feat(gx12): add safety timer for port expander (#6325)

radio/src/boards/generic_stm32/rgb_leds.cpp

@@ -78,7 +78,7 @@ static void _refresh_cb(timer_handle_t* timer)
   ws2812_update(&_led_timer);
 }
 
-void rgbLedStart()
+static void rgbLedStart()
 {
   if (!timer_is_created(&_refresh_timer)) {
     timer_create(&_refresh_timer, _refresh_cb, "rgbled",
@@ -111,6 +111,7 @@ void rgbLedInit()
 {
   ws2812_init(&_led_timer, _led_colors, LED_STRIP_LENGTH, WS2812_GRB);
   rgbLedClearAll();
+  rgbLedStart();
 }
 
 // Make sure the timer channel is supported

radio/src/boards/generic_stm32/rgb_leds.h

@@ -24,7 +24,6 @@
 #include <stdint.h>
 
 void rgbLedInit();
-void rgbLedStart();
 void rgbLedStop();
 
 void rgbSetLedColor(uint8_t led, uint8_t r, uint8_t g, uint8_t b);

radio/src/edgetx.cpp

@@ -1559,10 +1559,6 @@ void edgeTxInit()
 
   resetBacklightTimeout();
 
-#if defined(LED_STRIP_GPIO) && !defined(SIMU)
-  rgbLedStart();
-#endif
-
   pulsesStart();
   WDG_ENABLE(WDG_DURATION);
 }

radio/src/os/timer.h

@@ -43,3 +43,4 @@ int timer_start(timer_handle_t* h);
 int timer_stop(timer_handle_t* h);
 
 int timer_set_period(timer_handle_t* h, unsigned period);
+static inline int timer_reset(timer_handle_t* h) { return timer_start(h); }

radio/src/os/timer_pthread.cpp

@@ -133,6 +133,7 @@ void timer_queue::main_loop() {
 
 void timer_queue::process_cmds()
 {
+  int added = 0;
   while (!_cmds.empty()) {
     timer_req_t req = _cmds.back();
     _cmds.pop_back();
@@ -150,6 +151,7 @@ void timer_queue::process_cmds()
         t->active = true;
         if (pos == _timers.end()) {
           _timers.emplace_back(t);
+          added++;
         }
         break;
 
@@ -164,6 +166,7 @@ void timer_queue::process_cmds()
       }
     }
   }
+  if (added) sort_timers();
 }
 
 void timer_queue::trigger_timers() {
@@ -182,10 +185,7 @@ void timer_queue::trigger_timers() {
       break;
     }
   }
-
-  if (triggered) {
-    sort_timers();
-  }
+  if (triggered) sort_timers();
 }
 
 void timer_queue::async_calls() {

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

@@ -26,8 +26,6 @@
 #include "hal.h"
 #include "hal/watchdog_driver.h"
 
-#include "FreeRTOSConfig.h"
-
 static volatile uint32_t _ms_ticks;
 
 static void _init_1ms_timer()
@@ -45,7 +43,7 @@ static void _init_1ms_timer()
   MS_TIMER->DIER = TIM_DIER_UIE;
 
   NVIC_EnableIRQ(MS_TIMER_IRQn);
-  NVIC_SetPriority(MS_TIMER_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(MS_TIMER_IRQn, 4);
 }
 
 void timersInit()

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

@@ -22,13 +22,12 @@
 #include "bsp_io.h"
 #include "hal/switch_driver.h"
 #include "drivers/pca95xx.h"
-#include "os/async.h"
 #include "stm32_i2c_driver.h"
 #include "timers_driver.h"
 #include "stm32_ws2812.h"
 
-#include <FreeRTOS/include/FreeRTOS.h>
-#include <FreeRTOS/include/timers.h>
+#include "os/async.h"
+#include "os/timer.h"
 
 #include "myeeprom.h"
 
@@ -39,9 +38,11 @@ struct bsp_io_expander {
 };
 
 static volatile bool _poll_switches_in_queue = false;
+
 static bsp_io_expander _io_switches;
 static bsp_io_expander _io_fs_switches;
 
+static timer_handle_t _poll_timer = TIMER_INITIALIZER;
 
 static void _init_io_expander(bsp_io_expander* io, uint32_t mask)
 {
@@ -58,18 +59,40 @@ static uint32_t _read_io_expander(bsp_io_expander* io)
   return io->state;  
 }
 
-static void _poll_switches(void *param1, uint32_t param2)
+typedef enum {
+  TRIGGERED_BY_TIMER = 0,
+  TRIGGERED_BY_IRQ,  
+} trigger_source_t;
+
+static void _poll_switches(void *param1, uint32_t trigger_source)
 {
   (void)param1;
-  (void)param2;
-  _poll_switches_in_queue = false;
-  _read_io_expander(&_io_switches); 
-  _read_io_expander(&_io_fs_switches); 
+
+  if (trigger_source == TRIGGERED_BY_IRQ) {
+    _poll_switches_in_queue = false;
+    timer_reset(&_poll_timer);
+  }
+
+  bsp_io_read_switches();
+  bsp_io_read_fs_switches();
 }
 
 static void _io_int_handler()
 {
-  async_call_isr(_poll_switches, &_poll_switches_in_queue, nullptr, 0);
+  async_call_isr(_poll_switches, &_poll_switches_in_queue, nullptr,
+                 TRIGGERED_BY_IRQ);
+}
+
+static void _poll_cb(timer_handle_t* timer)
+{
+  (void)timer;
+  _poll_switches(nullptr, TRIGGERED_BY_TIMER);
+}
+
+static void start_poll_timer()
+{
+  timer_create(&_poll_timer, _poll_cb, "portex", 100, true);
+  timer_start(&_poll_timer);
 }
 
 int bsp_io_init()
@@ -102,6 +125,8 @@ int bsp_io_init()
   bsp_io_read_switches();
   bsp_io_read_fs_switches();
 
+  start_poll_timer();
+
   return 0;
 }
 

radio/src/tasks.cpp

@@ -127,7 +127,7 @@ static void _timer_10ms_cb(timer_handle_t* h)
   per10ms();
 }
 
-void timer10msStart()
+static void timer10msStart()
 {
   if (!timer_is_created(&_timer10ms)) {
     timer_create(&_timer10ms, _timer_10ms_cb, "10ms", 10, true);