RTOS refactoring + more AVR removal

radio/src/CMakeLists.txt

@@ -430,10 +430,12 @@ if(NOT MSVC)
 
     # these are in addition to CMAKE_CXX_FLAGS
     set(CMAKE_EXE_LINKER_FLAGS "-lm -T${RADIO_SRC_DIRECTORY}/${LINKER_SCRIPT} -Wl,-Map=firmware.map,--cref,--no-warn-mismatch,--gc-sections")
+
     if(SEMIHOSTING)
       add_definitions(-DSEMIHOSTING)
       set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=rdimon.specs")
     endif()
+
     # Use newlib nano, which saves a few kilobytes.
     if(NOT NANO STREQUAL NO)
       set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs")
@@ -446,7 +448,6 @@ if(NOT MSVC)
       set(SRC ${SRC} bin_allocator.cpp)
     endif()
 
-
     if(PCB STREQUAL XLITE OR PCB STREQUAL X9D OR PCB STREQUAL X9D+ OR PCB STREQUAL X9E OR PCB STREQUAL X7 OR PCB STREQUAL X10 OR PCB STREQUAL X12S)
       add_subdirectory(targets/common/arm/stm32/bootloader)
       include_directories(${CMAKE_CURRENT_BINARY_DIR}/targets/common/arm/stm32/bootloader)
@@ -462,6 +463,8 @@ if(NOT MSVC)
       endif()
     endif()
 
+    add_definitions(-DRTOS_COOS)
+
     add_executable(firmware ${SRC} ${FIRMWARE_HEADERS})
     link_libraries(firmware -lstdc++)
     add_dependencies(firmware ${FIRMWARE_DEPENDENCIES})

radio/src/audio_arm.cpp

@@ -21,7 +21,7 @@
 #include "opentx.h"
 #include <math.h>
 
-extern OS_MutexID audioMutex;
+extern RTOS_MUTEX_HANDLE audioMutex;
 
 const int16_t sineValues[] =
 {
@@ -508,14 +508,14 @@ AudioQueue::AudioQueue()
 void audioTask(void * pdata)
 {
   while (!audioQueue.started()) {
-    CoTickDelay(1);
+    RTOS_WAIT_TICKS(1);
   }
 
   setSampleRate(AUDIO_SAMPLE_RATE);
 
 #if defined(PCBX12S)
   // The audio amp needs ~2s to start
-  CoTickDelay(500); // 1s
+  RTOS_WAIT_MS(1000); // 1s
 #endif
 
   if (!unexpectedShutdown) {
@@ -527,7 +527,7 @@ void audioTask(void * pdata)
     DEBUG_TIMER_START(debugTimerAudioDuration);
     audioQueue.wakeup();
     DEBUG_TIMER_STOP(debugTimerAudioDuration);
-    CoTickDelay(2/*4ms*/);
+    RTOS_WAIT_MS(4);
   }
 }
 #endif
@@ -763,9 +763,9 @@ void AudioQueue::wakeup()
 
     // mix the normal context (tones and wavs)
     if (normalContext.isEmpty() && !fragmentsFifo.empty()) {
-      CoEnterMutexSection(audioMutex);
+      RTOS_LOCK_MUTEX(audioMutex);
       normalContext.setFragment(fragmentsFifo.get());
-      CoLeaveMutexSection(audioMutex);
+      RTOS_UNLOCK_MUTEX(audioMutex);
     }
     result = normalContext.mixBuffer(buffer, g_eeGeneral.beepVolume, g_eeGeneral.wavVolume, fade);
     if (result > 0) {
@@ -848,7 +848,7 @@ void AudioQueue::playTone(uint16_t freq, uint16_t len, uint16_t pause, uint8_t f
   return;
 #endif
 
-  CoEnterMutexSection(audioMutex);
+  RTOS_LOCK_MUTEX(audioMutex);
 
   freq = limit<uint16_t>(BEEP_MIN_FREQ, freq, BEEP_MAX_FREQ);
 
@@ -871,7 +871,7 @@ void AudioQueue::playTone(uint16_t freq, uint16_t len, uint16_t pause, uint8_t f
     }
   }
 
-  CoLeaveMutexSection(audioMutex);
+  RTOS_UNLOCK_MUTEX(audioMutex);
 }
 
 #if defined(SDCARD)
@@ -899,7 +899,7 @@ void AudioQueue::playFile(const char * filename, uint8_t flags, uint8_t id)
     return;
   }
 
-  CoEnterMutexSection(audioMutex);
+  RTOS_LOCK_MUTEX(audioMutex);
 
   if (flags & PLAY_BACKGROUND) {
     backgroundContext.clear();
@@ -909,7 +909,7 @@ void AudioQueue::playFile(const char * filename, uint8_t flags, uint8_t id)
     fragmentsFifo.push(AudioFragment(filename, flags & 0x0f, id));
   }
 
-  CoLeaveMutexSection(audioMutex);
+  RTOS_UNLOCK_MUTEX(audioMutex);
 }
 
 void AudioQueue::stopPlay(uint8_t id)
@@ -922,12 +922,12 @@ void AudioQueue::stopPlay(uint8_t id)
   return;
 #endif
 
-  CoEnterMutexSection(audioMutex);
+  RTOS_LOCK_MUTEX(audioMutex);
 
   fragmentsFifo.removePromptById(id);
   backgroundContext.stop(id);
 
-  CoLeaveMutexSection(audioMutex);
+  RTOS_UNLOCK_MUTEX(audioMutex);
 }
 
 void AudioQueue::stopSD()
@@ -942,19 +942,19 @@ void AudioQueue::stopSD()
 void AudioQueue::stopAll()
 {
   flush();
-  CoEnterMutexSection(audioMutex);
+  RTOS_LOCK_MUTEX(audioMutex);
   priorityContext.clear();
   normalContext.clear();
-  CoLeaveMutexSection(audioMutex);
+  RTOS_UNLOCK_MUTEX(audioMutex);
 }
 
 void AudioQueue::flush()
 {
-  CoEnterMutexSection(audioMutex);
+  RTOS_LOCK_MUTEX(audioMutex);
   fragmentsFifo.clear();
   varioContext.clear();
   backgroundContext.clear();
-  CoLeaveMutexSection(audioMutex);
+  RTOS_UNLOCK_MUTEX(audioMutex);
 }
 
 void audioPlay(unsigned int index, uint8_t id)

radio/src/buzzer.cpp

@@ -28,7 +28,7 @@ bool warble = false;
 bool warbleC;
 
 // The various "beep" tone lengths
-static const pm_uint8_t beepTab[] PROGMEM = {
+static const pm_uint8_t beepTab[]  = {
     // key, trim, warn2, warn1, error
     1,  1,  2, 10,  60, //xShort
     1,  1,  4, 20,  80, //short

radio/src/cli.cpp

@@ -308,7 +308,7 @@ int cliTestNew()
 {
   char * tmp = 0;
   serialPrint("Allocating 1kB with new()");
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
   tmp = new char[1024];
   if (tmp) {
     serialPrint("\tsuccess");
@@ -320,7 +320,7 @@ int cliTestNew()
   }
 
   serialPrint("Allocating 10MB with (std::nothrow) new()");
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
   tmp = new (std::nothrow) char[1024*1024*10];
   if (tmp) {
     serialPrint("\tFAILURE, tmp = %p", tmp);
@@ -332,7 +332,7 @@ int cliTestNew()
   }
 
   serialPrint("Allocating 10MB with new()");
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
   tmp = new char[1024*1024*10];
   if (tmp) {
     serialPrint("\tFAILURE, tmp = %p", tmp);
@@ -437,14 +437,14 @@ float runGraphicsTest(graphichTestFunc func, const char * name, uint32_t runtime
   uint32_t actualRuntime = (uint32_t)CoGetOSTime() - start;
   float result = (noRuns * 500.0f) / (float)actualRuntime;     // runs/second
   serialPrint("Test %s speed: %0.2f, (%d runs in %d ms)", name, result, noRuns, actualRuntime*2);
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
   return result;
 }
 
 int cliTestGraphics()
 {
   serialPrint("Starting graphics performance test...");
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
 
   watchdogSuspend(6000/*60s*/);
   if (pulsesStarted()) {
@@ -581,7 +581,7 @@ float runMemoryTest(graphichTestFunc func, const char * name, uint32_t runtime)
   uint32_t actualRuntime = (uint32_t)CoGetOSTime() - start;
   float result = (noRuns * 500.0f) / (float)actualRuntime;     // runs/second
   serialPrint("Test %s speed: %0.2f, (%d runs in %d ms)", name, result, noRuns, actualRuntime*2);
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
   return result;
 }
 
@@ -589,7 +589,7 @@ float runMemoryTest(graphichTestFunc func, const char * name, uint32_t runtime)
 int cliTestMemorySpeed()
 {
   serialPrint("Starting memory speed test...");
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
 
   watchdogSuspend(6000/*60s*/);
   if (pulsesStarted()) {
@@ -610,7 +610,7 @@ int cliTestMemorySpeed()
 
   LTDC_Cmd(DISABLE);
   serialPrint("Disabling LCD...");
-  CoTickDelay(100);
+  RTOS_WAIT_MS(200);
 
   result += RUN_GRAPHICS_TEST(testMemoryReadFrom_RAM_8bit, 200);
   result += RUN_GRAPHICS_TEST(testMemoryReadFrom_RAM_32bit, 200);
@@ -936,7 +936,7 @@ void printDebugTimers()
 #endif
 
 #include "OsMutex.h"
-extern OS_MutexID audioMutex;
+extern RTOS_MUTEX_HANDLE audioMutex;
 
 void printAudioVars()
 {
@@ -1124,7 +1124,7 @@ int cliRepeat(const char ** argv)
     counter = interval;
     uint8_t c;
     while (!cliRxFifo.pop(c) || !(c == '\r' || c == '\n' || c == ' ')) {
-      CoTickDelay(10); // 20ms
+      RTOS_WAIT_MS(20); // 20ms
       if (++counter >= interval) {
         cliExecCommand(&argv[2]);
         counter = 0;
@@ -1299,7 +1299,7 @@ void cliTask(void * pdata)
     uint8_t c;
 
     while (!cliRxFifo.pop(c)) {
-      CoTickDelay(10); // 20ms
+      RTOS_WAIT_MS(20); // 20ms
     }
 
     if (c == 12) {

radio/src/debug.cpp

@@ -94,7 +94,7 @@ void dumpTraceBuffer()
 #if !defined(SIMU)
     if ((n % 5) == 0) {
       while (!serial2TxFifo.isEmpty()) {
-        CoTickDelay(1);
+        RTOS_WAIT_TICKS(1);
       }
     }
 #endif

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

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-const pm_uchar font_5x7[] PROGMEM = {
+const pm_uchar font_5x7[]  = {
 #include "font_05x07.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_05x07.lbm"
@@ -44,13 +44,13 @@ const pm_uchar font_5x7[] PROGMEM = {
 };
 
 #if defined(BOLD_SPECIFIC_FONT)
-const pm_uchar font_5x7_B[] PROGMEM = {
+const pm_uchar font_5x7_B[]  = {
 #include "font_05x07_B_compressed.lbm"
 };
 #endif
 
 #if !defined(BOOT)
-const pm_uchar font_10x14[] PROGMEM = {
+const pm_uchar font_10x14[]  = {
 #include "font_10x14_compressed.lbm"
   #if defined(TRANSLATIONS_DE)
   #include "font_de_10x14.lbm"
@@ -75,10 +75,10 @@ const pm_uchar font_10x14[] PROGMEM = {
 #endif
 
 #if !defined(BOOT)
-const pm_uchar font_3x5[] PROGMEM = {
+const pm_uchar font_3x5[]  = {
 #include "font_03x05.lbm"
 };
-const pm_uchar font_4x6[] PROGMEM = {
+const pm_uchar font_4x6[]  = {
 #include "font_04x06.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_04x06.lbm"
@@ -101,7 +101,7 @@ const pm_uchar font_4x6[] PROGMEM = {
 #endif
 };
 
-const pm_uchar font_8x10[] PROGMEM = {
+const pm_uchar font_8x10[]  = {
 #include "font_08x10.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_08x10.lbm"
@@ -124,19 +124,19 @@ const pm_uchar font_8x10[] PROGMEM = {
 #endif
 };
 
-const pm_uchar font_22x38_num[] PROGMEM = {
+const pm_uchar font_22x38_num[]  = {
 #include "font_22x38_num.lbm"
 };
 
-const pm_uchar font_4x6_extra[] PROGMEM = {
+const pm_uchar font_4x6_extra[]  = {
 #include "font_04x06_extra.lbm"
 };
 
-const pm_uchar font_5x7_extra[] PROGMEM = {
+const pm_uchar font_5x7_extra[]  = {
 #include "font_05x07_extra.lbm"
 };
 
-const pm_uchar font_10x14_extra[] PROGMEM = {
+const pm_uchar font_10x14_extra[]  = {
 #include "font_10x14_extra.lbm"
 };
 

radio/src/gui/128x64/gui.h

@@ -361,7 +361,7 @@ void deleteExpoMix(uint8_t expo, uint8_t idx);
 
 void drawCheckBox(coord_t x, coord_t y, uint8_t value, LcdFlags attr);
 
-extern const pm_uchar sticks[] PROGMEM;
+extern const pm_uchar sticks[] ;
 
 void drawSplash();
 void drawSecondSplash();

radio/src/gui/128x64/menus.h

@@ -93,7 +93,7 @@ void menuRadioDiagAnalogs(event_t event);
 void menuRadioHardware(event_t event);
 void menuRadioCalibration(event_t event);
 
-static const MenuHandlerFunc menuTabGeneral[] PROGMEM = {
+static const MenuHandlerFunc menuTabGeneral[]  = {
   menuRadioSetup,
   CASE_SDCARD(menuRadioSdManager)
   menuRadioSpecialFunctions,
@@ -144,7 +144,7 @@ void menuModelDisplay(event_t event);
 void menuModelTemplates(event_t event);
 void menuModelGVarOne(event_t event);
 
-static const MenuHandlerFunc menuTabModel[] PROGMEM = {
+static const MenuHandlerFunc menuTabModel[]  = {
   menuModelSelect,
   menuModelSetup,
   CASE_HELI(menuModelHeli)

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

@@ -166,9 +166,9 @@ void menuModelCurveOne(event_t event)
       lcdDrawFilledRect(3, 2*FH+4, 7*FW-2, 4*FH-2, SOLID, ERASE);
       lcdDrawRect(3, 2*FH+4, 7*FW-2, 4*FH-2);
       drawStringWithIndex(7, 3*FH, STR_PT, i+1, LEFT);
-      lcdDrawText(7, 4*FH, PSTR("x="));
+      lcdDrawText(7, 4*FH, "x=");
       lcdDrawNumber(7+2*FW+1, 4*FH, x, LEFT|(selectionMode==1?attr:0));
-      lcdDrawText(7, 5*FH, PSTR("y="));
+      lcdDrawText(7, 5*FH, "y=");
       lcdDrawNumber(7+2*FW+1, 5*FH, points[i], LEFT|(selectionMode==2?attr:0));
       
       // Selection square

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

@@ -123,7 +123,7 @@ void menuModelDisplay(event_t event)
         uint8_t screenIndex = TELEMETRY_CURRENT_SCREEN(k);
         drawStringWithIndex(0*FW, y, STR_SCREEN, screenIndex+1);
         TelemetryScreenType oldScreenType = TELEMETRY_SCREEN_TYPE(screenIndex);
-        TelemetryScreenType newScreenType = (TelemetryScreenType)editChoice(DISPLAY_COL2, y, PSTR(""), STR_VTELEMSCREENTYPE, oldScreenType, 0, TELEMETRY_SCREEN_TYPE_MAX, (menuHorizontalPosition==0 ? attr : 0), event);
+        TelemetryScreenType newScreenType = (TelemetryScreenType)editChoice(DISPLAY_COL2, y, "", STR_VTELEMSCREENTYPE, oldScreenType, 0, TELEMETRY_SCREEN_TYPE_MAX, (menuHorizontalPosition==0 ? attr : 0), event);
         if (newScreenType != oldScreenType) {
           g_model.frsky.screensType = (g_model.frsky.screensType & (~(0x03 << (2*screenIndex)))) | (newScreenType << (2*screenIndex));
           memset(&g_model.frsky.screens[screenIndex], 0, sizeof(g_model.frsky.screens[screenIndex]));

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

@@ -67,12 +67,12 @@ void menuModelFlightModeOne(event_t event)
 #if defined(GVARS) && !defined(GVARS_IN_CURVES_SCREEN)
 #if defined(PCBTARANIS)
   #define VERTICAL_SHIFT  (ITEM_MODEL_FLIGHT_MODE_FADE_IN-ITEM_MODEL_FLIGHT_MODE_TRIMS)
-  static const pm_uint8_t mstate_tab_fm1[] PROGMEM = {0, 3, 0, 0, (uint8_t)-1, 1, 1, 1, 1, 1, 1};
+  static const pm_uint8_t mstate_tab_fm1[]  = {0, 3, 0, 0, (uint8_t)-1, 1, 1, 1, 1, 1, 1};
 #else
   #define VERTICAL_SHIFT  (ITEM_MODEL_FLIGHT_MODE_FADE_IN-ITEM_MODEL_FLIGHT_MODE_SWITCH)
-  static const pm_uint8_t mstate_tab_fm1[] PROGMEM = {0, 0, 0, (uint8_t)-1, 1, 1, 1, 1, 1};
+  static const pm_uint8_t mstate_tab_fm1[]  = {0, 0, 0, (uint8_t)-1, 1, 1, 1, 1, 1};
 #endif
-  static const pm_uint8_t mstate_tab_others[] PROGMEM = {0, 0, 3, IF_ROTARY_ENCODERS(NUM_ROTARY_ENCODERS-1) 0, 0, (uint8_t)-1, 2, 2, 2, 2, 2};
+  static const pm_uint8_t mstate_tab_others[]  = {0, 0, 3, IF_ROTARY_ENCODERS(NUM_ROTARY_ENCODERS-1) 0, 0, (uint8_t)-1, 2, 2, 2, 2, 2};
 
   check(event, 0, NULL, 0, (s_currIdx == 0) ? mstate_tab_fm1 : mstate_tab_others, DIM(mstate_tab_others)-1, ITEM_MODEL_FLIGHT_MODE_MAX - HEADER_LINE - (s_currIdx==0 ? (ITEM_MODEL_FLIGHT_MODE_FADE_IN-ITEM_MODEL_FLIGHT_MODE_SWITCH-1) : 0));
 

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

@@ -460,7 +460,7 @@ void menuModelMixOne(event_t event)
           }
         }
         else {
-          lcdDrawText(COLUMN_X+MIXES_2ND_COLUMN, y, PSTR("Diff"), menuHorizontalPosition==0 ? attr : 0);
+          lcdDrawText(COLUMN_X+MIXES_2ND_COLUMN, y, "Diff", menuHorizontalPosition==0 ? attr : 0);
           md2->curveParam = GVAR_MENU_ITEM(COLUMN_X+MIXES_2ND_COLUMN+5*FW, y, curveParam, -100, 100, LEFT|(menuHorizontalPosition==1 ? attr : 0), 0, editMode>0 ? event : 0);
           if (attr && editMode>0 && menuHorizontalPosition==0) {
             int8_t tmp = 0;
@@ -508,7 +508,7 @@ void menuModelMixOne(event_t event)
   }
 }
 
-#define _STR_MAX(x) PSTR("/" #x)
+#define _STR_MAX(x) "/" #x
 #define STR_MAX(x) _STR_MAX(x)
 
   #define EXPO_LINE_WEIGHT_POS 7*FW+1

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

@@ -613,7 +613,7 @@ void menuModelSetup(event_t event)
             attr = BLINK | INVERS;
           }
           lcdDrawChar(MODEL_SETUP_2ND_COLUMN+i*FW, y, (swactive) ? c : '-', attr);
-          lcdDrawText(MODEL_SETUP_2ND_COLUMN+(NUM_SWITCHES*FW), y, PSTR("<]"), (menuHorizontalPosition == NUM_SWITCHES-1 && !NO_HIGHLIGHT()) ? line : 0);
+          lcdDrawText(MODEL_SETUP_2ND_COLUMN+(NUM_SWITCHES*FW), y, "<]", (menuHorizontalPosition == NUM_SWITCHES-1 && !NO_HIGHLIGHT()) ? line : 0);
         }
 #endif
         break;
@@ -621,7 +621,7 @@ void menuModelSetup(event_t event)
 #if defined(PCBTARANIS)
       case ITEM_MODEL_POTS_WARNING:
         lcdDrawTextAlignedLeft(y, STR_POTWARNING);
-        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, PSTR("\004""OFF\0""Man\0""Auto"), g_model.potsWarnMode, (menuHorizontalPosition == 0) ? attr : 0);
+        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, "\004""OFF\0""Man\0""Auto", g_model.potsWarnMode, (menuHorizontalPosition == 0) ? attr : 0);
         if (attr && (menuHorizontalPosition == 0)) {
           CHECK_INCDEC_MODELVAR(event, g_model.potsWarnMode, POTS_WARN_OFF, POTS_WARN_AUTO);
           storageDirty(EE_MODEL);
@@ -1269,7 +1269,7 @@ void menuModelSetup(event_t event)
 
 #if 0
       case ITEM_MODEL_PPM2_PROTOCOL:
-        lcdDrawTextAlignedLeft(y, PSTR("Port2"));
+        lcdDrawTextAlignedLeft(y, "Port2");
         lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, STR_VPROTOS, 0, 0);
         lcdDrawText(MODEL_SETUP_2ND_COLUMN+4*FW+3, y, STR_CH, menuHorizontalPosition<=0 ? attr : 0);
         lcdDrawNumber(lcdLastRightPos, y, g_model.moduleData[1].channelsStart+1, LEFT | (menuHorizontalPosition<=0 ? attr : 0));

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

@@ -545,10 +545,10 @@ void menuModelTelemetryFrsky(event_t event)
 #if defined(MULTIMODULE)
         if (telemetryProtocol == PROTOCOL_MULTIMODULE &&
           g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_FS_AFHDS2A)
-          lcdDrawTextAlignedLeft(y, PSTR("RSNR"));
+          lcdDrawTextAlignedLeft(y, "RSNR");
         else
 #endif
-        lcdDrawTextAlignedLeft(y, PSTR("RSSI"));
+        lcdDrawTextAlignedLeft(y, "RSSI");
         break;
 
       case ITEM_TELEMETRY_RSSI_ALARM1:

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

@@ -47,7 +47,7 @@ void showMessageBox(const pm_char * str)
   lcdRefresh();
 }
 
-const pm_uchar ASTERISK_BITMAP[] PROGMEM = {
+const pm_uchar ASTERISK_BITMAP[]  = {
 #include "asterisk.lbm"
 };
 

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

@@ -45,7 +45,7 @@ void menuRadioDiagAnalogs(event_t event)
 #else
     coord_t y = MENU_HEADER_HEIGHT + 1 + (i/2)*FH;
     uint8_t x = (i & 1) ? LCD_W/2+FW : 0;
-    drawStringWithIndex(x, y, PSTR("A"), i+1);
+    drawStringWithIndex(x, y, "A", i+1);
     lcdDrawChar(lcdNextPos, y, ':');
 #endif
     lcdDrawHexNumber(x+3*FW-1, y, anaIn(i));

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

@@ -52,7 +52,7 @@ void menuRadioHardware(event_t event)
         break;
 
       case ITEM_RADIO_HARDWARE_STICKS_GAINS_LABELS:
-        lcdDrawTextAlignedLeft(y, PSTR("Sticks"));
+        lcdDrawTextAlignedLeft(y, "Sticks");
         break;
 
       case ITEM_RADIO_HARDWARE_STICK_LV_GAIN:
@@ -60,8 +60,8 @@ void menuRadioHardware(event_t event)
       case ITEM_RADIO_HARDWARE_STICK_RV_GAIN:
       case ITEM_RADIO_HARDWARE_STICK_RH_GAIN:
       {
-        lcdDrawTextAtIndex(INDENT_WIDTH, y, PSTR("\002LVLHRVRH"), k-ITEM_RADIO_HARDWARE_STICK_LV_GAIN, 0);
+        lcdDrawTextAtIndex(INDENT_WIDTH, y, "\002LVLHRVRH", k-ITEM_RADIO_HARDWARE_STICK_LV_GAIN, 0);
-        lcdDrawText(INDENT_WIDTH+3*FW, y, PSTR("Gain"));
+        lcdDrawText(INDENT_WIDTH+3*FW, y, "Gain");
         uint8_t mask = (1<<(k-ITEM_RADIO_HARDWARE_STICK_LV_GAIN));
         uint8_t val = (g_eeGeneral.sticksGain & mask ? 1 : 0);
         lcdDrawChar(HW_SETTINGS_COLUMN, y, val ? '2' : '1', attr);
@@ -77,13 +77,13 @@ void menuRadioHardware(event_t event)
 
 #if defined(ROTARY_ENCODERS)
       case ITEM_RADIO_HARDWARE_ROTARY_ENCODER:
-        g_eeGeneral.rotarySteps = editChoice(HW_SETTINGS_COLUMN, y, PSTR("Rotary Encoder"), PSTR("\0062steps4steps"), g_eeGeneral.rotarySteps, 0, 1, attr, event);
+        g_eeGeneral.rotarySteps = editChoice(HW_SETTINGS_COLUMN, y, "Rotary Encoder", "\0062steps4steps", g_eeGeneral.rotarySteps, 0, 1, attr, event);
         break;
 #endif
 
 #if defined(BLUETOOTH)
       case ITEM_RADIO_HARDWARE_BT_BAUDRATE:
-        g_eeGeneral.bluetoothBaudrate = editChoice(HW_SETTINGS_COLUMN, y, STR_BAUDRATE, PSTR("\005115k 9600 19200"), g_eeGeneral.bluetoothBaudrate, 0, 2, attr, event);
+        g_eeGeneral.bluetoothBaudrate = editChoice(HW_SETTINGS_COLUMN, y, STR_BAUDRATE, "\005115k 9600 19200", g_eeGeneral.bluetoothBaudrate, 0, 2, attr, event);
         if (attr && checkIncDec_Ret) {
           btInit();
         }
@@ -235,7 +235,7 @@ void menuRadioHardware(event_t event)
             pauseMixerCalculations();
             pausePulses();
             EXTERNAL_MODULE_OFF();
-            CoTickDelay(10); // 20ms so that the pulses interrupt will reinit the frame rate
+            RTOS_WAIT_MS(20); // 20ms so that the pulses interrupt will reinit the frame rate
             telemetryProtocol = 255; // force telemetry port + module reinitialization
             EXTERNAL_MODULE_ON();
             resumePulses();

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

@@ -22,7 +22,7 @@
 
 #include "opentx.h"
 
-const pm_uchar sticks[] PROGMEM = {
+const pm_uchar sticks[]  = {
 #include "sticks.lbm"
 };
 
@@ -166,7 +166,7 @@ void menuRadioSetup(event_t event)
             {
               int16_t year = TM_YEAR_BASE + t.tm_year;
               int8_t dlim = (((((year%4==0) && (year%100!=0)) || (year%400==0)) && (t.tm_mon==1)) ? 1 : 0);
-              static const pm_uint8_t dmon[] PROGMEM = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
+              static const pm_uint8_t dmon[]  = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
               dlim += pgm_read_byte(&dmon[t.tm_mon]);
               lcdDrawNumber(RADIO_SETUP_DATE_COLUMN+6*FW-4, y, t.tm_mday, rowattr|LEADING0|RIGHT, 2);
               if (rowattr && (s_editMode>0 || p1valdiff)) t.tm_mday = checkIncDec(event, t.tm_mday, 1, dlim, 0);
@@ -507,12 +507,12 @@ void menuRadioSetup(event_t event)
 
 #if defined(FAI_CHOICE)
       case ITEM_SETUP_FAI:
-        editCheckBox(g_eeGeneral.fai, RADIO_SETUP_2ND_COLUMN, y, PSTR("FAI Mode"), attr, event);
+        editCheckBox(g_eeGeneral.fai, RADIO_SETUP_2ND_COLUMN, y, "FAI Mode", attr, event);
         if (attr && checkIncDec_Ret) {
           if (g_eeGeneral.fai)
-            POPUP_WARNING(PSTR("FAI\001mode blocked!"));
+            POPUP_WARNING("FAI\001mode blocked!");
           else
-            POPUP_CONFIRMATION(PSTR("FAI mode?"));
+            POPUP_CONFIRMATION("FAI mode?");
         }
         break;
 #endif

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

@@ -37,11 +37,11 @@ void menuRadioVersion(event_t event)
 
 #if defined(COPROCESSOR)
   if (Coproc_valid == 1) {
-     lcdDrawTextAlignedLeft(6*FH, PSTR("CoPr:"));
+     lcdDrawTextAlignedLeft(6*FH, "CoPr:");
      lcdDraw8bitsNumber(10*FW, 6*FH, Coproc_read);
   }
   else {
-     lcdDrawTextAlignedLeft(6*FH, PSTR("CoPr: ---"));
+     lcdDrawTextAlignedLeft(6*FH, "CoPr: ---");
   }
 #elif defined(EEPROM_RLC)
   lcdDrawTextAlignedLeft(MENU_HEADER_HEIGHT+5*FH+1, STR_EEBACKUP);

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

@@ -41,7 +41,7 @@
 #endif
 
 #if defined(SPLASH)
-const pm_uchar splashdata[] PROGMEM = {
+const pm_uchar splashdata[]  = {
   'S','P','S',0,
   #include "bitmaps/128x64/splash.lbm"
   'S','P','E',0 };
@@ -65,7 +65,7 @@ void drawSplash()
 #endif
 
 #if defined(SPLASH_FRSKY)
-const pm_uchar splashdata2[] PROGMEM = {
+const pm_uchar splashdata2[]  = {
   'S','F','S',0,
   #include "bitmaps/128x64/splash_frsky.lbm"
   'S','F','E',0 };

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

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-const pm_uchar about_bmp[] PROGMEM = {
+const pm_uchar about_bmp[]  = {
 #include "about.lbm"
 };
 

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

@@ -564,12 +564,12 @@ void menuMainView(event_t event)
     warningText = STR_GLOBAL_VAR;
     drawMessageBox();
     lcdDrawSizedText(16, 5*FH, g_model.gvars[gvarLastChanged].name, LEN_GVAR_NAME, ZCHAR);
-    lcdDrawText(16+6*FW, 5*FH, PSTR("["), BOLD);
+    lcdDrawText(16+6*FW, 5*FH, "[", BOLD);
     drawGVarValue(lcdLastRightPos, 5*FH, gvarLastChanged, GVAR_VALUE(gvarLastChanged, getGVarFlightMode(mixerCurrentFlightMode, gvarLastChanged)), LEFT|BOLD);
     if (g_model.gvars[gvarLastChanged].unit) {
       lcdDrawText(lcdLastRightPos, 5*FH, "%", BOLD);
     }
-    lcdDrawText(lcdLastRightPos, 5*FH, PSTR("]"), BOLD);
+    lcdDrawText(lcdLastRightPos, 5*FH, "]", BOLD);
     warningText = NULL;
   }
 #endif
@@ -577,7 +577,7 @@ void menuMainView(event_t event)
 #if defined(DSM2)
   if (moduleFlag[0] == MODULE_BIND) {
     // Issue 98
-    lcdDrawText(15*FW, 0, PSTR("BIND"), 0);
+    lcdDrawText(15*FW, 0, "BIND", 0);
   }
 #endif
 }

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

@@ -187,13 +187,13 @@ void menuStatisticsDebug(event_t event)
   lcdDrawTextAlignedLeft(MENU_DEBUG_Y_COPROC, STR_COPROC_TEMP);
 
   if (Coproc_read==0) {
-    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, PSTR("Co Proc NACK"),INVERS);
+    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, "Co Proc NACK",INVERS);
   }
   else if (Coproc_read==0x81) {
-    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, PSTR("Inst.TinyApp"),INVERS);
+    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, "Inst.TinyApp",INVERS);
   }
   else if (Coproc_read<3) {
-    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, PSTR("Upgr.TinyApp"),INVERS);
+    lcdDrawText(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, "Upgr.TinyApp",INVERS);
   }
   else {
     drawValueWithUnit(MENU_DEBUG_COL1_OFS, MENU_DEBUG_Y_COPROC, Coproc_temp, UNIT_TEMPERATURE, LEFT);

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

@@ -246,7 +246,7 @@ void drawProgressBar(const char * label, int num, int den)
   lcdRefresh();
 }
 
-const pm_uchar SLEEP_BITMAP[] PROGMEM = {
+const pm_uchar SLEEP_BITMAP[]  = {
 #include "sleep.lbm"
 };
 

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

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-const pm_uchar font_5x7[] PROGMEM = {
+const pm_uchar font_5x7[]  = {
 #include "font_05x07.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_05x07.lbm"
@@ -43,12 +43,12 @@ const pm_uchar font_5x7[] PROGMEM = {
 #endif
 };
 
-const pm_uchar font_5x7_B[] PROGMEM = {
+const pm_uchar font_5x7_B[]  = {
 #include "font_05x07_B_compressed.lbm"
 };
 
 #if !defined(BOOT)
-const pm_uchar font_10x14[] PROGMEM = {
+const pm_uchar font_10x14[]  = {
 #include "font_10x14_compressed.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_10x14.lbm"
@@ -71,11 +71,11 @@ const pm_uchar font_10x14[] PROGMEM = {
 #endif
 };
 
-const pm_uchar font_3x5[] PROGMEM = {
+const pm_uchar font_3x5[]  = {
 #include "font_03x05.lbm"
 };
 
-const pm_uchar font_4x6[] PROGMEM = {
+const pm_uchar font_4x6[]  = {
 #include "font_04x06.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_04x06.lbm"
@@ -98,7 +98,7 @@ const pm_uchar font_4x6[] PROGMEM = {
 #endif
 };
 
-const pm_uchar font_8x10[] PROGMEM = {
+const pm_uchar font_8x10[]  = {
 #include "font_08x10.lbm"
 #if defined(TRANSLATIONS_DE)
 #include "font_de_08x10.lbm"
@@ -121,19 +121,19 @@ const pm_uchar font_8x10[] PROGMEM = {
 #endif
 };
 
-const pm_uchar font_22x38_num[] PROGMEM = {
+const pm_uchar font_22x38_num[]  = {
 #include "font_22x38_num.lbm"
 };
 
-const pm_uchar font_4x6_extra[] PROGMEM = {
+const pm_uchar font_4x6_extra[]  = {
 #include "font_04x06_extra.lbm"
 };
 
-const pm_uchar font_5x7_extra[] PROGMEM = {
+const pm_uchar font_5x7_extra[]  = {
 #include "font_05x07_extra.lbm"
 };
 
-const pm_uchar font_10x14_extra[] PROGMEM = {
+const pm_uchar font_10x14_extra[]  = {
 #include "font_10x14_extra.lbm"
 };
 

radio/src/gui/212x64/gui.h

@@ -326,7 +326,7 @@ uint8_t switchToMix(uint8_t source);
 extern coord_t scrollbar_X;
 #define SET_SCROLLBAR_X(x) scrollbar_X = (x);
 
-extern const pm_uchar sticks[] PROGMEM;
+extern const pm_uchar sticks[] ;
 
 #if defined(FLIGHT_MODES)
 void displayFlightModes(coord_t x, coord_t y, FlightModesType value);

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

@@ -125,7 +125,7 @@ void menuModelDisplay(event_t event)
         uint8_t screenIndex = TELEMETRY_CURRENT_SCREEN(k);
         drawStringWithIndex(0*FW, y, STR_SCREEN, screenIndex+1);
         TelemetryScreenType oldScreenType = TELEMETRY_SCREEN_TYPE(screenIndex);
-        TelemetryScreenType newScreenType = (TelemetryScreenType)editChoice(DISPLAY_COL2, y, PSTR(""), STR_VTELEMSCREENTYPE, oldScreenType, 0, TELEMETRY_SCREEN_TYPE_MAX, (menuHorizontalPosition==0 ? attr : 0), event);
+        TelemetryScreenType newScreenType = (TelemetryScreenType)editChoice(DISPLAY_COL2, y, "", STR_VTELEMSCREENTYPE, oldScreenType, 0, TELEMETRY_SCREEN_TYPE_MAX, (menuHorizontalPosition==0 ? attr : 0), event);
         if (newScreenType != oldScreenType) {
           g_model.frsky.screensType = (g_model.frsky.screensType & (~(0x03 << (2*screenIndex)))) | (newScreenType << (2*screenIndex));
           memset(&g_model.frsky.screens[screenIndex], 0, sizeof(g_model.frsky.screens[screenIndex]));

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

@@ -574,7 +574,7 @@ void menuModelSetup(event_t event)
 #endif
 
         lcdDrawTextAlignedLeft(y, STR_POTWARNING);
-        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, PSTR("\004""OFF\0""Man\0""Auto"), g_model.potsWarnMode, (menuHorizontalPosition == 0) ? attr : 0);
+        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, "\004""OFF\0""Man\0""Auto", g_model.potsWarnMode, (menuHorizontalPosition == 0) ? attr : 0);
         if (attr && (menuHorizontalPosition == 0)) {
           CHECK_INCDEC_MODELVAR(event, g_model.potsWarnMode, POTS_WARN_OFF, POTS_WARN_AUTO);
           storageDirty(EE_MODEL);

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

@@ -519,10 +519,10 @@ void menuModelTelemetryFrsky(event_t event)
         if (g_model.moduleData[INTERNAL_MODULE].type != MODULE_TYPE_XJT &&
           g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_MULTIMODULE  &&
           g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_FS_AFHDS2A)
-          lcdDrawTextAlignedLeft(y, PSTR("RSNR"));
+          lcdDrawTextAlignedLeft(y, "RSNR");
         else
 #endif
-        lcdDrawTextAlignedLeft(y, PSTR("RSSI"));
+        lcdDrawTextAlignedLeft(y, "RSSI");
         break;
 
       case ITEM_TELEMETRY_RSSI_ALARM1:

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

@@ -44,7 +44,7 @@ void showMessageBox(const char * title)
   lcdRefresh();
 }
 
-const pm_uchar ASTERISK_BITMAP[] PROGMEM = {
+const pm_uchar ASTERISK_BITMAP[]  = {
 #include "asterisk.lbm"
 };
 

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

@@ -22,7 +22,7 @@
 
 #include "opentx.h"
 
-const pm_uchar sticks[] PROGMEM = {
+const pm_uchar sticks[]  = {
 #include "sticks.lbm"
 };
 
@@ -149,7 +149,7 @@ void menuRadioSetup(event_t event)
             {
               int16_t year = TM_YEAR_BASE + t.tm_year;
               int8_t dlim = (((((year%4==0) && (year%100!=0)) || (year%400==0)) && (t.tm_mon==1)) ? 1 : 0);
-              static const pm_uint8_t dmon[] PROGMEM = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
+              static const pm_uint8_t dmon[]  = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
               dlim += pgm_read_byte(&dmon[t.tm_mon]);
               lcdDrawNumber(RADIO_SETUP_DATE_COLUMN+6*FW-4, y, t.tm_mday, rowattr|LEADING0|RIGHT, 2);
               if (rowattr && s_editMode>0) t.tm_mday = checkIncDec(event, t.tm_mday, 1, dlim, 0);
@@ -455,12 +455,12 @@ void menuRadioSetup(event_t event)
 
 #if defined(FAI_CHOICE)
       case ITEM_SETUP_FAI:
-        editCheckBox(g_eeGeneral.fai, RADIO_SETUP_2ND_COLUMN, y, PSTR("FAI Mode"), attr, event);
+        editCheckBox(g_eeGeneral.fai, RADIO_SETUP_2ND_COLUMN, y, "FAI Mode"), attr, event;
         if (attr && checkIncDec_Ret) {
           if (g_eeGeneral.fai)
-            POPUP_WARNING(PSTR("FAI\001mode blocked!"));
+            POPUP_WARNING("FAI\001mode blocked!");
           else
-            POPUP_CONFIRMATION(PSTR("FAI mode?"));
+            POPUP_CONFIRMATION("FAI mode?");
         }
         break;
 #endif

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

@@ -21,7 +21,7 @@
 #include "opentx.h"
 
 #if defined(SPLASH)
-const pm_uchar splashdata[] PROGMEM = {
+const pm_uchar splashdata[]  = {
   'S','P','S',0,
   #include "bitmaps/212x64/splash.lbm"
   'S','P','E',0 };
@@ -44,7 +44,7 @@ void drawSplash()
 #endif
 
 #if defined(SPLASH_FRSKY)
-const pm_uchar splashdata2[] PROGMEM = {
+const pm_uchar splashdata2[]  = {
   'S','F','S',0,
   #include "bitmaps/212x64/splash_frsky.lbm"
   'S','F','E',0 };

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

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-const pm_uchar about_bmp[] PROGMEM = {
+const pm_uchar about_bmp[]  = {
 #include "about.lbm"
 };
 

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

@@ -49,11 +49,11 @@
 #define TRIM_LEN 27
 #define MARKER_WIDTH  5
 
-const pm_uchar logo_taranis[] PROGMEM = {
+const pm_uchar logo_taranis[]  = {
 #include "logo.lbm"
 };
 
-const pm_uchar icons[] PROGMEM = {
+const pm_uchar icons[]  = {
 #include "icons.lbm"
 };
 
@@ -594,9 +594,9 @@ void menuMainView(event_t event)
     lcdDrawRect(BITMAP_X, BITMAP_Y, 64, 32);
     drawStringWithIndex(BITMAP_X+FW, BITMAP_Y+FH-1, STR_GV, gvarLastChanged+1);
     lcdDrawSizedText(BITMAP_X+4*FW+FW/2, BITMAP_Y+FH-1, g_model.gvars[gvarLastChanged].name, LEN_GVAR_NAME, ZCHAR);
-    lcdDrawText(BITMAP_X+FW, BITMAP_Y+2*FH+3, PSTR("["), BOLD);
+    lcdDrawText(BITMAP_X+FW, BITMAP_Y+2*FH+3, "[", BOLD;
     drawGVarValue(BITMAP_X+2*FW, BITMAP_Y+2*FH+3, gvarLastChanged, GVAR_VALUE(gvarLastChanged, getGVarFlightMode(mixerCurrentFlightMode, gvarLastChanged)), LEFT|BOLD);
-    lcdDrawText(lcdLastRightPos, BITMAP_Y+2*FH+3, PSTR("]"), BOLD);
+    lcdDrawText(lcdLastRightPos, BITMAP_Y+2*FH+3, "]", BOLD;
   }
 #endif
 }

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

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-const pm_uchar SLEEP_BITMAP[] PROGMEM = {
+const pm_uchar SLEEP_BITMAP[]  = {
   #include "../../bitmaps/212x64/sleep.lbm"
 };
 
@@ -34,7 +34,7 @@ void drawSleepBitmap()
 }
 
 #if defined(PWR_BUTTON_PRESS)
-const pm_uchar SHUTDOWN_BITMAP[] PROGMEM = {
+const pm_uchar SHUTDOWN_BITMAP[]  = {
   #include "../../bitmaps/212x64/shutdown.lbm"
 };
 

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

@@ -218,7 +218,7 @@ bool menuStatsDebug(event_t event);
 bool menuStatsAnalogs(event_t event);
 bool menuStatsTraces(event_t event);
 
-static const MenuHandlerFunc menuTabStats[] PROGMEM = {
+static const MenuHandlerFunc menuTabStats[]  = {
   menuStatsGraph,
   menuStatsDebug,
   menuStatsAnalogs,
@@ -243,7 +243,7 @@ extern uint8_t lastMonitorPage;
 extern void drawSingleMixerBar(coord_t, coord_t, coord_t, coord_t, uint8_t);
 extern void drawSingleOutputBar(coord_t, coord_t, coord_t, coord_t, uint8_t);
 
-extern const MenuHandlerFunc menuTabScreensSetup[1+MAX_CUSTOM_SCREENS] PROGMEM;
+extern const MenuHandlerFunc menuTabScreensSetup[1+MAX_CUSTOM_SCREENS] ;
 
 bool menuFirstCalib(event_t event);
 bool menuMainView(event_t event);

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

@@ -303,7 +303,7 @@ bool menuModelExpoOne(event_t event)
   return true;
 }
 
-#define _STR_MAX(x) PSTR("/" #x)
+#define _STR_MAX(x) "/" #x
 #define STR_MAX(x) _STR_MAX(x)
 
 #define EXPO_LINE_WEIGHT_POS    125

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

@@ -280,7 +280,7 @@ bool menuModelMixOne(event_t event)
   return true;
 }
 
-#define _STR_MAX(x) PSTR("/" #x)
+#define _STR_MAX(x) "/" #x
 #define STR_MAX(x) _STR_MAX(x)
 
 #define MIX_LINE_WEIGHT_POS     105

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

@@ -530,7 +530,7 @@ bool menuModelSetup(event_t event)
 
       case ITEM_MODEL_SLIDPOT_WARNING_STATE:
         lcdDrawText(MENUS_MARGIN_LEFT, y,STR_POTWARNINGSTATE);
-        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, PSTR("\004""OFF\0""Man\0""Auto"), g_model.potsWarnMode, attr);
+        lcdDrawTextAtIndex(MODEL_SETUP_2ND_COLUMN, y, "\004""OFF\0""Man\0""Auto", g_model.potsWarnMode, attr);
         if (attr) {
           CHECK_INCDEC_MODELVAR(event, g_model.potsWarnMode, POTS_WARN_OFF, POTS_WARN_AUTO);
           storageDirty(EE_MODEL);

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

@@ -526,10 +526,10 @@ bool menuModelTelemetryFrsky(event_t event)
         if (g_model.moduleData[INTERNAL_MODULE].rfProtocol == RF_PROTO_OFF &&
           g_model.moduleData[EXTERNAL_MODULE].type == MODULE_TYPE_MULTIMODULE  &&
           g_model.moduleData[EXTERNAL_MODULE].getMultiProtocol(false) == MM_RF_PROTO_FS_AFHDS2A)
-          lcdDrawText(MENUS_MARGIN_LEFT, y, PSTR("RSNR"));
+          lcdDrawText(MENUS_MARGIN_LEFT, y, "RSNR");
         else
 #endif
-        lcdDrawText(MENUS_MARGIN_LEFT, y, PSTR("RSSI"));
+        lcdDrawText(MENUS_MARGIN_LEFT, y, "RSSI");
         break;
 
       case ITEM_TELEMETRY_RSSI_ALARM1:

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

@@ -179,7 +179,7 @@ bool menuRadioHardware(event_t event)
             pauseMixerCalculations();
             pausePulses();
             EXTERNAL_MODULE_OFF();
-            CoTickDelay(10); // 20ms so that the pulses interrupt will reinit the frame rate
+            RTOS_WAIT_MS(20); // 20ms so that the pulses interrupt will reinit the frame rate
             telemetryProtocol = 255; // force telemetry port + module reinitialization
             EXTERNAL_MODULE_ON();
             resumePulses();

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

@@ -67,7 +67,7 @@ inline bool isFilenameLower(bool isfile, const char * fn, const char * line)
 void getSelectionFullPath(char * lfn)
 {
   f_getcwd(lfn, _MAX_LFN);
-  strcat(lfn, PSTR("/"));
+  strcat(lfn, "/");
   strcat(lfn, reusableBuffer.sdmanager.lines[menuVerticalPosition - menuVerticalOffset]);
 }
 
@@ -95,7 +95,7 @@ void onSdManagerMenu(const char * result)
     f_getcwd(lfn, _MAX_LFN);
     // if destination is dir, copy into that dir
     if (IS_DIRECTORY(line)) {
-      strcat(lfn, PSTR("/"));
+      strcat(lfn, "/");
       strcat(lfn, line);
     }
     if (strcmp(clipboard.data.sd.directory, lfn)) {  // prevent copying to the same directory

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

@@ -154,7 +154,7 @@ bool menuRadioSetup(event_t event)
             {
               int16_t year = TM_YEAR_BASE + t.tm_year;
               int8_t dlim = (((((year%4==0) && (year%100!=0)) || (year%400==0)) && (t.tm_mon==1)) ? 1 : 0);
-              static const pm_uint8_t dmon[] PROGMEM = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
+              static const pm_uint8_t dmon[]  = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
               dlim += pgm_read_byte(&dmon[t.tm_mon]);
               lcdDrawNumber(lcdNextPos+3, y, t.tm_mday, flags|rowattr|LEADING0, 2);
               if (rowattr && s_editMode>0) t.tm_mday = checkIncDec(event, t.tm_mday, 1, dlim, 0);
@@ -427,15 +427,15 @@ bool menuRadioSetup(event_t event)
 
 #if defined(FAI_CHOICE)
       case ITEM_SETUP_FAI:
-        lcdDrawText(MENUS_MARGIN_LEFT, y, PSTR("FAI Mode"));
+        lcdDrawText(MENUS_MARGIN_LEFT, y, "FAI Mode");
         if (g_eeGeneral.fai) {
-          lcdDrawText(RADIO_SETUP_2ND_COLUMN, y, PSTR("Locked in FAI Mode"));
+          lcdDrawText(RADIO_SETUP_2ND_COLUMN, y, "Locked in FAI Mode");
         }
         else {
           g_eeGeneral.fai = editCheckBox(g_eeGeneral.fai, RADIO_SETUP_2ND_COLUMN, y, attr, event);
           if (attr && checkIncDec_Ret) {
               g_eeGeneral.fai = false;
-              POPUP_CONFIRMATION(PSTR("FAI mode?"));
+              POPUP_CONFIRMATION("FAI mode?");
           }
         }
         break;

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

@@ -43,7 +43,7 @@ bool menuChannelsMonitor(event_t event)
   return menuChannelsMonitor(event, index);
 }
 
-const MenuHandlerFunc menuTabMonitors[] PROGMEM = {
+const MenuHandlerFunc menuTabMonitors[]  = {
   menuChannelsMonitor<0>,
   menuChannelsMonitor<1>,
   menuChannelsMonitor<2>,

radio/src/gui/common/stdlcd/model_inputs.cpp

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-#define _STR_MAX(x)                     PSTR("/" #x)
+#define _STR_MAX(x)                     "/" #x
 #define STR_MAX(x)                     _STR_MAX(x)
 
 uint8_t getExposCount()

radio/src/gui/common/stdlcd/model_mixes.cpp

@@ -20,7 +20,7 @@
 
 #include "opentx.h"
 
-#define _STR_MAX(x)                     PSTR("/" #x)
+#define _STR_MAX(x)                     "/" #x
 #define STR_MAX(x)                     _STR_MAX(x)
 
 uint8_t getMixesCount()

radio/src/gui/common/stdlcd/radio_sdmanager.cpp

@@ -64,7 +64,7 @@ inline bool isFilenameLower(bool isfile, const char * fn, const char * line)
 void getSelectionFullPath(char * lfn)
 {
   f_getcwd(lfn, _MAX_LFN);
-  strcat(lfn, PSTR("/"));
+  strcat(lfn, "/");
   strcat(lfn, reusableBuffer.sdmanager.lines[menuVerticalPosition - HEADER_LINE - menuVerticalOffset]);
 }
 
@@ -92,7 +92,7 @@ void onSdManagerMenu(const char * result)
     f_getcwd(lfn, _MAX_LFN);
     // if destination is dir, copy into that dir
     if (IS_DIRECTORY(line)) {
-      strcat(lfn, PSTR("/"));
+      strcat(lfn, "/");
       strcat(lfn, line);
     }
     if (strcmp(clipboard.data.sd.directory, lfn)) {  // prevent copying to the same directory
@@ -114,7 +114,7 @@ void onSdManagerMenu(const char * result)
     getSelectionFullPath(lfn);
     f_unlink(lfn);
     strncpy(statusLineMsg, line, 13);
-    strcpy_P(statusLineMsg+min((uint8_t)strlen(statusLineMsg), (uint8_t)13), STR_REMOVED);
+    strcpy(statusLineMsg+min((uint8_t)strlen(statusLineMsg), (uint8_t)13), STR_REMOVED);
     showStatusLine();
     REFRESH_FILES();
   }

radio/src/gui/gui_common_arm.cpp

@@ -647,53 +647,53 @@ int getFirstAvailable(int min, int max, IsValueAvailable isValueAvailable)
 // we don't need the special eeprom/flash string handling, just define them as
 // local strings
 
-const pm_char STR_SUBTYPE_FLYSKY[] PROGMEM =     "\004""Std\0""V9x9""V6x6""V912""CX20";
+const pm_char STR_SUBTYPE_FLYSKY[]  =     "\004""Std\0""V9x9""V6x6""V912""CX20";
 
-const pm_char STR_SUBTYPE_AFHDS2A[] PROGMEM =    "\010""PWM,IBUS""PPM,IBUS""PWM,SBUS""PPM,SBUS";
+const pm_char STR_SUBTYPE_AFHDS2A[]  =    "\010""PWM,IBUS""PPM,IBUS""PWM,SBUS""PPM,SBUS";
 
-const pm_char STR_SUBTYPE_FRSKY[] PROGMEM =      "\007""D16\0   ""D8\0    ""D16 8ch""V8\0    ""LBT(EU)""LBT 8ch";
+const pm_char STR_SUBTYPE_FRSKY[]  =      "\007""D16\0   ""D8\0    ""D16 8ch""V8\0    ""LBT(EU)""LBT 8ch";
 
-const pm_char STR_SUBTYPE_HISKY[] PROGMEM =      "\005""HiSky""HK310";
+const pm_char STR_SUBTYPE_HISKY[]  =      "\005""HiSky""HK310";
 
-const pm_char STR_SUBTYPE_DSM[] PROGMEM =        "\006""2 22ms""2 11ms""X 22ms""X 11ms";
+const pm_char STR_SUBTYPE_DSM[]  =        "\006""2 22ms""2 11ms""X 22ms""X 11ms";
 
-const pm_char STR_SUBTYPE_YD717[] PROGMEM =      "\007""YD717\0 ""SKYWLKR""Syma X2""XINXUN\0""NIHUI\0  ";
+const pm_char STR_SUBTYPE_YD717[]  =      "\007""YD717\0 ""SKYWLKR""Syma X2""XINXUN\0""NIHUI\0  ";
 
-const pm_char STR_SUBTYPE_SYMAX[] PROGMEM =      "\003""Std""5c\0";
+const pm_char STR_SUBTYPE_SYMAX[]  =      "\003""Std""5c\0";
 
-const pm_char STR_SUBTYPE_SLT[] PROGMEM =        "\005""SLT\0 ""Vista";
+const pm_char STR_SUBTYPE_SLT[]  =        "\005""SLT\0 ""Vista";
 
-const pm_char STR_SUBTYPE_CX10[] PROGMEM =       "\007""Green\0 ""Blue\0  ""DM007\0 ""-\0     ""JC3015a""JC3015b""MK33041""Q242\0  ";
+const pm_char STR_SUBTYPE_CX10[]  =       "\007""Green\0 ""Blue\0  ""DM007\0 ""-\0     ""JC3015a""JC3015b""MK33041""Q242\0  ";
 
-const pm_char STR_SUBTYPE_CG023[] PROGMEM =      "\005""CG023""YD829";
+const pm_char STR_SUBTYPE_CG023[]  =      "\005""CG023""YD829";
 
-const pm_char STR_SUBTYPE_KN[] PROGMEM =         "\006""WLtoys""FeiLun";
+const pm_char STR_SUBTYPE_KN[]  =         "\006""WLtoys""FeiLun";
 
-const pm_char STR_SUBTYPE_MT99[] PROGMEM =       "\005""MT99\0""H7\0  ""YZ\0  ""LS\0  ""FY805";
+const pm_char STR_SUBTYPE_MT99[]  =       "\005""MT99\0""H7\0  ""YZ\0  ""LS\0  ""FY805";
 
-const pm_char STR_SUBTYPE_MJXQ[] PROGMEM =       "\005""WLH08""X600\0""X800\0""H26D\0""E010\0""H26WH";
+const pm_char STR_SUBTYPE_MJXQ[]  =       "\005""WLH08""X600\0""X800\0""H26D\0""E010\0""H26WH";
 
-const pm_char STR_SUBTYPE_HONTAI[] PROGMEM =     "\007""Std\0   ""JJRC X1""X5C1cln";
+const pm_char STR_SUBTYPE_HONTAI[]  =     "\007""Std\0   ""JJRC X1""X5C1cln";
 
-const pm_char STR_SUBTYPE_Q2X2[] PROGMEM =       "\004""Q222""Q242""Q282";
+const pm_char STR_SUBTYPE_Q2X2[]  =       "\004""Q222""Q242""Q282";
 
-const pm_char STR_SUBTYPE_Q303[] PROGMEM =       "\006""Q303\0 ""CX35\0 ""CX10D\0""CX10WD";
+const pm_char STR_SUBTYPE_Q303[]  =       "\006""Q303\0 ""CX35\0 ""CX10D\0""CX10WD";
 
-const pm_char STR_SUBTYPE_WK2x01[] PROGMEM =     "\006""WK2801""WK2401""W6_5_1""W6_6_1""W6_Hel""W6_HeI";
+const pm_char STR_SUBTYPE_WK2x01[]  =     "\006""WK2801""WK2401""W6_5_1""W6_6_1""W6_Hel""W6_HeI";
 
-const pm_char STR_SUBTYPE_V2X2[] PROGMEM =       "\006""V2x2\0 ""JXD506";
+const pm_char STR_SUBTYPE_V2X2[]  =       "\006""V2x2\0 ""JXD506";
 
-const pm_char STR_SUBTYPE_BAYANG[] PROGMEM =     "\007""Bayang\0""H8S3D\0 ""X16 AH\0 ""irdrone";
+const pm_char STR_SUBTYPE_BAYANG[]  =     "\007""Bayang\0""H8S3D\0 ""X16 AH\0 ""irdrone";
 
-const pm_char STR_SUBTYPE_FY326[] PROGMEM =      "\005""FY326""FY319";
+const pm_char STR_SUBTYPE_FY326[]  =      "\005""FY326""FY319";
 
-const pm_char STR_SUBTYPE_CABELL[] PROGMEM =     "\006""CAB_V3""C_TELM""-\0    ""-\0    ""-\0    ""-\0    ""F_SAFE""UNBIND";
+const pm_char STR_SUBTYPE_CABELL[]  =     "\006""CAB_V3""C_TELM""-\0    ""-\0    ""-\0    ""-\0    ""F_SAFE""UNBIND";
 
-const pm_char STR_SUBTYPE_H83D[] PROGMEM =       "\006""H8_3D\0""H20H\0 ""H20Mini""H30Mini";
+const pm_char STR_SUBTYPE_H83D[]  =       "\006""H8_3D\0""H20H\0 ""H20Mini""H30Mini";
 
-const pm_char STR_SUBTYPE_CORONA[] PROGMEM =     "\005""V1\0  ""V2\0  ""FD V3";
+const pm_char STR_SUBTYPE_CORONA[]  =     "\005""V1\0  ""V2\0  ""FD V3";
 
-const pm_char STR_SUBTYPE_HITEC[] PROGMEM =      "\006""Optima\0""Minima";
+const pm_char STR_SUBTYPE_HITEC[]  =      "\006""Optima\0""Minima";
 
 const mm_protocol_definition multi_protocols[] = {
 

radio/src/gui/screenshot.cpp

@@ -38,7 +38,7 @@ const char * writeScreenshot()
   char filename[42]; // /SCREENSHOTS/screen-2013-01-01-123540.bmp
 
   // check and create folder here
-  strcpy_P(filename, SCREENSHOTS_PATH);
+  strcpy(filename, SCREENSHOTS_PATH);
   const char * error = sdCheckAndCreateDirectory(filename);
   if (error) {
     return error;

radio/src/io/frsky_sport.cpp

@@ -138,7 +138,7 @@ bool sportWaitState(SportUpdateState state, int timeout)
     else if (sportUpdateState == SPORT_FAIL) {
       return false;
     }
-    CoTickDelay(1);
+    RTOS_WAIT_TICKS(1);
   }
   return false;
 #endif
@@ -313,7 +313,7 @@ void sportFlashDevice(ModuleIndex module, const char * filename)
 
   /* wait 2s off */
   watchdogSuspend(2000);
-  CoTickDelay(1000);
+  RTOS_WAIT_MS(2000);
 #endif
 
   const char * result = sportUpdatePowerOn(module);

radio/src/keys.cpp

@@ -179,7 +179,7 @@ void killEvents(event_t event)
 bool clearKeyEvents()
 {
 #if defined(PCBSKY9X)
-  CoTickDelay(100);  // 200ms
+  RTOS_WAIT_MS(200); // 200ms
 #endif
 
   // loop until all keys are up

radio/src/logs.cpp

@@ -54,7 +54,7 @@ const pm_char * logsOpen()
     return STR_SDCARD_FULL;
 
   // check and create folder here
-  strcpy_P(filename, STR_LOGS_PATH);
+  strcpy(filename, STR_LOGS_PATH);
   const char * error = sdCheckAndCreateDirectory(filename);
   if (error) {
     return error;
@@ -85,7 +85,7 @@ const pm_char * logsOpen()
     // TODO
     uint8_t num = 1;
 #endif
-    strcpy_P(&filename[sizeof(LOGS_PATH)], STR_MODEL);
+    strcpy(&filename[sizeof(LOGS_PATH)], STR_MODEL);
     filename[sizeof(LOGS_PATH) + PSIZE(TR_MODEL)] = (char)((num / 10) + '0');
     filename[sizeof(LOGS_PATH) + PSIZE(TR_MODEL) + 1] = (char)((num % 10) + '0');
     len = sizeof(LOGS_PATH) + PSIZE(TR_MODEL) + 2;
@@ -97,7 +97,7 @@ const pm_char * logsOpen()
   tmp = strAppendDate(&filename[len]);
 #endif
 
-  strcpy_P(tmp, STR_LOGS_EXT);
+  strcpy(tmp, STR_LOGS_EXT);
 
   result = f_open(&g_oLogFile, filename, FA_OPEN_ALWAYS | FA_WRITE | FA_OPEN_APPEND);
   if (result != FR_OK) {

radio/src/opentx.cpp

@@ -48,7 +48,7 @@ union ReusableBuffer reusableBuffer __DMA;
 uint8_t* MSC_BOT_Data = reusableBuffer.MSC_BOT_Data;
 #endif
 
-const pm_uint8_t bchout_ar[] PROGMEM = {
+const pm_uint8_t bchout_ar[]  = {
     0x1B, 0x1E, 0x27, 0x2D, 0x36, 0x39,
     0x4B, 0x4E, 0x63, 0x6C, 0x72, 0x78,
     0x87, 0x8D, 0x93, 0x9C, 0xB1, 0xB4,
@@ -65,7 +65,7 @@ mode2 rud thr ele ail
 mode3 ail ele thr rud
 mode4 ail thr ele rud
 */
-const pm_uint8_t modn12x3[] PROGMEM = {
+const pm_uint8_t modn12x3[]  = {
     0, 1, 2, 3,
     0, 2, 1, 3,
     3, 1, 2, 0,
@@ -784,11 +784,7 @@ void doSplash()
     tmr10ms_t tgtime = get_tmr10ms() + SPLASH_TIMEOUT;
 
     while (tgtime > get_tmr10ms()) {
-#if defined(SIMU)
+      RTOS_WAIT_TICKS(1);
-      SIMU_SLEEP(1);
-#else
-      CoTickDelay(1);
-#endif
 
       getADC();
 
@@ -924,11 +920,7 @@ void checkAll()
     showMessageBox(STR_KEYSTUCK);
     tmr10ms_t tgtime = get_tmr10ms() + 500;
     while (tgtime != get_tmr10ms()) {
-#if defined(SIMU)
+      RTOS_WAIT_MS(1);
-      SIMU_SLEEP(1);
-#else
-      CoTickDelay(1);
-#endif
       wdt_reset();
     }
   }
@@ -1017,9 +1009,7 @@ void checkTHR()
 
     wdt_reset();
 
-    SIMU_SLEEP(1);
+    RTOS_WAIT_MS(10);
-    CoTickDelay(10);
-
   }
 
   LED_ERROR_END();
@@ -1049,8 +1039,7 @@ void alert(const pm_char * title, const pm_char * msg , uint8_t sound)
 #endif
 
   while (1) {
-    SIMU_SLEEP(1);
+    RTOS_WAIT_MS(10);
-    CoTickDelay(10);
 
     if (keyDown()) break; // wait for key release
 
@@ -1576,7 +1565,7 @@ void doMixerCalculations()
 #if defined(NAVIGATION_STICKS)
 uint8_t StickScrollAllowed;
 uint8_t StickScrollTimer;
-static const pm_uint8_t rate[] PROGMEM = { 0, 0, 100, 40, 16, 7, 3, 1 } ;
+static const pm_uint8_t rate[]  = { 0, 0, 100, 40, 16, 7, 3, 1 } ;
 
 uint8_t calcStickScroll( uint8_t index )
 {
@@ -1626,7 +1615,7 @@ void opentxStart(OPENTX_START_ARGS)
 
 #if defined(PCBSKY9X) && defined(SDCARD) && !defined(SIMU)
   for (int i=0; i<500 && !Card_initialized; i++) {
-    CoTickDelay(1);  // 2ms
+    RTOS_WAIT_MS(2); // 2ms
   }
 #endif
 
@@ -1693,9 +1682,10 @@ void opentxClose(uint8_t shutdown)
   storageCheck(true);
 
   while (IS_PLAYING(ID_PLAY_PROMPT_BASE + AU_BYE)) {
-    CoTickDelay(10);
+    RTOS_WAIT_MS(10);
   }
-  CoTickDelay(50);
+
+  RTOS_WAIT_MS(100);
 
 #if defined(SDCARD)
   sdDone();
@@ -2265,7 +2255,7 @@ uint32_t pwrCheck()
       RAISE_ALERT(STR_MODEL, STR_MODEL_STILL_POWERED, STR_PRESS_ENTER_TO_CONFIRM, AU_MODEL_STILL_POWERED);
       while (TELEMETRY_STREAMING()) {
         resetForcePowerOffRequest();
-        CoTickDelay(10);
+        RTOS_WAIT_MS(20);
         if (pwrPressed()) {
           return e_power_on;
         }

radio/src/opentx.h

@@ -236,8 +236,6 @@
   typedef const int16_t pm_int16_t;
   typedef const int8_t pm_int8_t;
   #define pgm_read_byte(address_short) (*(uint8_t*)(address_short))
-  #define PSTR(adr) adr
-  #define PROGMEM
   #define pgm_read_adr(x)              *(x)
   #define cli()
   #define sei()
@@ -518,8 +516,6 @@ extern uint8_t flightModeTransitionLast;
 #elif !defined(SIMU)
   extern unsigned char *heap;
   extern int _end;
-  extern int _estack;
-  extern int _main_stack_start;
   extern int _heap_end;
   #define availableMemory() ((unsigned int)((unsigned char *)&_heap_end - heap))
 #endif
@@ -666,7 +662,7 @@ void checkAll();
 
 #if !defined(SIMU)
 void getADC();
-    #define GET_ADC_IF_MIXER_NOT_RUNNING()    do { if (s_pulses_paused) getADC(); } while(0)
+#define GET_ADC_IF_MIXER_NOT_RUNNING()    do { if (s_pulses_paused) getADC(); } while(0)
 #endif
 
 #include "sbus.h"
@@ -694,15 +690,15 @@ uint16_t isqrt32(uint32_t n);
 
 #if !defined(BOOT)
 #include "tasks_arm.h"
-extern OS_MutexID mixerMutex;
+extern RTOS_MUTEX_HANDLE mixerMutex;
 inline void pauseMixerCalculations()
 {
-  CoEnterMutexSection(mixerMutex);
+  RTOS_LOCK_MUTEX(mixerMutex);
 }
 
 inline void resumeMixerCalculations()
 {
-  CoLeaveMutexSection(mixerMutex);
+  RTOS_UNLOCK_MUTEX(mixerMutex);
 }
 #else
 #define pauseMixerCalculations()

radio/src/rtos.h

@@ -0,0 +1,281 @@
+/*
+ * 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 _RTOS_H_
+#define _RTOS_H_
+
+#include "definitions.h"
+
+#ifdef __cplusplus
+extern "C++" {
+#endif
+
+#define doNothing()                     do { } while(0)
+
+#if defined(SIMU)
+  #include <pthread.h>
+  #include <semaphore.h>
+  #if __GNUC__
+    #include <unistd.h>
+    inline void msleep(unsigned x)
+    {
+      usleep(1000 * x);
+    }
+  #else
+    #include <windows.h>
+    inline void msleep(unsigned x)
+    {
+      Sleep(x);
+    }
+  #endif
+
+  inline void RTOS_INIT()
+  {
+  }
+
+  inline void RTOS_START()
+  {
+  }
+
+  inline void RTOS_WAIT_MS(unsigned x)
+  {
+    msleep(x);
+  }
+
+  inline void RTOS_WAIT_TICKS(unsigned x)
+  {
+    msleep(x * 2);
+  }
+
+  typedef pthread_t RTOS_TASK_HANDLE;
+  typedef pthread_mutex_t RTOS_MUTEX_HANDLE;
+  typedef uint32_t RTOS_FLAG_HANDLE;
+  typedef sem_t * RTOS_EVENT_HANDLE;
+
+#ifdef __cplusplus
+  inline void RTOS_CREATE_MUTEX(pthread_mutex_t &mutex)
+  {
+    mutex = PTHREAD_MUTEX_INITIALIZER;
+  }
+
+  inline void RTOS_LOCK_MUTEX(pthread_mutex_t &mutex)
+  {
+      pthread_mutex_lock(&mutex);
+  }
+
+  inline void RTOS_UNLOCK_MUTEX(pthread_mutex_t &mutex)
+  {
+      pthread_mutex_unlock(&mutex);
+  }
+
+  inline void RTOS_CREATE_FLAG(uint32_t &flag)
+  {
+    flag = 0; // TODO: real flags (use semaphores?)
+  }
+
+  inline void RTOS_SET_FLAG(uint32_t &flag)
+  {
+    flag = 1;
+  }
+
+  template<int SIZE>
+  class FakeTaskStack
+  {
+    public:
+      FakeTaskStack()
+      {
+      }
+
+      void paint()
+      {
+      }
+
+      uint16_t size()
+      {
+        return SIZE;
+      }
+
+      uint16_t available()
+      {
+        return SIZE / 2;
+      }
+  };
+  #define RTOS_DEFINE_STACK(name, size) FakeTaskStack<size> name
+
+  #define TASK_FUNCTION(task)           void * task(void * pdata)
+
+  template<int SIZE>
+  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * task(void *) , const char * name, FakeTaskStack<SIZE> &stack, unsigned stackSize, unsigned priority)
+  {
+    pthread_create(&taskId, nullptr, task, nullptr);
+  }
+
+  #define TASK_RETURN()                 return nullptr
+
+  constexpr uint16_t stackAvailable()
+  {
+    return 500;
+  }
+#endif
+
+  // return 2ms resolution to match CoOS settings
+  inline uint32_t RTOS_GET_TIME(void)
+  {
+    extern uint64_t simuTimerMicros(void);
+    return simuTimerMicros() / 2000;
+  }
+#elif defined(RTOS_COOS)
+#ifdef __cplusplus
+  extern "C" {
+#endif
+    #include <CoOS.h>
+#ifdef __cplusplus
+  }
+#endif
+
+  typedef OS_TID RTOS_TASK_HANDLE;
+  typedef OS_MutexID RTOS_MUTEX_HANDLE;
+  typedef OS_FlagID RTOS_FLAG_HANDLE;
+  typedef OS_EventID RTOS_EVENT_HANDLE;
+
+  static inline void RTOS_INIT()
+  {
+    CoInitOS();
+  }
+
+  static inline void RTOS_START()
+  {
+    CoStartOS();
+  }
+
+  static inline void RTOS_WAIT_MS(unsigned x)
+  {
+    CoTickDelay(x / 2);
+  }
+
+  static inline void RTOS_WAIT_TICKS(unsigned x)
+  {
+    CoTickDelay(x);
+  }
+
+  #define RTOS_CREATE_TASK(taskId, task, name, stackStruct, stackSize, priority)   \
+                                        taskId = CoCreateTask(task, NULL, priority, &stackStruct.stack[stackSize-1], stackSize)
+
+#ifdef __cplusplus
+  static inline void RTOS_CREATE_MUTEX(OS_MutexID &mutex)
+  {
+    mutex = CoCreateMutex();
+  }
+
+  static inline void RTOS_LOCK_MUTEX(OS_MutexID &mutex)
+  {
+    CoEnterMutexSection(mutex);
+  }
+
+  static inline void RTOS_UNLOCK_MUTEX(OS_MutexID &mutex)
+  {
+    CoLeaveMutexSection(mutex);
+  }
+#endif
+
+  static inline uint16_t getStackAvailable(void * address, uint16_t size)
+  {
+    uint32_t * array = (uint32_t *)address;
+    uint16_t i = 0;
+    while (i < size && array[i] == 0x55555555) {
+      i++;
+    }
+    return i*4;
+  }
+
+  extern int _estack;
+  extern int _main_stack_start;
+  static inline uint16_t stackSize()
+  {
+    return ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
+  }
+
+  static inline uint16_t stackAvailable()
+  {
+    return getStackAvailable(&_main_stack_start, stackSize());
+  }
+
+  #define RTOS_CREATE_FLAG(flag)        flag = CoCreateFlag(false, false)
+  #define RTOS_SET_FLAG(flag)           (void)CoSetFlag(flag)
+
+#ifdef __cplusplus
+  template<int SIZE>
+  class TaskStack
+  {
+    public:
+      TaskStack()
+      {
+      }
+
+      void paint()
+      {
+        for (uint32_t i=0; i<SIZE; i++) {
+          stack[i] = 0x55555555;
+        }
+      }
+
+      uint16_t size()
+      {
+        return SIZE * 4;
+      }
+
+      uint16_t available()
+      {
+        return getStackAvailable(stack, SIZE);
+      }
+
+      OS_STK stack[SIZE];
+  };
+#endif // __cplusplus
+
+  static inline uint32_t RTOS_GET_TIME(void)
+  {
+    return CoGetOSTime();
+  }
+
+  #define RTOS_DEFINE_STACK(name, size) TaskStack<size> __ALIGNED(8) name // stack must be aligned to 8 bytes otherwise printf for %f does not work!
+
+  #define TASK_FUNCTION(task)           void task(void * pdata)
+  #define TASK_RETURN()                 return
+
+#else // no RTOS
+  static inline void RTOS_START()
+  {
+  }
+
+  static inline void RTOS_WAIT_MS(unsigned x)
+  {
+  }
+
+  static inline void RTOS_WAIT_TICKS(unsigned x)
+  {
+  }
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // _RTOS_H_

radio/src/stamp.cpp

@@ -31,14 +31,14 @@
 #endif
 
 #if defined(COLORLCD)
-  const pm_char vers_stamp[] PROGMEM =   "VERS" TAB ": " "opentx-" FLAVOUR "-" VERSION " (" GIT_STR ")";
+  const pm_char vers_stamp[]  =   "VERS" TAB ": " "opentx-" FLAVOUR "-" VERSION " (" GIT_STR ")";
-  const pm_char date_stamp[] PROGMEM =   "DATE" TAB ": " DATE;
+  const pm_char date_stamp[]  =   "DATE" TAB ": " DATE;
-  const pm_char time_stamp[] PROGMEM =   "TIME" TAB ": " TIME;
+  const pm_char time_stamp[]  =   "TIME" TAB ": " TIME;
-  const pm_char eeprom_stamp[] PROGMEM = "EEPR" TAB ": " EEPROM_STR;
+  const pm_char eeprom_stamp[]  = "EEPR" TAB ": " EEPROM_STR;
 #elif defined(PCBTARANIS)
-  const pm_char vers_stamp[] PROGMEM = "FW\037\033: " "opentx-" FLAVOUR "\036VERS\037\033: " VERSION " (" GIT_STR ")" "\036DATE\037\033: " DATE " " TIME "\036EEPR\037\033: " EEPROM_STR;
+  const pm_char vers_stamp[]  = "FW\037\033: " "opentx-" FLAVOUR "\036VERS\037\033: " VERSION " (" GIT_STR ")" "\036DATE\037\033: " DATE " " TIME "\036EEPR\037\033: " EEPROM_STR;
 #else
-  const pm_char vers_stamp[] PROGMEM = "FW\037\033: " "opentx-" FLAVOUR "\036VERS\037\033: " VERSION "\036DATE\037\033: " DATE "\036TIME\037\033: " TIME "\036EEPR\037\033: " EEPROM_STR;
+  const pm_char vers_stamp[]  = "FW\037\033: " "opentx-" FLAVOUR "\036VERS\037\033: " VERSION "\036DATE\037\033: " DATE "\036TIME\037\033: " TIME "\036EEPR\037\033: " EEPROM_STR;
 #endif
 
 /**

radio/src/storage/eeprom_conversions.cpp

@@ -1250,10 +1250,10 @@ bool eeConvert()
   const char *msg = NULL;
 
   if (g_eeGeneral.version == 216) {
-    msg = PSTR("EEprom Data v216");
+    msg = "EEprom Data v216";
   }
   else if (g_eeGeneral.version == 217) {
-    msg = PSTR("EEprom Data v217");
+    msg = "EEprom Data v217";
   }
   else {
     return false;

radio/src/storage/eeprom_raw.cpp

@@ -305,7 +305,7 @@ void eepromWriteWait(EepromWriteState state/* = EEPROM_IDLE*/)
   while (eepromWriteState != state) {
 #if defined(STM32)
     // Waits a little bit for CS transitions
-    CoTickDelay(1/*2ms*/);
+    RTOS_WAIT_MS(2);
 #endif
     eepromWriteProcess();
 #ifdef SIMU
@@ -468,7 +468,7 @@ const pm_char * eeBackupModel(uint8_t i_fileSrc)
   }
 
 #if defined(PCBSKY9X)
-  strcpy(statusLineMsg, PSTR("File "));
+  strcpy(statusLineMsg, "File ");
   strcpy(statusLineMsg+5, &buf[sizeof(MODELS_PATH)]);
 #endif
 

radio/src/storage/eeprom_rlc.cpp

@@ -450,7 +450,7 @@ const pm_char * eeBackupModel(uint8_t i_fileSrc)
   logsClose();
 
   // check and create folder here
-  strcpy_P(buf, STR_MODELS_PATH);
+  strcpy(buf, STR_MODELS_PATH);
   const char * error = sdCheckAndCreateDirectory(buf);
   if (error) {
     return error;
@@ -476,7 +476,7 @@ const pm_char * eeBackupModel(uint8_t i_fileSrc)
 
   if (len == 0) {
     uint8_t num = i_fileSrc + 1;
-    strcpy_P(&buf[sizeof(MODELS_PATH)], STR_MODEL);
+    strcpy(&buf[sizeof(MODELS_PATH)], STR_MODEL);
     buf[sizeof(MODELS_PATH) + PSIZE(TR_MODEL)] = (char)((num / 10) + '0');
     buf[sizeof(MODELS_PATH) + PSIZE(TR_MODEL) + 1] = (char)((num % 10) + '0');
     len = sizeof(MODELS_PATH) + PSIZE(TR_MODEL) + 2;
@@ -487,7 +487,7 @@ const pm_char * eeBackupModel(uint8_t i_fileSrc)
   len = tmp - buf;
 #endif
 
-  strcpy_P(&buf[len], STR_MODELS_EXT);
+  strcpy(&buf[len], STR_MODELS_EXT);
 
 #ifdef SIMU
   TRACE("SD-card backup filename=%s", buf);
@@ -532,10 +532,10 @@ const pm_char * eeRestoreModel(uint8_t i_fileDst, char *model_name)
   // we must close the logs as we reuse the same FIL structure
   logsClose();
 
-  strcpy_P(buf, STR_MODELS_PATH);
+  strcpy(buf, STR_MODELS_PATH);
   buf[sizeof(MODELS_PATH)-1] = '/';
   strcpy(&buf[sizeof(MODELS_PATH)], model_name);
-  strcpy_P(&buf[strlen(buf)], STR_MODELS_EXT);
+  strcpy(&buf[strlen(buf)], STR_MODELS_EXT);
 
   FRESULT result = f_open(&g_oLogFile, buf, FA_OPEN_EXISTING | FA_READ);
   if (result != FR_OK) {

radio/src/strhelpers.cpp

@@ -21,7 +21,7 @@
 #include "opentx.h"
 
 #if !defined(BOOT)
-const pm_char s_charTab[] PROGMEM = "_-.,";
+const pm_char s_charTab[]  = "_-.,";
 
 char hex2zchar(uint8_t hex)
 {

radio/src/switches.cpp

@@ -747,8 +747,7 @@ void checkSwitches()
 
     wdt_reset();
 
-    SIMU_SLEEP(1);
+    RTOS_WAIT_MS(10);
-    CoTickDelay(10);
   }
 
   LED_ERROR_END();

radio/src/targets/horus/board.h

@@ -95,9 +95,6 @@ extern "C" {
 #define TIMER_MULT_APB1                2
 #define TIMER_MULT_APB2                2
 
-#define strcpy_P strcpy
-#define strcat_P strcat
-
 extern uint16_t sessionTimer;
 
 #define SLAVE_MODE()                   (g_model.trainerMode == TRAINER_MODE_SLAVE)

radio/src/targets/horus/diskio.cpp

@@ -33,7 +33,7 @@
 /* Lock / unlock functions                                               */
 /*-----------------------------------------------------------------------*/
 #if !defined(BOOT)
-static OS_MutexID ioMutex;
+static RTOS_MUTEX_HANDLE ioMutex;
 uint32_t ioMutexReq = 0, ioMutexRel = 0;
 int ff_cre_syncobj (BYTE vol, _SYNC_t *mutex)
 {
@@ -44,13 +44,14 @@ int ff_cre_syncobj (BYTE vol, _SYNC_t *mutex)
 int ff_req_grant (_SYNC_t mutex)
 {
   ioMutexReq += 1;
-  return CoEnterMutexSection(mutex) == E_OK;
+  RTOS_LOCK_MUTEX(mutex);
+  return 1;
 }
 
 void ff_rel_grant (_SYNC_t mutex)
 {
   ioMutexRel += 1;
-  CoLeaveMutexSection(mutex);
+  RTOS_UNLOCK_MUTEX(mutex);
 }
 
 int ff_del_syncobj (_SYNC_t mutex)

radio/src/targets/simu/simpgmspace.cpp

@@ -49,7 +49,7 @@ uint32_t Peri1_frequency, Peri2_frequency;
 GPIO_TypeDef gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog, gpioh, gpioi, gpioj;
 TIM_TypeDef tim1, tim2, tim3, tim4, tim5, tim6, tim7, tim8, tim9, tim10;
 RCC_TypeDef rcc;
-DMA_Stream_TypeDef dma1_stream2, dma1_stream5, dma1_stream7, dma2_stream1, dma2_stream2, dma2_stream5, dma2_stream6, dma2_stream7;
+DMA_Stream_TypeDef dma1_stream1, dma1_stream2, dma1_stream3, dma1_stream4, dma1_stream5, dma1_stream6, dma1_stream7, dma2_stream1, dma2_stream2, dma2_stream5, dma2_stream6, dma2_stream7;
 DMA_TypeDef dma2;
 USART_TypeDef Usart0, Usart1, Usart2, Usart3, Usart4;
 SysTick_Type systick;
@@ -105,7 +105,7 @@ uint64_t simuTimerMicros(void)
 #else  // GNUC
 
   auto now = std::chrono::steady_clock::now();
-  return (U64) std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()).count();
+  return (uint64_t) std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()).count();
 
 #endif
 }
@@ -121,7 +121,7 @@ uint16_t getTmr2MHz()
 }
 
 // return 2ms resolution to match CoOS settings
-U64 CoGetOSTime(void)
+uint64_t CoGetOSTime(void)
 {
   return simuTimerMicros() / 2000;
 }
@@ -524,11 +524,6 @@ void StopAudioThread()
 }
 #endif // #if defined(SIMU_AUDIO)
 
-uint16_t stackAvailable()
-{
-  return 500;
-}
-
 bool simuLcdRefresh = true;
 display_t simuLcdBuf[DISPLAY_BUFFER_SIZE];
 
@@ -666,18 +661,3 @@ void LCD_ControlLight(uint16_t dutyCycle) { }
 void serialPrintf(const char * format, ...) { }
 void serialCrlf() { }
 void serialPutc(char c) { }
-uint16_t stackSize() { return 0; }
-
-void * start_routine(void * attr)
-{
-  FUNCPtr task = (FUNCPtr)attr;
-  task(NULL);
-  return NULL;
-}
-
-OS_TID CoCreateTask(FUNCPtr task, void *argv, uint32_t parameter, void * stk, uint32_t stksize)
-{
-  pthread_t tid;
-  pthread_create(&tid, NULL, start_routine, (void *)task);
-  return tid;
-}

radio/src/targets/simu/simpgmspace.h

@@ -92,7 +92,7 @@ extern GPIO_TypeDef gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog, gpioh, gpio
 extern TIM_TypeDef tim1, tim2, tim3, tim4, tim5, tim6, tim7, tim8, tim9, tim10;
 extern USART_TypeDef Usart0, Usart1, Usart2, Usart3, Usart4;
 extern RCC_TypeDef rcc;
-extern DMA_Stream_TypeDef dma1_stream2, dma1_stream5, dma1_stream7, dma2_stream1, dma2_stream2, dma2_stream5, dma2_stream6, dma2_stream7;
+extern DMA_Stream_TypeDef dma1_stream0, dma1_stream1, dma1_stream2, dma1_stream3, dma1_stream4, dma1_stream5, dma1_stream6, dma1_stream7, dma2_stream1, dma2_stream2, dma2_stream5, dma2_stream6, dma2_stream7;
 extern DMA_TypeDef dma2;
 extern SysTick_Type systick;
 #undef SysTick
@@ -147,7 +147,11 @@ extern SysTick_Type systick;
 #define USART3 (&Usart3)
 #undef RCC
 #define RCC (&rcc)
+#undef DMA1_Stream0
+#undef DMA1_Stream1
 #undef DMA1_Stream2
+#undef DMA1_Stream3
+#undef DMA1_Stream4
 #undef DMA1_Stream5
 #undef DMA1_Stream7
 #undef DMA2_Stream1
@@ -155,7 +159,11 @@ extern SysTick_Type systick;
 #undef DMA2_Stream5
 #undef DMA2_Stream6
 #undef DMA2_Stream7
+#define DMA1_Stream0 (&dma1_stream0)
+#define DMA1_Stream1 (&dma1_stream1)
 #define DMA1_Stream2 (&dma1_stream2)
+#define DMA1_Stream3 (&dma1_stream3)
+#define DMA1_Stream4 (&dma1_stream4)
 #define DMA1_Stream5 (&dma1_stream5)
 #define DMA1_Stream7 (&dma1_stream7)
 #define DMA2_Stream1 (&dma2_stream1)
@@ -213,117 +221,6 @@ extern uint32_t txPdcUsart( uint8_t *buffer, uint32_t size );
 extern uint32_t txPdcPending();
 extern void rxPdcUsart( void (*pChProcess)(uint8_t x) );
 
-#define loop_until_bit_is_set( port, bitnum) \
-  while ( 0/*! ( (port) & (1 << (bitnum)) )*/ ) ;
-
-#define PROGMEM
-#define pgm_read_byte(address_short) (*(uint8_t*)(address_short))
-#define pgm_read_word(address_short) (*(uint16_t*)(address_short))
-#define pgm_read_adr(address_short) *address_short
-#define pgm_read_stringP(adr) ((adr))
-#define PSTR(adr) adr
-#define _delay_us(a)
-#define _delay_ms(a)
-#define cli()
-#define sei()
-#define strcpy_P strcpy
-#define strcat_P strcat
-#define memcpy_P memcpy
-
-#define PORTA dummyport
-#define PORTB portb
-#define PORTC portc
-#define PORTD dummyport
-#define PORTE dummyport
-#define PORTF dummyport
-#define PORTG dummyport
-#define PORTH porth
-#define PORTL dummyport
-#define DDRA  dummyport
-#define DDRB  dummyport
-#define DDRC  dummyport
-#define DDRD  dummyport
-#define DDRE  dummyport
-#define DDRF  dummyport
-#define DDRG  dummyport
-#define EEMEM
-
-#define UCSR0B dummyport
-#define UDRIE0 dummyport
-#define TXB80 dummyport
-#define TXCIE0 dummyport
-#define TXEN0 dummyport
-#define RXEN0 dummyport
-#define DDE0 dummyport
-#define PORTE0 dummyport
-#define RXCIE0 dummyport
-#define OCR0A dummyport
-#define OCR1A dummyport16
-#define OCR1B dummyport16
-#define OCR1C dummyport16
-#define OCR2 dummyport
-#define OCR3A dummyport16
-#define OCR3B dummyport16
-#define OCR4A dummyport
-#define OCR5A dummyport
-#define TCCR0A dummyport
-#define TCCR1A dummyport
-#define TCCR1B dummyport
-#define TCCR1C dummyport
-#define COM1B0 dummyport
-#define COM0A0 dummyport
-#define TCNT1 dummyport16
-#define TCNT1L dummyport
-#define TCNT5 dummyport16
-#define ICR1 dummyport16
-#define TIFR dummyport
-#define TIFR1 dummyport
-#define ETIFR dummyport
-
-#define SPDR dummyport
-#define SPSR dummyport
-#define SPIF dummyport
-#define SPCR dummyport
-
-#define TIMSK  dummyport
-#define TIMSK1 dummyport
-#define TIMSK3 dummyport
-#define TIMSK4 dummyport
-#define TIMSK5 dummyport
-#define ETIMSK  dummyport
-#define ETIMSK1 dummyport
-
-#define UCSZ02 dummyport
-#define UCSR0C dummyport
-#define UCSZ01 dummyport
-#define UCSZ00 dummyport
-#define UCSR0A dummyport
-#define RXC0 dummyport
-
-#define UDR0 dummyport
-#define OCIE1A dummyport
-#define OCIE1B dummyport
-#define OCIE1C dummyport
-#define OCIE4A dummyport
-#define OCIE5A dummyport
-
-#define OUT_B_LIGHT   7
-#define INP_E_ElevDR  2
-#define INP_E_Trainer 5
-#define INP_E_Gear    4
-#define INP_C_ThrCt   6
-#define INP_C_AileDR  7
-#define INP_E_ID2     6
-
-#define WGM10   0
-#define WGM12   0
-#define COM1B1  0
-#define FOC1B   0
-#define CS10    0
-#define DOR0    0
-#define UPE0    0
-#define FE0     0
-
 #define ISR(x, ...)  void x()
 
 #if !defined(_MSC_VER) && defined(__GNUC__)
@@ -345,7 +242,6 @@ extern char * main_thread_error;
 
 #define getADC()
 #define GET_ADC_IF_MIXER_NOT_RUNNING()
-#define getADC_bandgap()
 
 #define SIMU_SLEEP(x) do { if (!main_thread_running) return; sleep(x/*ms*/); } while (0)
 #define SIMU_SLEEP_NORET(x) do { sleep(x/*ms*/); } while (0)
@@ -370,49 +266,12 @@ void StopEepromThread();
   #define StopAudioThread()
 #endif
 
-
-#define OS_MutexID pthread_mutex_t
-extern OS_MutexID audioMutex;
-
-#define OS_FlagID uint32_t
-#define OS_TID pthread_t
-#define OS_TCID uint32_t
-#define OS_STK uint32_t
-
-#define E_OK   0
-#define WDRF   0
-
 void * simuMain(void * args = NULL);
-extern uint8_t MCUCSR, MCUSR, MCUCR;
-
-typedef unsigned int       U32;
-typedef unsigned long long U64;
-typedef void               (*FUNCPtr)(void*);
-
-#define CoInitOS(...)
-#define CoStartOS(...)
-
-OS_TID CoCreateTask(FUNCPtr task, void *argv, uint32_t parameter, void * stk, uint32_t stksize);
-#define CoCreateTaskEx(...)            0
-
-#define CoCreateMutex(...)             PTHREAD_MUTEX_INITIALIZER
-#define CoEnterMutexSection(m)         pthread_mutex_lock(&(m))
-#define CoLeaveMutexSection(m)         pthread_mutex_unlock(&(m))
-
-#define CoSetFlag(...)
-#define CoClearFlag(...)
-#define CoSetTmrCnt(...)
-#define CoEnterISR(...)
-#define CoExitISR(...)
-#define CoStartTmr(...)
-#define CoWaitForSingleFlag(...)       0
-#define CoTickDelay(x)                 sleep(2*(x))
-#define CoCreateFlag(...)              0
-U64 CoGetOSTime(void);
 
 #define UART_Stop(...)
 #define UART3_Stop(...)
 #define USART_GetITStatus(...)         0
+#define USART_ClearFlag(...)
 
 #if defined(STM32)
 inline void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) { }
@@ -437,6 +296,7 @@ inline void DMA_Init(DMA_Stream_TypeDef* DMAy_Streamx, DMA_InitTypeDef* DMA_Init
 inline void DMA_ITConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT, FunctionalState NewState) { }
 inline void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct) { }
 inline void DMA_Cmd(DMA_Stream_TypeDef* DMAy_Streamx, FunctionalState NewState) { }
+void DMACopy(void * src, void * dest, unsigned size);
 inline FlagStatus DMA_GetFlagStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_FLAG) { return RESET; }
 inline ITStatus DMA_GetITStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT) { return RESET; }
 inline void DMA_ClearITPendingBit(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT) { }

radio/src/targets/simu/simudisk.cpp

@@ -29,7 +29,7 @@
 FILE * diskImage = 0;
 FATFS g_FATFS_Obj = {0};
 
-OS_MutexID ioMutex;
+RTOS_MUTEX_HANDLE ioMutex;
 
 int ff_cre_syncobj (BYTE vol, _SYNC_t* sobj) /* Create a sync object */
 {

radio/src/targets/sky9x/bluetooth.cpp

@@ -86,7 +86,7 @@ void btSendBuffer()
   btTx.buffer = btTxBuffer;
   txPdcBt(&btTx);
   while (btTx.ready == 1) {
-    CoTickDelay(1); // 2ms for now
+    RTOS_WAIT_TICKS(1);
   }
   btTx.size = 0;
 }
@@ -131,7 +131,7 @@ uint32_t btChangeBaudrate( uint32_t baudIndex )
       }
     }
     else {
-      CoTickDelay(1) ;                                        // 2mS
+      RTOS_WAIT_TICKS(1);
     }
   }
 
@@ -167,7 +167,7 @@ uint32_t btPollDevice()
       }
     }
     else {
-      CoTickDelay(1) ;                                        // 2mS
+      RTOS_WAIT_TICKS(1) ;                                        // 2mS
     }
   }
 
@@ -229,7 +229,7 @@ void bluetoothTask(void * pdata)
         x = 0 ;
       }
       btSetBaudrate(x) ;
-      CoTickDelay(1) ;                                        // 2mS
+      RTOS_WAIT_TICKS(1) ;                                        // 2mS
       btStatus = btPollDevice() ;              // Do we get a response?
     }
   }
@@ -248,7 +248,7 @@ void bluetoothTask(void * pdata)
     btInit();
   }
 
-  CoTickDelay(1) ;
+  RTOS_WAIT_TICKS(1) ;
 
   btPollDevice(); // Do we get a response?
 

radio/src/targets/sky9x/board.h

@@ -223,9 +223,6 @@ extern uint8_t temperature ;              // Raw temp reading
 extern uint8_t maxTemperature ;           // Raw temp reading
 uint8_t getTemperature();
 
-#define strcpy_P strcpy
-#define strcat_P strcat
-
 #if !defined(REVA)
 extern uint16_t Current_analogue;
 extern uint16_t Current_max;

radio/src/targets/sky9x/diskio.cpp

@@ -79,7 +79,7 @@ uint32_t transSpeed;
 /*-----------------------------------------------------------------------*/
 
 #if !defined(BOOT)
-static OS_MutexID ioMutex;
+static RTOS_MUTEX_HANDLE ioMutex;
 volatile int mutexCheck = 0;
 int ff_cre_syncobj (BYTE vol, _SYNC_t *mutex)
 {
@@ -89,7 +89,7 @@ int ff_cre_syncobj (BYTE vol, _SYNC_t *mutex)
 
 int ff_req_grant (_SYNC_t mutex)
 {
-  CoEnterMutexSection(mutex);
+  RTOS_LOCK_MUTEX(mutex);
   return 1;
 }
 
@@ -676,7 +676,7 @@ const char * sdIdentify()
      * The host that does not support CMD8 shall supply high voltage range... */
     result = sdCmd8(1);
     if (result == 0) f8 = 1;
-    else if (result == SD_NORESPONSE) CoTickDelay(1); /* 2ms delay after "no response" */
+    else if (result == SD_NORESPONSE) RTOS_WAIT_MS(2); /* 2ms delay after "no response" */
     else return "Identify.8 error";
 
 #if 0
@@ -956,7 +956,7 @@ void sdInit()
   }
 
   sdCmd0();
-  CoTickDelay(5);  // 10ms
+  RTOS_WAIT_MS(10); // 10ms
   sdCmd8(1);
 
 #if 0
@@ -971,7 +971,7 @@ void sdInit()
   uint8_t retry;
   for (retry=0; retry<10; retry++) {
     if (!sdCmd2()) break;
-    CoTickDelay(1);  // 2ms
+    RTOS_WAIT_MS(2); // 2ms
   }
 
   if (retry == 10) {
@@ -982,7 +982,7 @@ void sdInit()
 
   for (retry=0; retry<10; retry++) {
     if (!sdCmd3()) break;
-    CoTickDelay(1);  // 2ms
+    RTOS_WAIT_MS(2); // 2ms
   }
 
   if (retry == 10) {

radio/src/targets/taranis/board.cpp

@@ -107,10 +107,10 @@ extern "C" void INTERRUPT_xMS_IRQHandler()
 #endif
 
 #if (defined(PCBX9E) && !defined(SIMU))
-const pm_uchar bmp_startup[] PROGMEM = {
+const pm_uchar bmp_startup[]  = {
   #include "startup.lbm"
 };
-const pm_uchar bmp_lock[] PROGMEM = {
+const pm_uchar bmp_lock[]  = {
   #include "lock.lbm"
 };
 #endif

radio/src/targets/taranis/board.h

@@ -106,9 +106,6 @@ extern "C" {
 #define TIMER_MULT_APB1                 2
 #define TIMER_MULT_APB2                 2
 
-#define strcpy_P strcpy
-#define strcat_P strcat
-
 extern uint16_t sessionTimer;
 
 // Board driver

radio/src/targets/taranis/diskio.cpp

@@ -60,7 +60,7 @@
 /* Lock / unlock functions                                               */
 /*-----------------------------------------------------------------------*/
 #if !defined(BOOT)
-static OS_MutexID ioMutex;
+static RTOS_MUTEX_HANDLE ioMutex;
 
 int ff_cre_syncobj (BYTE vol, _SYNC_t *mutex)
 {
@@ -70,12 +70,13 @@ int ff_cre_syncobj (BYTE vol, _SYNC_t *mutex)
 
 int ff_req_grant (_SYNC_t mutex)
 {
-  return CoEnterMutexSection(mutex) == E_OK;
+  RTOS_LOCK_MUTEX(mutex);
+  return 1;
 }
 
 void ff_rel_grant (_SYNC_t mutex)
 {
-  CoLeaveMutexSection(mutex);
+  RTOS_UNLOCK_MUTEX(mutex);
 }
 
 int ff_del_syncobj (_SYNC_t mutex)

radio/src/tasks_arm.cpp

@@ -20,18 +20,17 @@
 
 #include "opentx.h"
 
-OS_TID menusTaskId;
+RTOS_TASK_HANDLE menusTaskId;
-// menus stack must be aligned to 8 bytes otherwise printf for %f does not work!
+RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
-TaskStack<MENUS_STACK_SIZE> __ALIGNED(8) menusStack;
 
-OS_TID mixerTaskId;
+RTOS_TASK_HANDLE mixerTaskId;
-TaskStack<MIXER_STACK_SIZE> mixerStack;
+RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
 
-OS_TID audioTaskId;
+RTOS_TASK_HANDLE audioTaskId;
-TaskStack<AUDIO_STACK_SIZE> audioStack;
+RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
 
-OS_MutexID audioMutex;
+RTOS_MUTEX_HANDLE audioMutex;
-OS_MutexID mixerMutex;
+RTOS_MUTEX_HANDLE mixerMutex;
 
 enum TaskIndex {
   MENU_TASK_INDEX,
@@ -43,27 +42,6 @@ enum TaskIndex {
   MAIN_TASK_INDEX = 255
 };
 
-template<int SIZE>
-void TaskStack<SIZE>::paint()
-{
-  for (uint32_t i=0; i<SIZE; i++) {
-    stack[i] = 0x55555555;
-  }
-}
-
-uint16_t getStackAvailable(void * address, uint16_t size)
-{
-  uint32_t * array = (uint32_t *)address;
-  uint16_t i = 0;
-  while (i < size && array[i] == 0x55555555) {
-    i++;
-  }
-  return i*4;
-#if defined(CLI)
-  cliStackPaint();
-#endif
-}
-
 void stackPaint()
 {
   menusStack.paint();
@@ -74,18 +52,6 @@ void stackPaint()
 #endif
 }
 
-#if defined(STM32) && !defined(SIMU)
-uint16_t stackSize()
-{
-  return ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
-}
-
-uint16_t stackAvailable()
-{
-  return getStackAvailable(&_main_stack_start, stackSize());
-}
-#endif
-
 volatile uint16_t timeForcePowerOffPressed = 0;
 
 bool isForcePowerOffRequested()
@@ -109,7 +75,7 @@ bool isForcePowerOffRequested()
 
 uint32_t nextMixerTime[NUM_MODULES];
 
-void mixerTask(void * pdata)
+TASK_FUNCTION(mixerTask)
 {
   static uint32_t lastRunTime;
   s_pulses_paused = true;
@@ -118,20 +84,20 @@ void mixerTask(void * pdata)
 
 #if defined(SIMU)
     if (main_thread_running == 0)
-      return;
+      TASK_RETURN();
 #endif
 
 #if defined(SBUS)
     processSbusInput();
 #endif
 
-    CoTickDelay(1);
+    RTOS_WAIT_TICKS(1);
 
     if (isForcePowerOffRequested()) {
       pwrOff();
     }
 
-    uint32_t now = CoGetOSTime();
+    uint32_t now = RTOS_GET_TIME();
     bool run = false;
 #if !defined(SIMU) && defined(STM32)
     if ((now - lastRunTime) >= (usbStarted() ? 5 : 10)) {     // run at least every 20ms (every 10ms if USB is active)
@@ -158,11 +124,11 @@ void mixerTask(void * pdata)
       uint16_t t0 = getTmr2MHz();
 
       DEBUG_TIMER_START(debugTimerMixer);
-      CoEnterMutexSection(mixerMutex);
+      RTOS_LOCK_MUTEX(mixerMutex);
       doMixerCalculations();
       DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
       DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
-      CoLeaveMutexSection(mixerMutex);
+      RTOS_UNLOCK_MUTEX(mixerMutex);
       DEBUG_TIMER_STOP(debugTimerMixer);
 
 #if defined(STM32) && !defined(SIMU)
@@ -196,7 +162,7 @@ void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
 {
   // Schedule next mixer calculation time,
   // for now assume mixer calculation takes 2 ms.
-  nextMixerTime[module] = (uint32_t)CoGetOSTime() + period_ms / 2 - 1/*2ms*/;
+  nextMixerTime[module] = (uint32_t)RTOS_GET_TIME() + period_ms / 2 - 1/*2ms*/;
   DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
 }
 
@@ -206,7 +172,7 @@ void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
 bool perMainEnabled = true;
 #endif
 
-void menusTask(void * pdata)
+TASK_FUNCTION(menusTask)
 {
   opentxInit();
 
@@ -217,13 +183,13 @@ void menusTask(void * pdata)
       break;
     }
     else if (pwr_check == e_power_press) {
-      CoTickDelay(MENU_TASK_PERIOD_TICKS);
+      RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS);
       continue;
     }
 #else
   while (pwrCheck() != e_power_off) {
 #endif
-    uint32_t start = (uint32_t)CoGetOSTime();
+    uint32_t start = (uint32_t)RTOS_GET_TIME();
     DEBUG_TIMER_START(debugTimerPerMain);
 #if defined(COLORLCD) && defined(CLI)
     if (perMainEnabled) {
@@ -234,11 +200,11 @@ void menusTask(void * pdata)
 #endif
     DEBUG_TIMER_STOP(debugTimerPerMain);
     // TODO remove completely massstorage from sky9x firmware
-    uint32_t runtime = ((uint32_t)CoGetOSTime() - start);
+    uint32_t runtime = ((uint32_t)RTOS_GET_TIME() - start);
     // deduct the thread run-time from the wait, if run-time was more than
     // desired period, then skip the wait all together
     if (runtime < MENU_TASK_PERIOD_TICKS) {
-      CoTickDelay(MENU_TASK_PERIOD_TICKS - runtime);
+      RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS - runtime);
     }
 
     resetForcePowerOffRequest();
@@ -260,26 +226,27 @@ void menusTask(void * pdata)
   drawSleepBitmap();
   opentxClose();
   boardOff(); // Only turn power off if necessary
+
+  TASK_RETURN();
 }
 
 void tasksStart()
 {
-  CoInitOS();
+  RTOS_INIT();
 
 #if defined(CLI)
   cliStart();
 #endif
 
-  mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack.stack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
+  RTOS_CREATE_TASK(mixerTaskId, mixerTask, "Mixer", mixerStack, MIXER_STACK_SIZE, MIXER_TASK_PRIO);
-  menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack.stack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
+  RTOS_CREATE_TASK(menusTaskId, menusTask, "Menus", menusStack,  MENUS_STACK_SIZE, MENUS_TASK_PRIO);
 
 #if !defined(SIMU)
-  // TODO move the SIMU audio in this task
+  RTOS_CREATE_TASK(audioTaskId, audioTask, "Audio", audioStack, AUDIO_STACK_SIZE, AUDIO_TASK_PRIO);
-  audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack.stack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
 #endif
 
-  audioMutex = CoCreateMutex();
+  RTOS_CREATE_MUTEX(audioMutex);
-  mixerMutex = CoCreateMutex();
+  RTOS_CREATE_MUTEX(mixerMutex);
 
-  CoStartOS();
+  RTOS_START();
 }

radio/src/tasks_arm.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -21,53 +21,37 @@
 #ifndef _TASKS_ARM_H_
 #define _TASKS_ARM_H_
 
-#if !defined(SIMU)
+#include "rtos.h"
-extern "C" {
-#include <CoOS.h>
-}
-#endif
 
+// stack sizes should be in multiples of 8 for better alignment
 #define MENUS_STACK_SIZE       2000
-#define MIXER_STACK_SIZE       500
+#define MIXER_STACK_SIZE       512
-#define AUDIO_STACK_SIZE       500
+#define AUDIO_STACK_SIZE       512
-#define BLUETOOTH_STACK_SIZE   500
 
-uint16_t getStackAvailable(void * address, uint16_t size);
+#define MIXER_TASK_PRIO        5
+#define AUDIO_TASK_PRIO        7
+#define MENUS_TASK_PRIO        10
+#define CLI_TASK_PRIO          10
 
-template<int SIZE>
+extern RTOS_TASK_HANDLE menusTaskId;
-class TaskStack
+extern RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
-{
+
-  public:
+extern RTOS_TASK_HANDLE mixerTaskId;
-    TaskStack() { }
+extern RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
-    void paint();
+
-    uint16_t size()
+extern RTOS_TASK_HANDLE audioTaskId;
-    {
+extern RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
-      return SIZE * 4;
+
-    }
+extern RTOS_MUTEX_HANDLE mixerMutex;
-    uint16_t available()
+extern RTOS_FLAG_HANDLE openTxInitCompleteFlag;
-    {
-      return getStackAvailable(stack, SIZE);
-    }
-    OS_STK stack[SIZE];
-};
 
 void stackPaint();
-uint16_t stackSize();
-uint16_t stackAvailable();
-
-extern OS_TID menusTaskId;
-// menus stack must be aligned to 8 bytes otherwise printf for %f does not work!
-extern TaskStack<MENUS_STACK_SIZE> _ALIGNED(8) menusStack;
-
-extern OS_TID mixerTaskId;
-extern TaskStack<MIXER_STACK_SIZE> mixerStack;
-
-extern OS_TID audioTaskId;
-extern TaskStack<AUDIO_STACK_SIZE> audioStack;
-
 void tasksStart();
 
 extern volatile uint16_t timeForcePowerOffPressed;
-inline void resetForcePowerOffRequest() {timeForcePowerOffPressed = 0; }
+inline void resetForcePowerOffRequest()
+{
+  timeForcePowerOffPressed = 0;
+}
 
 #endif // _TASKS_ARM_H_

radio/src/thirdparty/FatFs/ff.h

@@ -21,6 +21,8 @@
 #ifndef _FATFS
 #define _FATFS	68020	/* Revision ID */
 
+#include "rtos.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif

radio/src/thirdparty/FatFs/ffconf.h

@@ -2,6 +2,8 @@
 /  FatFs - FAT file system module configuration file
 /---------------------------------------------------------------------------*/
 
+#include "rtos.h"
+
 #define _FFCONF 68020	/* Revision ID */
 
 #if !defined(SIMU)
@@ -263,7 +265,7 @@ extern "C" {
 
 #if !defined(BOOT)
   #define _FS_REENTRANT		1	   /* 0:Disable or 1:Enable */
-  #define _SYNC_t               unsigned char /*OS_MutexID*/       /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */
+  #define _SYNC_t               RTOS_MUTEX_HANDLE /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */
 #else
   #define _FS_REENTRANT		0	   /* 0:Disable or 1:Enable */
 #endif

radio/src/translations.h

@@ -856,7 +856,7 @@ extern const pm_char STR_BLCOLOR[];
   extern const pm_char STR_TELEMETRY_SENSORS[];
   extern const pm_char STR_VALUE[];
   extern const pm_char STR_TOPLCDTIMER[];
-  extern const pm_char STR_UNIT[] PROGMEM;
+  extern const pm_char STR_UNIT[] ;
   extern const pm_char STR_TELEMETRY_NEWSENSOR[];
   extern const pm_char STR_ID[];
   extern const pm_char STR_PRECISION[];

radio/util/addtr.py

@@ -31,7 +31,7 @@ def modifyDeclaration(constant, after):
 
 
 def modifyDefinition(constant, after):
-    newline = "const pm_char S" + constant + "[] PROGMEM = " + constant + ";"
+    newline = "const pm_char S" + constant + "[]  = " + constant + ";"
     filename = "translations.cpp"
     addLine(filename, newline, after + "[] ")
 

radio/util/parse.py

@@ -15,7 +15,7 @@ cw = open(filename + ".stringsc", "w")
 replacements = {}
 
 for line in fr.readlines():
-    pos_pstr = line.find("PSTR(\"")
+    pos_pstr = line.find("\""
     MENU = False
     if pos_pstr < 0:
         pos_pstr = line.find("MENU(\"")
@@ -53,10 +53,10 @@ for line in fr.readlines():
                 replacements[str_rep] = pstr
                 print(glob_str, "=>", pstr, str_rep)
                 ew.write("#define " + str_rep[1:] + " " * (17 - len(str_rep)) + '"%s"\n' % pstr)
-                hw.write("extern const PROGMEM char %s[];\n" % str_rep)
+                hw.write("extern const  char %s[];\n" % str_rep)
                 cw.write("const prog_char APM %s[] = %s;\n" % (str_rep, str_rep[1:]))
 
-            pos_pstr = line.find("PSTR(\"")
+            pos_pstr = line.find("\""
 
     fw.write(line)