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refactor(radio): async call handling to prevent GX12 switch lockups #5949

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merged 7 commits into from
Mar 5, 2025
Merged

refactor(radio): async call handling to prevent GX12 switch lockups #5949

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0430020
workaround: async call handling
Feb 26, 2025
dd595f6
fix: improve stacking protection
Mar 2, 2025
afe46c8
fix: tab issue
Mar 2, 2025
db2e974
fix: per module timer handling
Mar 4, 2025
2353021
fix: ensure optimiser won't do us issues
Mar 4, 2025
36c4a70
chore: cleanup
Mar 4, 2025
6f896f5
chore: cleanup
Mar 4, 2025
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18 changes: 15 additions & 3 deletions radio/src/edgetx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -250,19 +250,31 @@ void timer_10ms()
#include <FreeRTOS/include/FreeRTOS.h>
#include <FreeRTOS/include/timers.h>

static volatile bool _timer_10ms_cb_in_queue = false;

static void _timer_10ms_cb(void *pvParameter1, uint32_t ulParameter2)
{
(void)pvParameter1;
(void)ulParameter2;
_timer_10ms_cb_in_queue = false;
timer_10ms();
}

void per10ms()
{
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {

if (!_timer_10ms_cb_in_queue && xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xTimerPendFunctionCallFromISR(_timer_10ms_cb, nullptr, 0, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
BaseType_t xReturn = pdFALSE;

xReturn = xTimerPendFunctionCallFromISR(_timer_10ms_cb, nullptr, 0, &xHigherPriorityTaskWoken);

if (xReturn == pdPASS) {
_timer_10ms_cb_in_queue = true;
} else {
TRACE("xTimerPendFunctionCallFromISR() queue full");
}
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}

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27 changes: 15 additions & 12 deletions radio/src/targets/taranis/gx12/bsp_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ struct bsp_io_expander {
uint32_t state;
};

static volatile bool _poll_switches_in_queue = false;
static bsp_io_expander _io_switches;
static bsp_io_expander _io_fs_switches;

Expand All @@ -60,27 +61,29 @@ static uint32_t _read_io_expander(bsp_io_expander* io)
static void _poll_switches(void *pvParameter1, uint32_t ulParameter2)
{
(void)ulParameter2;
bsp_io_expander* io = (bsp_io_expander*)pvParameter1;
_read_io_expander(io);
_poll_switches_in_queue = false;
bsp_io_read_switches();
bsp_io_read_fs_switches();
}

static void _io_int_handler(bsp_io_expander* io)
static void _io_int_handler()
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
xTimerPendFunctionCallFromISR(_poll_switches, (void*)io, 0,
BaseType_t xReturn = pdFALSE;

if (!_poll_switches_in_queue && xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
xReturn = xTimerPendFunctionCallFromISR(_poll_switches, nullptr, 0,
&xHigherPriorityTaskWoken);

if (xReturn == pdPASS) {
_poll_switches_in_queue = true;
} else {
TRACE("xTimerPendFunctionCallFromISR() queue full");
}
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} else {
_read_io_expander(io);
}
}

static void _io_int_handler() {
_io_int_handler(&_io_switches);
_io_int_handler(&_io_fs_switches);
}

int bsp_io_init()
{
timersInit();
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17 changes: 15 additions & 2 deletions radio/src/telemetry/telemetry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -205,12 +205,15 @@ void telemetryStop()
}
}

static volatile bool _poll_frame_queued[NUM_MODULES] = {false};

static void _poll_frame(void *pvParameter1, uint32_t ulParameter2)
{
_telemetryIsPolling = true;

auto drv = (const etx_proto_driver_t*)pvParameter1;
auto module = (uint8_t)ulParameter2;
_poll_frame_queued[module] = false;

auto mod = pulsesGetModuleDriver(module);
if (!mod || !mod->drv || !mod->ctx || (drv != mod->drv))
Expand Down Expand Up @@ -246,8 +249,18 @@ static void _poll_frame(void *pvParameter1, uint32_t ulParameter2)
void telemetryFrameTrigger_ISR(uint8_t module, const etx_proto_driver_t* drv)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xTimerPendFunctionCallFromISR(_poll_frame, (void*)drv, module, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
BaseType_t xReturn = pdFALSE;

if (!_poll_frame_queued[module] && xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
xReturn = xTimerPendFunctionCallFromISR(_poll_frame, (void*)drv, module, &xHigherPriorityTaskWoken);

if (xReturn == pdPASS) {
_poll_frame_queued[module] = true;
} else {
TRACE("xTimerPendFunctionCallFromISR() queue full");
}
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}
#endif

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