From 92f27a853ae16c194ccc302bc6b2a4a03e5be748 Mon Sep 17 00:00:00 2001
From: Raphael Coeffic <raphael.coeffic@frafos.com>
Date: Tue, 8 Sep 2020 12:07:09 +0200
Subject: [PATCH] moved sync pulse sending to *before* periodic mixer
 processing

This should enable a more stable pulse sending to the module.
---
 radio/src/opentx.cpp | 13 +++++++++++++
 radio/src/opentx.h   |  1 +
 radio/src/tasks.cpp  | 11 ++++++++---
 3 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/radio/src/opentx.cpp b/radio/src/opentx.cpp
index 73b39c407..bebb5b317 100644
--- a/radio/src/opentx.cpp
+++ b/radio/src/opentx.cpp
@@ -1426,6 +1426,19 @@ void doMixerCalculations()
   DEBUG_TIMER_START(debugTimerEvalMixes);
   evalMixes(tick10ms);
   DEBUG_TIMER_STOP(debugTimerEvalMixes);
+}
+
+void doMixerPeriodicUpdates()
+{
+  static tmr10ms_t lastTMR = 0;
+
+  tmr10ms_t tmr10ms = get_tmr10ms();
+
+  uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
+  // handle tick10ms overrun
+  // correct overflow handling costs a lot of code; happens only each 11 min;
+  // therefore forget the exact calculation and use only 1 instead; good compromise
+  lastTMR = tmr10ms;
 
   DEBUG_TIMER_START(debugTimerMixes10ms);
   if (tick10ms) {
diff --git a/radio/src/opentx.h b/radio/src/opentx.h
index 394a0734f..6d028ff06 100644
--- a/radio/src/opentx.h
+++ b/radio/src/opentx.h
@@ -483,6 +483,7 @@ extern uint32_t nextMixerTime[NUM_MODULES];
 void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
 void evalMixes(uint8_t tick10ms);
 void doMixerCalculations();
+void doMixerPeriodicUpdates();
 
 void checkTrims();
 extern uint8_t currentBacklightBright;
diff --git a/radio/src/tasks.cpp b/radio/src/tasks.cpp
index e4c209edd..431ed7e52 100644
--- a/radio/src/tasks.cpp
+++ b/radio/src/tasks.cpp
@@ -168,12 +168,20 @@ TASK_FUNCTION(mixerTask)
 
       DEBUG_TIMER_START(debugTimerMixer);
       RTOS_LOCK_MUTEX(mixerMutex);
+
       doMixerCalculations();
+
+      // TODO: fix runMask
+      sendSynchronousPulses((1 << INTERNAL_MODULE) | (1 << EXTERNAL_MODULE));
+
+      doMixerPeriodicUpdates();
+
       DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
       DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
       RTOS_UNLOCK_MUTEX(mixerMutex);
       DEBUG_TIMER_STOP(debugTimerMixer);
 
+  
 #if defined(STM32) && !defined(SIMU)
       if (getSelectedUsbMode() == USB_JOYSTICK_MODE) {
         usbJoystickUpdate();
@@ -202,9 +210,6 @@ TASK_FUNCTION(mixerTask)
       //    between protocols with multi-proto RF
       if (timeout)
         serialPrint("mix sched timeout!");
-
-      // TODO: fix runMask
-      sendSynchronousPulses((1 << INTERNAL_MODULE) | (1 << EXTERNAL_MODULE));
     }
   }
 }