Fix baseband thread init order bug for all procs. (#1293)

firmware/baseband/baseband_thread.cpp

@@ -46,24 +46,34 @@ Thread* BasebandThread::thread = nullptr;
 BasebandThread::BasebandThread(
     uint32_t sampling_rate,
     BasebandProcessor* const baseband_processor,
-    const tprio_t priority,
+    baseband::Direction direction,
-    baseband::Direction direction)
+    bool auto_start,
-    : baseband_processor{baseband_processor},
+    tprio_t priority)
-      _direction{direction},
+    : baseband_processor_{baseband_processor},
-      sampling_rate{sampling_rate} {
+      direction_{direction},
-    thread = chThdCreateStatic(baseband_thread_wa, sizeof(baseband_thread_wa),
+      sampling_rate_{sampling_rate},
-                               priority, ThreadBase::fn,
+      priority_{priority} {
-                               this);
+    if (auto_start) start();
 }
 
 BasebandThread::~BasebandThread() {
-    chThdTerminate(thread);
+    if (thread) {
-    chThdWait(thread);
+        chThdTerminate(thread);
-    thread = nullptr;
+        chThdWait(thread);
+        thread = nullptr;
+    }
+}
+
+void BasebandThread::start() {
+    if (!thread) {
+        thread = chThdCreateStatic(
+            baseband_thread_wa, sizeof(baseband_thread_wa),
+            priority_, ThreadBase::fn, this);
+    }
 }
 
 void BasebandThread::set_sampling_rate(uint32_t new_sampling_rate) {
-    sampling_rate = new_sampling_rate;
+    sampling_rate_ = new_sampling_rate;
 }
 
 void BasebandThread::run() {
@@ -71,9 +81,7 @@ void BasebandThread::run() {
     baseband::dma::init();
 
     const auto baseband_buffer = std::make_unique<std::array<baseband::sample_t, 8192>>();
-    baseband::dma::configure(
+    baseband::dma::configure(baseband_buffer->data(), direction());
-        baseband_buffer->data(),
-        direction());
     // baseband::dma::allocate(4, 2048);
 
     baseband_sgpio.configure(direction());
@@ -85,10 +93,10 @@ void BasebandThread::run() {
         const auto buffer_tmp = baseband::dma::wait_for_buffer();
         if (buffer_tmp) {
             buffer_c8_t buffer{
-                buffer_tmp.p, buffer_tmp.count, sampling_rate};
+                buffer_tmp.p, buffer_tmp.count, sampling_rate_};
 
-            if (baseband_processor) {
+            if (baseband_processor_) {
-                baseband_processor->execute(buffer);
+                baseband_processor_->execute(buffer);
             }
         }
     }

firmware/baseband/baseband_thread.hpp

@@ -28,13 +28,20 @@
 
 #include <ch.h>
 
+/* NB: Because ThreadBase threads start when then are initialized (by default),
+ * they should be the last members in a Processor class to ensure the rest of the
+ * members are fully initialized before data handling starts. If the Procressor
+ * needs to do additional initialization (in its ctor), set 'auto_start' to false
+ * and manually call 'start()' on the thread. */
+
 class BasebandThread : public ThreadBase {
    public:
     BasebandThread(
         uint32_t sampling_rate,
         BasebandProcessor* const baseband_processor,
-        const tprio_t priority,
+        baseband::Direction direction,
-        const baseband::Direction direction = baseband::Direction::Receive);
+        bool auto_start = true,
+        tprio_t priority = (NORMALPRIO + 20));
     ~BasebandThread();
 
     BasebandThread(const BasebandThread&) = delete;
@@ -42,10 +49,12 @@ class BasebandThread : public ThreadBase {
     BasebandThread& operator=(const BasebandThread&) = delete;
     BasebandThread& operator=(BasebandThread&&) = delete;
 
+    void start() override;
+
     // This getter should die, it's just here to leak information to code that
     // isn't in the right place to begin with.
     baseband::Direction direction() const {
-        return _direction;
+        return direction_;
     }
 
     void set_sampling_rate(uint32_t new_sampling_rate);
@@ -53,9 +62,10 @@ class BasebandThread : public ThreadBase {
    private:
     static Thread* thread;
 
-    BasebandProcessor* baseband_processor{nullptr};
+    BasebandProcessor* baseband_processor_;
-    baseband::Direction _direction{baseband::Direction::Receive};
+    baseband::Direction direction_;
-    uint32_t sampling_rate{0};
+    uint32_t sampling_rate_;
+    const tprio_t priority_;
 
     void run() override;
 };

firmware/baseband/proc_acars.cpp

@@ -32,6 +32,7 @@ ACARSProcessor::ACARSProcessor() {
     decim_0.configure(taps_11k0_decim_0.taps, 33554432);
     decim_1.configure(taps_11k0_decim_1.taps, 131072);
     packet.clear();
+    baseband_thread.start();
 }
 
 void ACARSProcessor::execute(const buffer_c8_t& buffer) {

firmware/baseband/proc_acars.hpp

@@ -110,9 +110,6 @@ class ACARSProcessor : public BasebandProcessor {
    private:
     static constexpr size_t baseband_fs = 2457600;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -138,6 +135,11 @@ class ACARSProcessor : public BasebandProcessor {
         };*/
     baseband::Packet packet{};
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Receive, /*auto_start*/ false};
+    RSSIThread rssi_thread{};
+
     void consume_symbol(const float symbol);
     void payload_handler(const baseband::Packet& packet);
 };

firmware/baseband/proc_adsbrx.hpp

@@ -36,15 +36,11 @@ using namespace adsb;
 class ADSBRXProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     static constexpr size_t baseband_fs = 2000000;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     ADSBFrame frame{};
     bool configured{false};
     uint32_t prev_mag{0};
@@ -58,6 +54,10 @@ class ADSBRXProcessor : public BasebandProcessor {
     uint32_t sample{0};
     int32_t re{}, im{};
     int32_t amp{0};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
 };
 
 #endif

firmware/baseband/proc_adsbtx.hpp

@@ -29,14 +29,11 @@
 class ADSBTXProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const p) override;
 
    private:
     bool configured = false;
 
-    BasebandThread baseband_thread{4000000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     const complex8_t am_lut[4] = {
         {127, 0},
         {0, 127},
@@ -48,6 +45,9 @@ class ADSBTXProcessor : public BasebandProcessor {
     uint32_t phase{0};
 
     TXProgressMessage txprogress_message{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{4000000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_afsk.hpp

@@ -32,14 +32,11 @@
 class AFSKProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const msg) override;
 
    private:
     bool configured = false;
 
-    BasebandThread baseband_thread{AFSK_SAMPLERATE, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     uint32_t afsk_samples_per_bit{0};
     uint32_t afsk_phase_inc_mark{0};
     uint32_t afsk_phase_inc_space{0};
@@ -59,6 +56,9 @@ class AFSKProcessor : public BasebandProcessor {
     int8_t re{0}, im{0};
 
     TXProgressMessage txprogress_message{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{AFSK_SAMPLERATE, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_afskrx.hpp

@@ -38,7 +38,6 @@
 class AFSKRxProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
@@ -53,9 +52,6 @@ class AFSKRxProcessor : public BasebandProcessor {
         RECEIVE
     };
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -93,9 +89,13 @@ class AFSKRxProcessor : public BasebandProcessor {
     bool trigger_word{};
     bool triggered{};
 
-    void configure(const AFSKRxConfigureMessage& message);
-
     AFSKDataMessage data_message{false, 0};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
+    void configure(const AFSKRxConfigureMessage& message);
 };
 
 #endif /*__PROC_TPMS_H__*/

firmware/baseband/proc_ais.cpp

@@ -30,6 +30,7 @@
 AISProcessor::AISProcessor() {
     decim_0.configure(taps_11k0_decim_0.taps, 33554432);
     decim_1.configure(taps_11k0_decim_1.taps, 131072);
+    baseband_thread.start();
 }
 
 void AISProcessor::execute(const buffer_c8_t& buffer) {

firmware/baseband/proc_ais.hpp

@@ -51,9 +51,6 @@ class AISProcessor : public BasebandProcessor {
    private:
     static constexpr size_t baseband_fs = 2457600;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -77,6 +74,11 @@ class AISProcessor : public BasebandProcessor {
             this->payload_handler(packet);
         }};
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Receive, /*auto_start*/ false};
+    RSSIThread rssi_thread{};
+
     void consume_symbol(const float symbol);
     void payload_handler(const baseband::Packet& packet);
 };

firmware/baseband/proc_am_audio.hpp

@@ -38,7 +38,6 @@
 class NarrowbandAMAudio : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
@@ -46,9 +45,6 @@ class NarrowbandAMAudio : public BasebandProcessor {
     static constexpr size_t decim_2_decimation_factor = 4;
     static constexpr size_t channel_filter_decimation_factor = 1;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -65,6 +61,7 @@ class NarrowbandAMAudio : public BasebandProcessor {
     int32_t channel_filter_low_f = 0;
     int32_t channel_filter_high_f = 0;
     int32_t channel_filter_transition = 0;
+    bool configured{false};
 
     bool modulation_ssb = false;
     dsp::demodulate::AM demod_am{};
@@ -74,7 +71,10 @@ class NarrowbandAMAudio : public BasebandProcessor {
 
     SpectrumCollector channel_spectrum{};
 
-    bool configured{false};
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
     void configure(const AMConfigureMessage& message);
     void capture_config(const CaptureConfigMessage& message);
 

firmware/baseband/proc_am_tv.hpp

@@ -38,15 +38,11 @@
 class WidebandFMAudio : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     static constexpr size_t baseband_fs = 2000000;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -55,8 +51,12 @@ class WidebandFMAudio : public BasebandProcessor {
     AudioSpectrum audio_spectrum{};
     TvCollector channel_spectrum{};
     std::array<complex16_t, 256> spectrum{};
-
     bool configured{false};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
     void configure(const WFMConfigureMessage& message);
 };
 

firmware/baseband/proc_aprsrx.hpp

@@ -75,7 +75,6 @@ static uint16_t crc_ccitt_tab[256] = {
 class APRSRxProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
@@ -90,9 +89,6 @@ class APRSRxProcessor : public BasebandProcessor {
         IN_FRAME
     };
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -135,6 +131,10 @@ class APRSRxProcessor : public BasebandProcessor {
 
     aprs::APRSPacket aprs_packet{};
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
     void configure(const APRSRxConfigureMessage& message);
     void capture_config(const CaptureConfigMessage& message);
     void parse_packet();

firmware/baseband/proc_audiotx.hpp

@@ -37,8 +37,6 @@ class AudioTXProcessor : public BasebandProcessor {
    private:
     static constexpr size_t baseband_fs = 1536000;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     std::unique_ptr<StreamOutput> stream{};
 
     ToneGen tone_gen{};
@@ -61,6 +59,9 @@ class AudioTXProcessor : public BasebandProcessor {
 
     TXProgressMessage txprogress_message{};
     RequestSignalMessage sig_message{RequestSignalMessage::Signal::FillRequest};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_btlerx.hpp

@@ -39,16 +39,12 @@
 class BTLERxProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     static constexpr size_t baseband_fs = 4000000;
     static constexpr size_t audio_fs = baseband_fs / 8 / 8 / 2;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -81,10 +77,13 @@ class BTLERxProcessor : public BasebandProcessor {
     int RB_SIZE{1000};
 
     bool configured{false};
+    AFSKDataMessage data_message{false, 0};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
 
     void configure(const BTLERxConfigureMessage& message);
-
-    AFSKDataMessage data_message{false, 0};
 };
 
 #endif /*__PROC_BTLERX_H__*/

firmware/baseband/proc_capture.cpp

@@ -31,13 +31,10 @@ CaptureProcessor::CaptureProcessor() {
     decim_1.configure(taps_200k_decim_1.taps, 131072);
 
     channel_spectrum.set_decimation_factor(1);
-    ready = true;
+    baseband_thread.start();
 }
 
 void CaptureProcessor::execute(const buffer_c8_t& buffer) {
-    if (!ready)
-        return;
-
     /* 2.4576MHz, 2048 samples */
     const auto decim_0_out = decim_0.execute(buffer, dst_buffer);
     const auto decim_1_out = decim_1.execute(decim_0_out, dst_buffer);

firmware/baseband/proc_capture.hpp

@@ -28,9 +28,7 @@
 #include "rssi_thread.hpp"
 
 #include "dsp_decimate.hpp"
-
 #include "spectrum_collector.hpp"
-
 #include "stream_input.hpp"
 
 #include <array>
@@ -41,21 +39,12 @@ class CaptureProcessor : public BasebandProcessor {
     CaptureProcessor();
 
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
-    // TODO: Repeated value needs to be transmitted from application side.
     size_t baseband_fs = 3072000;
     static constexpr auto spectrum_rate_hz = 50.0f;
 
-    // HACK: BasebandThread starts immediately and starts sending data to members
-    // before they are initialized. This is a workaround to prevent uninit data problems.
-    bool ready = false;
-
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -73,6 +62,11 @@ class CaptureProcessor : public BasebandProcessor {
     size_t spectrum_interval_samples = 0;
     size_t spectrum_samples = 0;
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Receive, /*auto_start*/ false};
+    RSSIThread rssi_thread{};
+
     void samplerate_config(const SamplerateConfigMessage& message);
     void capture_config(const CaptureConfigMessage& message);
 };

firmware/baseband/proc_ert.hpp

@@ -67,9 +67,6 @@ class ERTProcessor : public BasebandProcessor {
     const size_t samples_per_symbol = channel_sampling_rate / symbol_rate;
     const float clock_recovery_rate = symbol_rate * 2;
 
-    BasebandThread baseband_thread{baseband_sampling_rate, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     clock_recovery::ClockRecovery<clock_recovery::FixedErrorFilter> clock_recovery{
         clock_recovery_rate,
         symbol_rate,
@@ -116,6 +113,10 @@ class ERTProcessor : public BasebandProcessor {
     float offset_i{0.0f};
     float offset_q{0.0f};
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_sampling_rate, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
     float abs(const complex8_t& v);
 };
 

firmware/baseband/proc_fsk.hpp

@@ -29,14 +29,11 @@
 class FSKProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const p) override;
 
    private:
     bool configured = false;
 
-    BasebandThread baseband_thread{2280000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     uint32_t samples_per_bit{0};
     uint32_t length{0};
 
@@ -48,6 +45,9 @@ class FSKProcessor : public BasebandProcessor {
     uint32_t phase{0}, sphase{0};
 
     TXProgressMessage txprogress_message{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{2280000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_gps_sim.cpp

@@ -29,7 +29,7 @@
 
 #include "utility.hpp"
 
-ReplayProcessor::ReplayProcessor() {
+GPSReplayProcessor::GPSReplayProcessor() {
     channel_filter_low_f = taps_200k_decim_1.low_frequency_normalized * 1000000;
     channel_filter_high_f = taps_200k_decim_1.high_frequency_normalized * 1000000;
     channel_filter_transition = taps_200k_decim_1.transition_normalized * 1000000;
@@ -39,9 +39,10 @@ ReplayProcessor::ReplayProcessor() {
     channel_spectrum.set_decimation_factor(1);
 
     configured = false;
+    baseband_thread.start();
 }
 
-void ReplayProcessor::execute(const buffer_c8_t& buffer) {
+void GPSReplayProcessor::execute(const buffer_c8_t& buffer) {
     /* 2.6MHz, 2048 samples */
 
     if (!configured || !stream) return;
@@ -75,7 +76,7 @@ void ReplayProcessor::execute(const buffer_c8_t& buffer) {
     }
 }
 
-void ReplayProcessor::on_message(const Message* const message) {
+void GPSReplayProcessor::on_message(const Message* const message) {
     switch (message->id) {
         case Message::ID::UpdateSpectrum:
         case Message::ID::SpectrumStreamingConfig:
@@ -102,13 +103,13 @@ void ReplayProcessor::on_message(const Message* const message) {
     }
 }
 
-void ReplayProcessor::samplerate_config(const SamplerateConfigMessage& message) {
+void GPSReplayProcessor::samplerate_config(const SamplerateConfigMessage& message) {
     baseband_fs = message.sample_rate;
     baseband_thread.set_sampling_rate(baseband_fs);
     spectrum_interval_samples = baseband_fs / spectrum_rate_hz;
 }
 
-void ReplayProcessor::replay_config(const ReplayConfigMessage& message) {
+void GPSReplayProcessor::replay_config(const ReplayConfigMessage& message) {
     if (message.config) {
         stream = std::make_unique<StreamOutput>(message.config);
 
@@ -120,7 +121,7 @@ void ReplayProcessor::replay_config(const ReplayConfigMessage& message) {
 }
 
 int main() {
-    EventDispatcher event_dispatcher{std::make_unique<ReplayProcessor>()};
+    EventDispatcher event_dispatcher{std::make_unique<GPSReplayProcessor>()};
     event_dispatcher.run();
     return 0;
 }

firmware/baseband/proc_gps_sim.hpp

@@ -34,20 +34,17 @@
 #include <array>
 #include <memory>
 
-class ReplayProcessor : public BasebandProcessor {
+class GPSReplayProcessor : public BasebandProcessor {
    public:
-    ReplayProcessor();
+    GPSReplayProcessor();
 
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     size_t baseband_fs = 3072000;
     static constexpr auto spectrum_rate_hz = 50.0f;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     std::array<complex8_t, 2048> iq{};
     const buffer_c8_t iq_buffer{
         iq.data(),
@@ -72,6 +69,10 @@ class ReplayProcessor : public BasebandProcessor {
 
     TXProgressMessage txprogress_message{};
     RequestSignalMessage sig_message{RequestSignalMessage::Signal::FillRequest};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Transmit, /*auto_start*/ false};
 };
 
 #endif /*__PROC_GPS_SIM_HPP__*/

firmware/baseband/proc_jammer.hpp

@@ -33,14 +33,11 @@ using namespace jammer;
 class JammerProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const msg) override;
 
    private:
     bool configured{false};
 
-    BasebandThread baseband_thread{3072000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     JammerChannel* jammer_channels{};
 
     JammerType noise_type{};
@@ -54,6 +51,9 @@ class JammerProcessor : public BasebandProcessor {
     int8_t sample{0};
     int8_t re{0}, im{0};
     RetuneMessage message{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{3072000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_mictx.hpp

@@ -32,7 +32,6 @@
 class MicTXProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const msg) override;
 
    private:
@@ -40,8 +39,6 @@ class MicTXProcessor : public BasebandProcessor {
 
     bool configured{false};
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     int16_t audio_data[64];
     buffer_s16_t audio_buffer{
         audio_data,
@@ -74,6 +71,9 @@ class MicTXProcessor : public BasebandProcessor {
 
     AudioLevelReportMessage level_message{};
     TXProgressMessage txprogress_message{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_nfm_audio.hpp

@@ -42,15 +42,11 @@
 class NarrowbandFMAudio : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     static constexpr size_t baseband_fs = 3072000;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -97,12 +93,16 @@ class NarrowbandFMAudio : public BasebandProcessor {
     static constexpr float ki = 1.0f / k;
 
     bool configured{false};
+    // RequestSignalMessage sig_message { RequestSignalMessage::Signal::Squelched };
+    CodedSquelchMessage ctcss_message{0};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
     void pitch_rssi_config(const PitchRSSIConfigureMessage& message);
     void configure(const NBFMConfigureMessage& message);
     void capture_config(const CaptureConfigMessage& message);
-
-    // RequestSignalMessage sig_message { RequestSignalMessage::Signal::Squelched };
-    CodedSquelchMessage ctcss_message{0};
 };
 
 #endif /*__PROC_NFM_AUDIO_H__*/

firmware/baseband/proc_noop.hpp

@@ -31,7 +31,8 @@ class NOOPProcessor : public BasebandProcessor {
     void execute(const buffer_c8_t& buffer) override;
 
    private:
-    BasebandThread baseband_thread{1536000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{1536000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_nrfrx.hpp

@@ -39,16 +39,12 @@
 class NRFRxProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     static constexpr size_t baseband_fs = 4000000;
     static constexpr size_t audio_fs = baseband_fs / 8 / 8 / 2;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -82,10 +78,13 @@ class NRFRxProcessor : public BasebandProcessor {
     int RB_SIZE{1000};
 
     bool configured{false};
+    AFSKDataMessage data_message{false, 0};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
 
     void configure(const NRFRxConfigureMessage& message);
-
-    AFSKDataMessage data_message{false, 0};
 };
 
 #endif /*__PROC_NRFRX_H__*/

firmware/baseband/proc_ook.hpp

@@ -29,14 +29,11 @@
 class OOKProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const p) override;
 
    private:
     bool configured = false;
 
-    BasebandThread baseband_thread{2280000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     uint32_t samples_per_bit{0};
     uint8_t repeat{0};
     uint32_t length{0};
@@ -67,6 +64,9 @@ class OOKProcessor : public BasebandProcessor {
     size_t scan_progress{0};
     uint8_t scan_done{true};
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{2280000, this, baseband::Direction::Transmit};
+
     size_t duval_algo_step();
     void scan_process(const buffer_c8_t& buffer);
     bool scan_init(unsigned int order);

firmware/baseband/proc_pocsag.hpp

@@ -129,7 +129,6 @@ class SmoothVals {
 class POCSAGProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
     int OnDataFrame(int len, int baud);
@@ -138,9 +137,6 @@ class POCSAGProcessor : public BasebandProcessor {
    private:
     static constexpr size_t baseband_fs = 3072000;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -166,7 +162,6 @@ class POCSAGProcessor : public BasebandProcessor {
     // ----------------------------------------
     // Frame extractraction methods and members
     // ----------------------------------------
-   private:
     void initFrameExtraction();
     struct FIFOStruct {
         unsigned long codeword;
@@ -219,6 +214,10 @@ class POCSAGProcessor : public BasebandProcessor {
     bool m_gotSync{false};
     int m_numCode{0};
     bool m_inverted{false};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
 };
 
 #endif /*__PROC_POCSAG_H__*/

firmware/baseband/proc_rds.hpp

@@ -33,14 +33,11 @@
 class RDSProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const msg) override;
 
    private:
     uint32_t* rdsdata{};
 
-    BasebandThread baseband_thread{2280000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     uint16_t message_length{0};
     int8_t re{0}, im{0};
     uint8_t mphase{0}, s{0};
@@ -132,6 +129,9 @@ class RDSProcessor : public BasebandProcessor {
         0, -14, -27, -41, -53, -66, -77, -88,
         -99, -109, -118, -126, -134, -141, -147, -152,
         -157, -160, -163, -166, -167, -168, -168, -167};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{2280000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_replay.cpp

@@ -38,6 +38,7 @@ ReplayProcessor::ReplayProcessor() {
     channel_spectrum.set_decimation_factor(1);
 
     configured = false;
+    baseband_thread.start();
 }
 
 void ReplayProcessor::execute(const buffer_c8_t& buffer) {

firmware/baseband/proc_replay.hpp

@@ -38,15 +38,12 @@ class ReplayProcessor : public BasebandProcessor {
     ReplayProcessor();
 
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     size_t baseband_fs = 3072000;
     static constexpr auto spectrum_rate_hz = 50.0f;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     std::array<complex16_t, 256> iq{};
     const buffer_c16_t iq_buffer{
         iq.data(),
@@ -71,6 +68,10 @@ class ReplayProcessor : public BasebandProcessor {
 
     TXProgressMessage txprogress_message{};
     RequestSignalMessage sig_message{RequestSignalMessage::Signal::FillRequest};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Transmit, /*auto_start*/ false};
 };
 
 #endif /*__PROC_REPLAY_HPP__*/

firmware/baseband/proc_siggen.hpp

@@ -30,14 +30,11 @@
 class SigGenProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const msg) override;
 
    private:
     bool configured{false};
 
-    BasebandThread baseband_thread{1536000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     uint32_t tone_delta{0}, fm_delta{}, tone_phase{0};
     uint8_t tone_shape{};
     uint32_t sample_count{0};
@@ -51,6 +48,9 @@ class SigGenProcessor : public BasebandProcessor {
     // uint8_t lfsr { }, bit { };  						// Finally not used lfsr of 8 bits , bit must be 8-bit to allow bit<<7 later in the code */
 
     TXProgressMessage txprogress_message{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{1536000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_sonde.cpp

@@ -35,6 +35,7 @@ SondeProcessor::SondeProcessor() {
     audio_output.configure(false);
 
     tone_gen.configure(BEEP_BASE_FREQ, 1.0, ToneGen::tone_type::sine, AUDIO_SAMPLE_RATE);
+    baseband_thread.start();
 }
 
 void SondeProcessor::execute(const buffer_c8_t& buffer) {

firmware/baseband/proc_sonde.hpp

@@ -131,9 +131,6 @@ class SondeProcessor : public BasebandProcessor {
 
     ToneGen tone_gen{};
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -179,6 +176,11 @@ class SondeProcessor : public BasebandProcessor {
             shared_memory.application_queue.push(message);
         }};
 
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Receive, /*auto_start*/ false};
+    RSSIThread rssi_thread{};
+
     void play_beep();
     void stop_beep();
 

firmware/baseband/proc_spectrum_painter.hpp

@@ -33,7 +33,9 @@ class SpectrumPainterProcessor : public BasebandProcessor {
 
    private:
     bool configured{false};
-    BasebandThread baseband_thread{3072000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{3072000, this, baseband::Direction::Transmit};
     Thread* thread{nullptr};
 
    protected:

firmware/baseband/proc_sstvtx.hpp

@@ -33,7 +33,6 @@ using namespace sstv;
 class SSTVTXProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const p) override;
 
    private:
@@ -56,8 +55,6 @@ class SSTVTXProcessor : public BasebandProcessor {
 
     bool configured{false};
 
-    BasebandThread baseband_thread{3072000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     uint32_t vis_code_sequence[10]{};
     sstv_scanline scanline_buffer[2]{};
     uint8_t buffer_flip{0}, substep{0};
@@ -76,6 +73,9 @@ class SSTVTXProcessor : public BasebandProcessor {
     int8_t re{}, im{};
 
     RequestSignalMessage sig_message{RequestSignalMessage::Signal::FillRequest};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{3072000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_test.cpp

@@ -29,6 +29,7 @@
 TestProcessor::TestProcessor() {
     decim_0.configure(taps_11k0_decim_0.taps, 33554432);
     decim_1.configure(taps_11k0_decim_1.taps, 131072);
+    baseband_thread.start();
 }
 
 void TestProcessor::execute(const buffer_c8_t& buffer) {

firmware/baseband/proc_test.hpp

@@ -52,9 +52,6 @@ class TestProcessor : public BasebandProcessor {
    private:
     static constexpr size_t baseband_fs = 2457600 * 2;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -80,6 +77,11 @@ class TestProcessor : public BasebandProcessor {
             const TestAppPacketMessage message{packet};
             shared_memory.application_queue.push(message);
         }};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Receive, /*auto_start*/ false};
+    RSSIThread rssi_thread{};
 };
 
 #endif /*__PROC_TEST_H__*/

firmware/baseband/proc_tones.hpp

@@ -31,14 +31,11 @@
 class TonesProcessor : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const p) override;
 
    private:
     bool configured = false;
 
-    BasebandThread baseband_thread{1536000, this, NORMALPRIO + 20, baseband::Direction::Transmit};
-
     std::array<int16_t, 32> audio{};  // 2048/64
     const buffer_s16_t audio_buffer{
         (int16_t*)audio.data(),
@@ -63,6 +60,9 @@ class TonesProcessor : public BasebandProcessor {
 
     TXProgressMessage txprogress_message{};
     AudioOutput audio_output{};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{1536000, this, baseband::Direction::Transmit};
 };
 
 #endif

firmware/baseband/proc_tpms.cpp

@@ -28,6 +28,7 @@
 TPMSProcessor::TPMSProcessor() {
     decim_0.configure(taps_200k_decim_0.taps, 33554432);
     decim_1.configure(taps_200k_decim_1.taps, 131072);
+    baseband_thread.start();
 }
 
 void TPMSProcessor::execute(const buffer_c8_t& buffer) {

firmware/baseband/proc_tpms.hpp

@@ -74,9 +74,6 @@ class TPMSProcessor : public BasebandProcessor {
    private:
     static constexpr size_t baseband_fs = 2457600;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -141,6 +138,11 @@ class TPMSProcessor : public BasebandProcessor {
             const TPMSPacketMessage message{tpms::SignalType::OOK_8k4_Schrader, packet};
             shared_memory.application_queue.push(message);
         }};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{
+        baseband_fs, this, baseband::Direction::Receive, /*auto_start*/ false};
+    RSSIThread rssi_thread{};
 };
 
 #endif /*__PROC_TPMS_H__*/

firmware/baseband/proc_wfm_audio.hpp

@@ -38,16 +38,12 @@
 class WidebandFMAudio : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     static constexpr size_t baseband_fs = 3072000;
     static constexpr auto spectrum_rate_hz = 50.0f;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20, baseband::Direction::Receive};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     std::array<complex16_t, 512> dst{};
     const buffer_c16_t dst_buffer{
         dst.data(),
@@ -93,6 +89,11 @@ class WidebandFMAudio : public BasebandProcessor {
     size_t spectrum_samples = 0;
 
     bool configured{false};
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
+
     void configure(const WFMConfigureMessage& message);
     void capture_config(const CaptureConfigMessage& message);
     void post_message(const buffer_c16_t& data);

firmware/baseband/proc_wideband_spectrum.hpp

@@ -37,22 +37,20 @@
 class WidebandSpectrum : public BasebandProcessor {
    public:
     void execute(const buffer_c8_t& buffer) override;
-
     void on_message(const Message* const message) override;
 
    private:
     bool configured = false;
-
     size_t baseband_fs = 20000000;
 
-    BasebandThread baseband_thread{baseband_fs, this, NORMALPRIO + 20};
-    RSSIThread rssi_thread{NORMALPRIO + 10};
-
     SpectrumCollector channel_spectrum{};
 
     std::array<complex16_t, 256> spectrum{};
-
     size_t phase = 0, trigger = 127;
+
+    /* NB: Threads should be the last members in the class definition. */
+    BasebandThread baseband_thread{baseband_fs, this, baseband::Direction::Receive};
+    RSSIThread rssi_thread{};
 };
 
 #endif /*__PROC_WIDEBAND_SPECTRUM_H__*/

firmware/baseband/rssi_thread.cpp

@@ -32,16 +32,25 @@ WORKING_AREA(rssi_thread_wa, 128);
 
 Thread* RSSIThread::thread = nullptr;
 
-RSSIThread::RSSIThread(const tprio_t priority) {
+RSSIThread::RSSIThread(bool auto_start, tprio_t priority)
-    thread = chThdCreateStatic(rssi_thread_wa, sizeof(rssi_thread_wa),
+    : priority_{priority} {
-                               priority, ThreadBase::fn,
+    if (auto_start) start();
-                               this);
 }
 
 RSSIThread::~RSSIThread() {
-    chThdTerminate(thread);
+    if (thread) {
-    chThdWait(thread);
+        chThdTerminate(thread);
-    thread = nullptr;
+        chThdWait(thread);
+        thread = nullptr;
+    }
+}
+
+void RSSIThread::start() {
+    if (!thread) {
+        thread = chThdCreateStatic(
+            rssi_thread_wa, sizeof(rssi_thread_wa),
+            priority_, ThreadBase::fn, this);
+    }
 }
 
 void RSSIThread::run() {

firmware/baseband/rssi_thread.hpp

@@ -25,20 +25,32 @@
 #include "thread_base.hpp"
 
 #include <ch.h>
-
 #include <cstdint>
 
+/* NB: Because ThreadBase threads start when then are initialized (by default),
+ * they should be the last members in a Processor class to ensure the rest of the
+ * members are fully initialized before data handling starts. If the Procressor
+ * needs to do additional initialization (in its ctor), set 'auto_start' to false
+ * and manually call 'start()' on the thread.
+ * This isn't as relevant for RSSIThread which is entirely self-contained, but
+ * it's good practice to keep all the thread-init together. */
+
 class RSSIThread : public ThreadBase {
    public:
-    RSSIThread(const tprio_t priority);
+    RSSIThread(
+        bool auto_start = true,
+        tprio_t priority = (NORMALPRIO + 10));
     ~RSSIThread();
 
+    void start() override;
+
    private:
     void run() override;
 
-    static Thread* thread;
+    const tprio_t priority_;
 
-    const uint32_t sampling_rate{400000};
+    static Thread* thread;
+    static constexpr uint32_t sampling_rate{400000};
 };
 
 #endif /*__RSSI_THREAD_H__*/

firmware/common/thread_base.hpp

@@ -28,6 +28,8 @@ class ThreadBase {
    public:
     virtual ~ThreadBase() = default;
 
+    virtual void start() = 0;
+
    protected:
     static msg_t fn(void* arg) {
         auto obj = static_cast<ThreadBase*>(arg);