Latency optimization using hearbeat bugfix

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

@@ -65,10 +65,14 @@ void stop_intmodule_heartbeat()
   EXTI_Init(&EXTI_InitStructure);
 }
 
-void check_xjt_heartbeat()
+void check_intmodule_heartbeat()
 {
   if (EXTI_GetITStatus(INTMODULE_HEARTBEAT_EXTI_LINE) != RESET) {
-    heartbeatCapture.timestamp = TIMER_2MHz_TIMER->CNT;
+#if defined(PXX2)
+    heartbeatCapture.timestamp = RTOS_GET_MS();
+#else
+    heartbeatCapture.timestamp = getTmr2MHz();
+#endif
     heartbeatCapture.count++;
     EXTI_ClearITPendingBit(INTMODULE_HEARTBEAT_EXTI_LINE);
   }
@@ -78,6 +82,6 @@ void check_xjt_heartbeat()
 #if defined(INTMODULE_HEARTBEAT) && !defined(INTMODULE_HEARTBEAT_REUSE_INTERRUPT_ROTARY_ENCODER)
 extern "C" void INTMODULE_HEARTBEAT_EXTI_IRQHandler()
 {
-  check_xjt_heartbeat();
+  check_intmodule_heartbeat();
 }
 #endif

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

@@ -92,7 +92,7 @@ extern "C" void ROTARY_ENCODER_EXTI_IRQHandler1(void)
 #endif
 
 #if !defined(BOOT) && defined(INTMODULE_HEARTBEAT_REUSE_INTERRUPT_ROTARY_ENCODER)
-  check_xjt_heartbeat();
+  check_intmodule_heartbeat();
 #endif
 }
 

radio/src/targets/taranis/board.h

@@ -273,11 +273,11 @@ void extmoduleSendNextFrame();
 #if defined(INTMODULE_HEARTBEAT_GPIO)
 void init_intmodule_heartbeat();
 void stop_intmodule_heartbeat();
-void check_xjt_heartbeat();
+void check_intmodule_heartbeat();
 #else
 #define init_intmodule_heartbeat()
 #define stop_intmodule_heartbeat()
-#define check_xjt_heartbeat()
+#define check_intmodule_heartbeat()
 #endif
 
 // SBUS

radio/src/targets/taranis/intmodule_pulses_driver.cpp

@@ -46,7 +46,7 @@ void intmoduleSendNextFrame()
     {
       uint32_t last = intmodulePulsesData.pxx.getLast();
       if (heartbeatCapture.valid) {
-        if (TIMER_2MHz_TIMER->CNT - heartbeatCapture.timestamp > HEARBEAT_OFFSET)
+        if (getTmr2MHz() - heartbeatCapture.timestamp > HEARBEAT_OFFSET)
           last -= 21;
         else
           last += 19;