Reorganised system initialisation sequence, improved reactivity of UI and device threads

openrtx/include/core/threads.h

@@ -33,6 +33,11 @@ void create_threads();
  */
 #define DEV_TASK_STKSIZE 2048
 
+/**
+ * Stack size for UI management, in bytes.
+ */
+#define UI_TASK_STKSIZE 2048
+
 /**
  * Stack size for baseband control task, in bytes.
  */

openrtx/src/core/openrtx.c

@@ -21,45 +21,46 @@
 #include <interfaces/platform.h>
 #include <interfaces/graphics.h>
 #include <interfaces/delays.h>
+#include <interfaces/gps.h>
 #include <threads.h>
 #include <openrtx.h>
 #include <ui.h>
 
-extern void *ui_task(void *arg);
+extern void *dev_task(void *arg);
 
 void openrtx_init()
 {
-    // Initialize platform drivers
-    platform_init();
+    platform_init();    // Initialize low-level platform drivers
+    state_init();       // Initialize radio state
 
-    // Initialize radio state
-    state_init();
-
-    // Initialize display and graphics driver
-    gfx_init();
-
-    // Set default contrast
+    gfx_init();         // Initialize display and graphics driver
+    kbd_init();         // Initialize keyboard driver
+    ui_init();          // Initialize user interface
+    #ifdef SCREEN_CONTRAST
     display_setContrast(state.settings.contrast);
+    #endif
 
-    // Initialize user interface
-    ui_init();
+    // Display splash screen, turn on backlight after a suitable time to
+    // hide random pixels during render process
+    ui_drawSplashScreen(true);
+    gfx_render();
+    sleepFor(0u, 30u);
+    platform_setBacklightLevel(state.settings.brightness);
+
+    // Detect and initialise GPS
+    #if defined(GPS_PRESENT)
+    state.gpsDetected = gps_detect(1000);
+    if(state.gpsDetected) gps_init(9600);
+    #endif
 }
 
 void *openrtx_run()
 {
-    // Display splash screen
-    ui_drawSplashScreen(true);
-    gfx_render();
-
-    // Wait 30ms before turning on backlight to hide random pixels on screen
-    sleepFor(0u, 30u);
-    platform_setBacklightLevel(state.settings.brightness);
-
     // Start the OpenRTX threads
     create_threads();
 
-    // Jump to the UI task
-    ui_task(NULL);
+    // Jump to the device management task
+    dev_task(NULL);
 
     return NULL;
 }

openrtx/src/core/state.c

@@ -82,7 +82,7 @@ void state_init()
     #endif
     state.v_bat  = platform_getVbat();
     state.charge = battery_getCharge(state.v_bat);
-    state.rssi   = rtx_getRssi();
+    state.rssi   = -127.0f;
 
     state.channel_index = 1;    // Set default channel index (it is 1-based)
     state.bank_enabled  = false;

openrtx/src/core/threads.c

@@ -42,31 +42,29 @@
 pthread_mutex_t rtx_mutex;
 
 /**
- * \internal Task function in charge of updating the UI.
+ * \internal Task function managing user input and UI
  */
 void *ui_task(void *arg)
 {
     (void) arg;
 
-    bool        sync_rtx = true;
-    rtxStatus_t rtx_cfg;
     kbd_msg_t   kbd_msg;
-
-    // Initialize keyboard driver
-    kbd_init();
-
-    // Get initial state local copy
-    ui_saveState();
+    rtxStatus_t rtx_cfg;
+    bool        sync_rtx = true;
+    long long   time     = 0;
 
     // Keep the splash screen for 1 second
     sleepFor(1u, 0u);
 
-    // Initial GUI draw
+    // Load initial state and perform a GUI draw
+    ui_saveState();
     ui_updateGUI();
     gfx_render();
 
     while(1)
     {
+        time = getTick();
+
         // Scan keyboard
         bool kbd_event = input_scanKeyboard(&kbd_msg);
         if(kbd_event)
@@ -77,18 +75,10 @@ void *ui_task(void *arg)
             ui_pushEvent(event);
         }
 
-        // Lock mutex, read and write state
-        pthread_mutex_lock(&state_mutex);
-        // React to keypresses and update FSM inside state
-        ui_updateFSM(&sync_rtx);
-        // Update state local copy
-        ui_saveState();
-        // Unlock mutex
-        pthread_mutex_unlock(&state_mutex);
-
-        // Redraw GUI based on last state copy
-        ui_updateGUI();
-        gfx_render();
+        pthread_mutex_lock(&state_mutex);   // Lock r/w access to radio state
+        ui_updateFSM(&sync_rtx);            // Update UI FSM
+        ui_saveState();                     // Save local state copy
+        pthread_mutex_unlock(&state_mutex); // Unlock r/w access to radio state
 
         // If synchronization needed take mutex and update RTX configuration
         if(sync_rtx)
@@ -117,32 +107,30 @@ void *ui_task(void *arg)
             sync_rtx = false;
         }
 
+        // Update UI and render on screen
+        ui_updateGUI();
+        gfx_render();
+
         // 40Hz update rate for keyboard and UI
-        sleepFor(0, 25);
+        time += 25;
+        sleepUntil(time);
     }
 }
 
 /**
- * \internal Task function in charge of updating the radio state.
+ * \internal Task function in charge of managing the device and update the
+ * global state variable.
  */
 void *dev_task(void *arg)
 {
     (void) arg;
 
-    #if defined(GPS_PRESENT) && !defined(MD3x0_ENABLE_DBG)
-    bool gpsPresent = gps_detect(5000);
-
-    pthread_mutex_lock(&state_mutex);
-    state.gpsDetected = gpsPresent;
-    pthread_mutex_unlock(&state_mutex);
-
-    if(state.gpsDetected) gps_init(9600);
-    #endif
-
-    uint8_t tick_5ms = 0;
+    long long time     = 0;
+    uint8_t   tick_5ms = 0;
 
     while(state.shutdown == false)
     {
+        time = getTick();
         tick_5ms++;
 
         #if defined(GPS_PRESENT) && !defined(MD3x0_ENABLE_DBG)
@@ -162,7 +150,8 @@ void *dev_task(void *arg)
         }
 
         // Run this loop once every 5ms
-        sleepFor(0u, 5u);
+        time += 5;
+        sleepUntil(time);
     }
 
     #if defined(GPS_PRESENT)
@@ -215,11 +204,11 @@ void create_threads()
 
     pthread_create(&rtx_thread, &rtx_attr, rtx_task, NULL);
 
-    // Create state thread
-    pthread_t      state_thread;
-    pthread_attr_t state_attr;
+    // Create UI thread
+    pthread_t      ui_thread;
+    pthread_attr_t ui_attr;
 
-    pthread_attr_init(&state_attr);
-    pthread_attr_setstacksize(&state_attr, DEV_TASK_STKSIZE);
-    pthread_create(&state_thread, &state_attr, dev_task, NULL);
+    pthread_attr_init(&ui_attr);
+    pthread_attr_setstacksize(&ui_attr, UI_TASK_STKSIZE);
+    pthread_create(&ui_thread, &ui_attr, ui_task, NULL);
 }