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
}