void rxInit(rxConfig_t *rxConfig)
{
uint8_t i;
useRxConfig(rxConfig);
rcSampleIndex = 0;
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig->midrc;
}
rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig->midrc : rxConfig->rx_min_usec;
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
serialRxInit(rxConfig);
}
#endif
if (feature(FEATURE_RX_MSP)) {
rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
}
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
rxRefreshRate = 20000;
rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
}
rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
}
void rxInit(rxConfig_t *rxConfig)
{
uint8_t i;
useRxConfig(rxConfig);
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig->midrc;
}
if (!feature(FEATURE_3D)) {
rcData[0] = rxConfig->rx_min_usec; //wrong,why not rcData[3]???
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
serialRxInit(rxConfig);
}
#endif
if (feature(FEATURE_RX_MSP)) {
rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
}
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
}
rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
}
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions)
{
uint8_t i;
uint16_t value;
useRxConfig(rxConfig);
rcSampleIndex = 0;
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig->midrc;
rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
}
rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig->midrc : rxConfig->rx_min_usec;
// Initialize ARM switch to OFF position when arming via switch is defined
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[i];
if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) {
// ARM switch is defined, determine an OFF value
if (modeActivationCondition->range.startStep > 0) {
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.startStep - 1));
} else {
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.endStep + 1));
}
// Initialize ARM AUX channel to OFF value
rcData[modeActivationCondition->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = value;
}
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
serialRxInit(rxConfig);
}
#endif
if (feature(FEATURE_RX_MSP)) {
rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
}
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
rxRefreshRate = 20000;
rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
}
rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
}
