void updateRx(uint32_t currentTime)
{
rxDataReceived = false;
shouldCheckPulse = true;
if (rxSignalReceived) {
if (((int32_t)(currentTime - needRxSignalBefore) >= 0)) {
rxSignalReceived = false;
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[0]++;
#endif
}
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
uint8_t frameStatus = serialRxFrameStatus(rxConfig);
if (frameStatus & SERIAL_RX_FRAME_COMPLETE) {
rxDataReceived = true;
rxSignalReceived = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) == 0;
if (rxSignalReceived && feature(FEATURE_FAILSAFE)) {
shouldCheckPulse = false;
failsafeOnValidDataReceived();
}
} else {
shouldCheckPulse = false;
}
}
#endif
if (feature(FEATURE_RX_MSP)) {
rxDataReceived = rxMspFrameComplete();
if (rxDataReceived) {
if (feature(FEATURE_FAILSAFE)) {
failsafeOnValidDataReceived();
}
}
}
if ((feature(FEATURE_RX_SERIAL | FEATURE_RX_MSP) && rxDataReceived)
|| feature(FEATURE_RX_PARALLEL_PWM)) {
needRxSignalBefore = currentTime + DELAY_10_HZ;
}
if (feature(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
rxSignalReceived = true;
needRxSignalBefore = currentTime + DELAY_10_HZ;
resetPPMDataReceivedState();
}
shouldCheckPulse = rxSignalReceived;
}
}
void updateRx(uint32_t currentTime)
{
resetRxSignalReceivedFlagIfNeeded(currentTime);
if (isRxDataDriven()) {
rxDataReceived = false;
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
uint8_t frameStatus = serialRxFrameStatus();
if (frameStatus & SERIAL_RX_FRAME_COMPLETE) {
rxDataReceived = true;
rxIsInFailsafeMode = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) != 0;
rxSignalReceived = !rxIsInFailsafeMode;
needRxSignalBefore = currentTime + DELAY_10_HZ;
}
}
#endif
if (feature(FEATURE_RX_MSP)) {
rxDataReceived = rxMspFrameComplete();
if (rxDataReceived) {
rxSignalReceived = true;
rxIsInFailsafeMode = false;
needRxSignalBefore = currentTime + DELAY_5_HZ;
}
}
if (feature(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
rxSignalReceivedNotDataDriven = true;
rxIsInFailsafeModeNotDataDriven = false;
needRxSignalBefore = currentTime + DELAY_10_HZ;
resetPPMDataReceivedState();
}
}
if (feature(FEATURE_RX_PARALLEL_PWM)) {
if (isPWMDataBeingReceived()) {
rxSignalReceivedNotDataDriven = true;
rxIsInFailsafeModeNotDataDriven = false;
needRxSignalBefore = currentTime + DELAY_10_HZ;
}
}
}
bool updateRx(timeUs_t currentTimeUs)
{
resetRxSignalReceivedFlagIfNeeded(currentTimeUs);
if (isRxDataDriven()) {
rxDataReceived = false;
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
const uint8_t frameStatus = serialRxFrameStatus(rxConfig);
if (frameStatus & RX_FRAME_COMPLETE) {
rxDataReceived = true;
rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0;
rxSignalReceived = !rxIsInFailsafeMode;
needRxSignalBefore = currentTimeUs + DELAY_10_HZ;
}
}
#endif
#ifdef USE_RX_SPI
if (feature(FEATURE_RX_SPI)) {
const uint8_t frameStatus = rxRuntimeConfig.rcFrameStatusFn();
if (frameStatus & RX_FRAME_COMPLETE) {
rxDataReceived = true;
rxIsInFailsafeMode = false;
rxSignalReceived = !rxIsInFailsafeMode;
needRxSignalBefore = currentTimeUs + DELAY_5_HZ;
}
}
#endif
#ifndef SKIP_RX_MSP
if (feature(FEATURE_RX_MSP)) {
const uint8_t frameStatus = rxMspFrameStatus();
if (frameStatus & RX_FRAME_COMPLETE) {
rxDataReceived = true;
rxIsInFailsafeMode = false;
rxSignalReceived = !rxIsInFailsafeMode;
needRxSignalBefore = currentTimeUs + DELAY_5_HZ;
}
}
#endif
#ifndef SKIP_RX_PWM_PPM
if (feature(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
rxSignalReceivedNotDataDriven = true;
rxIsInFailsafeModeNotDataDriven = false;
needRxSignalBefore = currentTimeUs + DELAY_10_HZ;
resetPPMDataReceivedState();
}
}
if (feature(FEATURE_RX_PARALLEL_PWM)) {
if (isPWMDataBeingReceived()) {
rxSignalReceivedNotDataDriven = true;
rxIsInFailsafeModeNotDataDriven = false;
needRxSignalBefore = currentTimeUs + DELAY_10_HZ;
}
}
#endif
return rxDataReceived || ((int32_t)(currentTimeUs - rxUpdateAt) >= 0); // data driven or 50Hz
}