Follow ups

radio/src/CMakeLists.txt

@@ -528,7 +528,7 @@ if(NOT MSVC)
       endif()
     endif()
 
-    add_definitions(-DRTOS_COOS)
+    add_definitions(-DFREE_RTOS)
 
     add_executable(firmware ${SRC} ${FIRMWARE_HEADERS})
     link_libraries(firmware -lstdc++)

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

@@ -20,7 +20,7 @@
 
 #include <limits.h>
 #include "opentx.h"
-#include "timers.h"
+#include "../timers.h"
 
 #if (defined(PCBX9E) || defined(PCBX9DP)) && defined(LCD_DUAL_BUFFER)
   display_t displayBuf1[DISPLAY_BUFFER_SIZE] __DMA;

radio/src/lua/api_model.cpp

@@ -22,7 +22,7 @@
 #include <stdio.h>
 #include "opentx.h"
 #include "lua_api.h"
-#include "timers.h"
+#include "../timers.h"
 
 /*luadoc
 @function model.getInfo()

radio/src/opentx.cpp

@@ -2090,10 +2090,12 @@ int main()
   initialise_monitor_handles();
 #endif
 
+#if defined(STM32)
+#if !defined(SIMU)
   /* Ensure all priority bits are assigned as preemption priority bits. */
   NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
+#endif
 
-#if defined(STM32)
   TRACE("reusableBuffer: modelSel=%d, moduleSetup=%d, calib=%d, sdManager=%d, hardwareAndSettings=%d, spectrumAnalyser=%d, usb=%d",
         sizeof(reusableBuffer.modelsel),
         sizeof(reusableBuffer.moduleSetup),

radio/src/rtos.h

@@ -22,13 +22,14 @@
 #define _RTOS_H_
 
 #include "definitions.h"
+#include "board.h"
 
 #ifdef __cplusplus
 extern "C++" {
 #endif
 
 #if defined(SIMU)
-  #include <pthread.h>
+#include <pthread.h>
   #include <semaphore.h>
 
   #define SIMU_SLEEP_OR_EXIT_MS(x)       simuSleep(x)
@@ -98,9 +99,9 @@ extern "C++" {
   };
   #define RTOS_DEFINE_STACK(name, size) FakeTaskStack<size> name
 
-  #define TASK_FUNCTION(task)           void task(void *)
+  #define TASK_FUNCTION(task)           void* task(void *)
 
-  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * task(void *), const char * name)
+  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const char * name)
   {
     pthread_create(&taskId, nullptr, task, nullptr);
 #ifdef __linux__
@@ -109,7 +110,7 @@ extern "C++" {
   }
 
 template<int SIZE>
-  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * task(void *), const char * name, FakeTaskStack<SIZE> &, unsigned size = 0, unsigned priority = 0)
+inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const char * name, FakeTaskStack<SIZE> &, unsigned size = 0, unsigned priority = 0)
   {
     UNUSED(size);
     UNUSED(priority);
@@ -135,7 +136,7 @@ template<int SIZE>
     return (uint32_t)(simuTimerMicros() / 1000);
   }
 
-#elif defined(RTOS_COOS)
+#elif defined(FREE_RTOS)
 #ifdef __cplusplus
   extern "C" {
 #endif
@@ -158,10 +159,8 @@ template<int SIZE>
     StaticSemaphore_t mutex_struct;
   } RTOS_MUTEX_HANDLE;
 
-
   typedef RTOS_MUTEX_HANDLE RTOS_FLAG_HANDLE;
 
-
   static inline void RTOS_START()
   {
     vTaskStartScheduler();
@@ -197,8 +196,6 @@ template<int SIZE>
   #define RTOS_CREATE_TASK(h,task,name,stackStruct,stackSize,prio) \
     _RTOS_CREATE_TASK(&h,task,name,stackStruct.stack,stackSize,prio)
 
-
-
   static inline void _RTOS_CREATE_MUTEX(RTOS_MUTEX_HANDLE* h)
   {
     h->rtos_handle = xSemaphoreCreateBinaryStatic(&h->mutex_struct);
@@ -310,27 +307,28 @@ template<int SIZE>
     return (RTOS_GET_TIME() * RTOS_MS_PER_TICK);
   }
 
-  #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!
+  // stack must be aligned to 8 bytes otherwise printf for %f does not work!
+  #define RTOS_DEFINE_STACK(name, size) TaskStack<size> __ALIGNED(8) name
 
   #define TASK_FUNCTION(task)           void task(void *)
-  #define TASK_RETURN()                 return
+  #define TASK_RETURN()                 vTaskDelete(nullptr)
 
 #else // no RTOS
-  static inline void RTOS_START()
+static inline void RTOS_START()
-  {
+{
-  }
+}
 
-  static inline void RTOS_WAIT_MS(unsigned x)
+static inline void RTOS_WAIT_MS(unsigned x)
-  {
+{
-  }
+}
 
-  static inline void RTOS_WAIT_TICKS(unsigned x)
+static inline void RTOS_WAIT_TICKS(unsigned x)
-  {
+{
-  }
+}
 #endif  // RTOS type
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif // _RTOS_H_
+#endif // _RTOS_H_

radio/src/storage/eeprom_common.cpp

@@ -22,7 +22,7 @@
 #include <inttypes.h>
 #include <string.h>
 #include "opentx.h"
-#include "timers.h"
+#include "../timers.h"
 
 void eeLoadModel(uint8_t index)
 {

radio/src/storage/eeprom_rlc.cpp

@@ -21,7 +21,7 @@
 #include <inttypes.h>
 #include <string.h>
 #include "opentx.h"
-#include "timers.h"
+#include "../timers.h"
 #include "conversions/conversions.h"
 
 uint8_t   s_write_err = 0;    // error reasons

radio/src/tasks.cpp

@@ -22,15 +22,12 @@
 #include "mixer_scheduler.h"
 
 RTOS_TASK_HANDLE menusTaskId;
-StaticTask_t menusTaskStruct;
 RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
 
 RTOS_TASK_HANDLE mixerTaskId;
-StaticTask_t mixerTaskStruct;
 RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
 
 RTOS_TASK_HANDLE audioTaskId;
-StaticTask_t audioTaskStruct;
 RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
 
 RTOS_MUTEX_HANDLE audioMutex;

radio/src/tasks.h

@@ -33,10 +33,17 @@
 #define AUDIO_STACK_SIZE       400
 #define CLI_STACK_SIZE         1000  // only consumed with CLI build option
 
+#if defined(FREE_RTOS)
 #define MIXER_TASK_PRIO        (tskIDLE_PRIORITY + 4)
 #define AUDIO_TASK_PRIO        (tskIDLE_PRIORITY + 2)
 #define MENUS_TASK_PRIO        (tskIDLE_PRIORITY + 1)
 #define CLI_TASK_PRIO          (tskIDLE_PRIORITY + 1)
+#else
+#define MIXER_TASK_PRIO        (4)
+#define AUDIO_TASK_PRIO        (2)
+#define MENUS_TASK_PRIO        (1)
+#define CLI_TASK_PRIO          (1)
+#endif
 
 extern RTOS_TASK_HANDLE menusTaskId;
 extern RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);