Some fixes for simu

radio/src/CMakeLists.txt

@@ -571,7 +571,7 @@ if(NOT MSVC)
       set(RADIO_DEPENDENCIES ${RADIO_DEPENDENCIES} bootloader)
     endif()
 
-    add_definitions(-DRTOS_COOS)
+    add_definitions(-DFREE_RTOS)
 
     add_executable(firmware ${SRC} ${FIRMWARE_HEADERS})
     link_libraries(firmware -lstdc++)

radio/src/FreeRTOSConfig.h

@@ -61,7 +61,7 @@
 to exclude the API function. */
 //#define INCLUDE_vTaskPrioritySet        1
 //#define INCLUDE_uxTaskPriorityGet       1
-//#define INCLUDE_vTaskDelete             1
+#define INCLUDE_vTaskDelete             1
 //#define INCLUDE_vTaskCleanUpResources   1
 #define INCLUDE_vTaskSuspend            1
 #define INCLUDE_vTaskDelayUntil         1

radio/src/lua/api_model.cpp

@@ -22,7 +22,7 @@
 #include <stdio.h>
 #include "opentx.h"
 #include "lua_api.h"
-#include "timers.h"
+#include "../timers.h"
 #include "model_init.h"
 
 /*luadoc

radio/src/opentx.cpp

@@ -1917,10 +1917,13 @@ int main()
   initialise_monitor_handles();
 #endif
 
+#if defined(STM32)
+
+#if !defined(SIMU)
   /* Ensure all priority bits are assigned as preemption priority bits. */
   NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
+#endif
 
-#if defined(STM32)
   TRACE("reusableBuffer: modelSel=%d, moduleSetup=%d, calib=%d, sdManager=%d, hardwareAndSettings=%d, spectrumAnalyser=%d, usb=%d",
         sizeof(reusableBuffer.modelsel),
         sizeof(reusableBuffer.moduleSetup),

radio/src/rtos.h

@@ -119,9 +119,9 @@ extern "C++" {
   };
   #define RTOS_DEFINE_STACK(name, size) FakeTaskStack<size> name
 
-  #define TASK_FUNCTION(task)           void task(void *)
+  #define TASK_FUNCTION(task)           void* task(void *)
 
-  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * task(void *), const char * name)
+  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const char * name)
   {
     pthread_create(&taskId, nullptr, task, nullptr);
 #ifdef __linux__
@@ -130,7 +130,7 @@ extern "C++" {
   }
 
 template<int SIZE>
-  inline void RTOS_CREATE_TASK(pthread_t &taskId, void * task(void *), const char * name, FakeTaskStack<SIZE> &, unsigned size = 0, unsigned priority = 0)
+inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const char * name, FakeTaskStack<SIZE> &, unsigned size = 0, unsigned priority = 0)
   {
     UNUSED(size);
     UNUSED(priority);
@@ -156,7 +156,7 @@ template<int SIZE>
     return (uint32_t)(simuTimerMicros() / 1000);
   }
 
-#elif defined(RTOS_COOS)
+#elif defined(FREE_RTOS)
 #ifdef __cplusplus
   extern "C" {
 #endif
@@ -324,7 +324,7 @@ template<int SIZE>
   #define RTOS_DEFINE_STACK(name, size) TaskStack<size> __ALIGNED(8) name __CCMRAM
 
   #define TASK_FUNCTION(task)           void task(void *)
-  #define TASK_RETURN()                 return
+  #define TASK_RETURN()                 vTaskDelete(nullptr)
 
 #else // no RTOS
   static inline void RTOS_START()

radio/src/storage/eeprom_common.cpp

@@ -22,7 +22,7 @@
 #include <inttypes.h>
 #include <string.h>
 #include "opentx.h"
-#include "timers.h"
+#include "../timers.h"
 #include "model_init.h"
 
 void eeLoadModel(uint8_t index)

radio/src/storage/eeprom_rlc.cpp

@@ -21,7 +21,7 @@
 #include <inttypes.h>
 #include <string.h>
 #include "opentx.h"
-#include "timers.h"
+#include "../timers.h"
 #include "conversions/conversions.h"
 
 uint8_t   s_write_err = 0;    // error reasons

radio/src/tasks.cpp

@@ -22,15 +22,12 @@
 #include "mixer_scheduler.h"
 
 RTOS_TASK_HANDLE menusTaskId;
-StaticTask_t menusTaskStruct;
 RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
 
 RTOS_TASK_HANDLE mixerTaskId;
-StaticTask_t mixerTaskStruct;
 RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
 
 RTOS_TASK_HANDLE audioTaskId;
-StaticTask_t audioTaskStruct;
 RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
 
 RTOS_MUTEX_HANDLE audioMutex;

radio/src/tasks.h

@@ -33,10 +33,17 @@
 #define AUDIO_STACK_SIZE       400
 #define CLI_STACK_SIZE         1000  // only consumed with CLI build option
 
+#if defined(FREE_RTOS)
 #define MIXER_TASK_PRIO        (tskIDLE_PRIORITY + 4)
 #define AUDIO_TASK_PRIO        (tskIDLE_PRIORITY + 2)
 #define MENUS_TASK_PRIO        (tskIDLE_PRIORITY + 1)
 #define CLI_TASK_PRIO          (tskIDLE_PRIORITY + 1)
+#else
+#define MIXER_TASK_PRIO        (4)
+#define AUDIO_TASK_PRIO        (2)
+#define MENUS_TASK_PRIO        (1)
+#define CLI_TASK_PRIO          (1)
+#endif
 
 extern RTOS_TASK_HANDLE menusTaskId;
 extern RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);