if defined(PCBTARANIS) && defined(SBUS)
@@ -206,6 +206,8 @@ TASK_FUNCTION(mixerTask)
   }
 }
 
+
+//TODO: remove that one
 void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
 {
   // Schedule next mixer calculation time,