Method _timer_tick

libraries/AP_HAL_ChibiOS/RCInput.cpp:127–214

}

void RCInput::_timer_tick(void)
{
    if (!_init) {
        return;
    }
#ifndef HAL_NO_UARTDRIVER
    const char *rc_protocol = nullptr;
    RCSource source = last_source;
#endif

#if AP_RCPROTOCOL_ENABLED
    AP_RCProtocol &rcprot = AP::RC();

#if HAL_USE_ICU == TRUE
    if (pulse_input_enabled) {
        const uint32_t *p;
        uint32_t n;
        while ((p = (const uint32_t *)sig_reader.sigbuf.readptr(n)) != nullptr) {
            rcprot.process_pulse_list(p, n*2, sig_reader.need_swap);
            sig_reader.sigbuf.advance(n);
        }
    }
#endif

#if HAL_USE_EICU == TRUE
    if (pulse_input_enabled) {
        uint32_t width_s0, width_s1;
        while(sig_reader.read(width_s0, width_s1)) {
            rcprot.process_pulse(width_s0, width_s1);
        }
    }
#endif

#endif  // AP_RCPROTOCOL_ENABLED

#if HAL_WITH_IO_MCU
    uint32_t now = AP_HAL::millis();
    const bool have_iocmu_rc = (_rcin_last_iomcu_ms != 0 && now - _rcin_last_iomcu_ms < 400);
    if (!have_iocmu_rc) {
        _rcin_last_iomcu_ms = 0;
    }
#elif AP_RCPROTOCOL_ENABLED
    const bool have_iocmu_rc = false;
#endif

#if AP_RCPROTOCOL_ENABLED
    if (rcprot.new_input() && !have_iocmu_rc) {
        WITH_SEMAPHORE(rcin_mutex);
        _rcin_timestamp_last_signal = AP_HAL::micros();
        _num_channels = rcprot.num_channels();
        _num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
        rcprot.read(_rc_values, _num_channels);
        _rssi = rcprot.get_RSSI();
        _rx_link_quality = rcprot.get_rx_link_quality();
#ifndef HAL_NO_UARTDRIVER
        rc_protocol = rcprot.protocol_name();
        source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
#endif