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;
}
}
static void detectAndApplySignalLossBehaviour(void)
{
int channel;
uint16_t sample;
bool useValueFromRx = true;
bool rxIsDataDriven = isRxDataDriven();
if (!rxSignalReceived) {
if (rxIsDataDriven && rxDataReceived) {
// use the values from the RX
} else {
useValueFromRx = false;
}
}
rxResetFlightChannelStatus();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
sample = (useValueFromRx) ? rcRaw[channel] : PPM_RCVR_TIMEOUT;
bool validPulse = isPulseValid(sample);
if (!validPulse) {
sample = getRxfailValue(channel);
}
rxUpdateFlightChannelStatus(channel, validPulse);
if (rxIsDataDriven) {
rcData[channel] = sample;
} else {
rcData[channel] = calculateNonDataDrivenChannel(channel, sample);
}
}
rxFlightChannelsValid = rxHaveValidFlightChannels();
if ((rxFlightChannelsValid) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
failsafeOnValidDataReceived();
} else {
rxSignalReceived = false;
failsafeOnValidDataFailed();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
rcData[channel] = getRxfailValue(channel);
}
}
}
// pulse duration is in micro seconds (usec)
STATIC_UNIT_TESTED void rxCheckPulse(uint8_t channel, uint16_t pulseDuration)
{
static uint8_t goodChannelMask = 0;
if (channel < 4 &&
pulseDuration >= rxConfig->rx_min_usec &&
pulseDuration <= rxConfig->rx_max_usec
) {
// if signal is valid - mark channel as OK
goodChannelMask |= (1 << channel);
}
if (goodChannelMask == REQUIRED_CHANNEL_MASK) {
goodChannelMask = 0;
failsafeOnValidDataReceived();
rxSignalReceived = true;
rxPwmFlightChannelsAreGood = true;
}
}
static void detectAndApplySignalLossBehaviour(void)
{
int channel;
uint16_t sample;
bool useValueFromRx = true;
bool rxIsDataDriven = isRxDataDriven();
uint32_t currentMilliTime = millis();
if (!rxIsDataDriven) {
rxSignalReceived = rxSignalReceivedNotDataDriven;
rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven;
}
if (!rxSignalReceived || rxIsInFailsafeMode) {
useValueFromRx = false;
}
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[0] = rxSignalReceived;
debug[1] = rxIsInFailsafeMode;
debug[2] = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 0);
#endif
rxResetFlightChannelStatus();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
sample = (useValueFromRx) ? rcRaw[channel] : PPM_RCVR_TIMEOUT;
bool validPulse = isPulseValid(sample);
if (!validPulse) {
if (currentMilliTime < rcInvalidPulsPeriod[channel]) {
sample = rcData[channel]; // hold channel for MAX_INVALID_PULS_TIME
} else {
sample = getRxfailValue(channel); // after that apply rxfail value
rxUpdateFlightChannelStatus(channel, validPulse);
}
} else {
rcInvalidPulsPeriod[channel] = currentMilliTime + MAX_INVALID_PULS_TIME;
}
if (rxIsDataDriven) {
rcData[channel] = sample;
} else {
rcData[channel] = calculateNonDataDrivenChannel(channel, sample);
}
}
rxFlightChannelsValid = rxHaveValidFlightChannels();
if ((rxFlightChannelsValid) && !(IS_RC_MODE_ACTIVE(BOXFAILSAFE) && feature(FEATURE_FAILSAFE))) {
failsafeOnValidDataReceived();
} else {
rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven = true;
failsafeOnValidDataFailed();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
rcData[channel] = getRxfailValue(channel);
}
}
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[3] = rcData[THROTTLE];
#endif
}
