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

radio/src/edgetx.cpp

@@ -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 );
   }
 }
 

radio/src/targets/taranis/gx12/bsp_io.cpp

@@ -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;
 
@@ -60,25 +61,27 @@ 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,
-                                  &xHigherPriorityTaskWoken);
-    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-  } else {
-    _read_io_expander(io);
-  }
-}
+  BaseType_t xReturn = pdFALSE;
 
-static void _io_int_handler() {
-  _io_int_handler(&_io_switches);
-  _io_int_handler(&_io_fs_switches);
+  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);
+  }
 }
 
 int bsp_io_init()

radio/src/telemetry/telemetry.cpp

@@ -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))
@@ -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