Merge pull request #8498 from opentx/3djc/sync-fix

Improved sync

radio/src/mixer_scheduler.cpp

@@ -68,9 +68,13 @@ void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs)
   mixerSchedules[moduleIdx].period = periodUs;
 }
 
-bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
+void mixerSchedulerClearTrigger()
 {
   RTOS_CLEAR_FLAG(mixerFlag);
+}
+
+bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
+{
   return RTOS_WAIT_FLAG(mixerFlag, timeoutMs);
 }
 

radio/src/mixer_scheduler.h

@@ -43,6 +43,9 @@ void mixerSchedulerResetTimer();
 // Set the scheduling period for a given module
 void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs);
 
+// Clear the flag before waiting
+void mixerSchedulerClearTrigger();
+
 // Wait for the scheduler timer to trigger
 // returns true if timeout, false otherwise
 bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs);
@@ -66,6 +69,7 @@ void mixerSchedulerISRTrigger();
 #define mixerSchedulerStop()
 #define mixerSchedulerResetTimer()
 #define mixerSchedulerSetPeriod(m,p)
+#define mixerSchedulerClearTrigger()
 
 static inline bool mixerSchedulerWaitForTrigger(uint8_t timeout)
 {

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

@@ -39,8 +39,10 @@ void mixerSchedulerStart()
   NVIC_SetPriority(MIXER_SCHEDULER_TIMER_IRQn, 8);
 
   MIXER_SCHEDULER_TIMER->SR   &= TIM_SR_UIF;   // clear interrupt flag
-  MIXER_SCHEDULER_TIMER->DIER |= TIM_DIER_UIE; // enable interrupt
   MIXER_SCHEDULER_TIMER->CR1  |= TIM_CR1_CEN;
+
+  mixerSchedulerClearTrigger();
+  mixerSchedulerEnableTrigger();
 }
 
 void mixerSchedulerStop()
@@ -53,6 +55,7 @@ void mixerSchedulerResetTimer()
 {
   mixerSchedulerDisableTrigger();
   MIXER_SCHEDULER_TIMER->CNT = 0;
+  mixerSchedulerClearTrigger();
   mixerSchedulerEnableTrigger();
 }
 

radio/src/tasks.cpp

@@ -136,14 +136,15 @@ TASK_FUNCTION(mixerTask)
   s_pulses_paused = true;
 
   mixerSchedulerInit();
+
 #if !defined(PCBSKY9X)
   mixerSchedulerStart();
 #endif
 
   while (true) {
     for (int timeout = 0; timeout < MIXER_MAX_PERIOD; timeout += MIXER_FREQUENT_ACTIONS_PERIOD) {
-      bool interruptedByTimeout = mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD);
       execMixerFrequentActions();
+      bool interruptedByTimeout = mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD);
       if (!interruptedByTimeout) {
         break;
       }
@@ -155,7 +156,7 @@ TASK_FUNCTION(mixerTask)
 #endif
 
 #if !defined(PCBSKY9X)
-    // re-enable trigger
+    mixerSchedulerClearTrigger();
     mixerSchedulerEnableTrigger();
 #endif