feat: async 10ms timer handler (#5424)

radio/src/opentx.cpp

@@ -157,7 +157,7 @@ void checkValidMCU(void)
 #endif
 }
 
-void per10ms()
+void timer_10ms()
 {
   DEBUG_TIMER_START(debugTimerPer10ms);
   DEBUG_TIMER_SAMPLE(debugTimerPer10msPeriod);
@@ -226,6 +226,32 @@ void per10ms()
   DEBUG_TIMER_STOP(debugTimerPer10ms);
 }
 
+#if !defined(SIMU)
+// Handle 10ms timer asynchronously
+#include <FreeRTOS/include/FreeRTOS.h>
+#include <FreeRTOS/include/timers.h>
+
+static void _timer_10ms_cb(void *pvParameter1, uint32_t ulParameter2)
+{
+  (void)pvParameter1;
+  (void)ulParameter2;
+  timer_10ms();
+}
+
+void per10ms()
+{
+  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xTimerPendFunctionCallFromISR(_timer_10ms_cb, nullptr, 0, &xHigherPriorityTaskWoken);
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+  }
+}
+
+#else // !defined(SIMU)
+void per10ms() { timer_10ms(); }
+#endif
+
+
 FlightModeData *flightModeAddress(uint8_t idx)
 {
   return &g_model.flightModeData[idx];

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

@@ -26,6 +26,8 @@
 #include "hal.h"
 #include "hal/watchdog_driver.h"
 
+#include "FreeRTOSConfig.h"
+
 static volatile uint32_t _ms_ticks;
 
 static void _init_1ms_timer()
@@ -41,8 +43,9 @@ static void _init_1ms_timer()
   MS_TIMER->EGR = 0;
   MS_TIMER->CR1 = TIM_CR1_CEN | TIM_CR1_URS;
   MS_TIMER->DIER = TIM_DIER_UIE;
+
   NVIC_EnableIRQ(MS_TIMER_IRQn);
-  NVIC_SetPriority(MS_TIMER_IRQn, 4);
+  NVIC_SetPriority(MS_TIMER_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 }
 
 void timersInit()