Used currentTime parameter for beeper and telemetry

src/main/fc/mw.c

@@ -855,7 +855,6 @@ void taskMainPidLoopCheck(uint32_t currentTime)
 {
     UNUSED(currentTime);
 
-    static uint32_t previousTime;
     static bool runTaskMainSubprocesses;
     static uint8_t pidUpdateCountdown;
 
@@ -904,9 +903,7 @@ void taskHandleSerial(uint32_t currentTime)
 
 void taskUpdateBeeper(uint32_t currentTime)
 {
-    UNUSED(currentTime);
+    beeperUpdate(currentTime);          //call periodic beeper handler
-
-    beeperUpdate();          //call periodic beeper handler
 }
 
 void taskUpdateBattery(uint32_t currentTime)
@@ -934,10 +931,8 @@ void taskUpdateBattery(uint32_t currentTime)
 
 bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
 {
-	UNUSED(currentDeltaTime);
+    UNUSED(currentDeltaTime);
-
+    return rxUpdate(currentTime);
-	updateRx(currentTime);
-    return shouldProcessRx(currentTime);
 }
 
 void taskUpdateRxMain(uint32_t currentTime)
@@ -967,8 +962,6 @@ void taskUpdateRxMain(uint32_t currentTime)
 #ifdef GPS
 void taskProcessGPS(uint32_t currentTime)
 {
-    UNUSED(currentTime);
-
     // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
     // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
     // change this based on available hardware
@@ -997,7 +990,7 @@ void taskUpdateBaro(uint32_t currentTime)
     UNUSED(currentTime);
 
     if (sensors(SENSOR_BARO)) {
-        uint32_t newDeadline = baroUpdate();
+        const uint32_t newDeadline = baroUpdate();
         rescheduleTask(TASK_SELF, newDeadline);
     }
 }
@@ -1041,12 +1034,10 @@ void taskUpdateDisplay(uint32_t currentTime)
 #ifdef TELEMETRY
 void taskTelemetry(uint32_t currentTime)
 {
-    UNUSED(currentTime);
-
     telemetryCheckState();
 
     if (!cliMode && feature(FEATURE_TELEMETRY)) {
-        telemetryProcess(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
+        telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
     }
 }
 #endif

src/main/io/beeper.c

@@ -283,7 +283,7 @@ void beeperGpsStatus(void)
  * Beeper handler function to be called periodically in loop. Updates beeper
  * state via time schedule.
  */
-void beeperUpdate(void)
+void beeperUpdate(uint32_t currentTime)
 {
     // If beeper option from AUX switch has been selected
     if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
@@ -303,8 +303,7 @@ void beeperUpdate(void)
         return;
     }
 
-    uint32_t now = millis();
+    if (beeperNextToggleTime > currentTime) {
-    if (beeperNextToggleTime > now) {
         return;
     }
 
@@ -403,7 +402,7 @@ bool isBeeperOn(void) {
 void beeper(beeperMode_e mode) {UNUSED(mode);}
 void beeperSilence(void) {}
 void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
-void beeperUpdate(void) {}
+void beeperUpdate(uint32_t currentTime) {}
 uint32_t getArmingBeepTimeMicros(void) {return 0;}
 beeperMode_e beeperModeForTableIndex(int idx) {UNUSED(idx); return BEEPER_SILENCE;}
 const char *beeperNameForTableIndex(int idx) {UNUSED(idx); return NULL;}

src/main/io/beeper.h

@@ -47,7 +47,7 @@ typedef enum {
 
 void beeper(beeperMode_e mode);
 void beeperSilence(void);
-void beeperUpdate(void);
+void beeperUpdate(uint32_t currentTime);
 void beeperConfirmationBeeps(uint8_t beepCount);
 uint32_t getArmingBeepTimeMicros(void);
 beeperMode_e beeperModeForTableIndex(int idx);

src/main/rx/rx.c

@@ -333,7 +333,7 @@ void resumeRxSignal(void)
     failsafeOnRxResume();
 }
 
-void updateRx(uint32_t currentTime)
+bool rxUpdate(uint32_t currentTime)
 {
     resetRxSignalReceivedFlagIfNeeded(currentTime);
 
@@ -384,11 +384,7 @@ void updateRx(uint32_t currentTime)
         }
     }
 #endif
-}
+    return rxDataReceived || (currentTime >= rxUpdateAt); // data driven or 50Hz
-
-bool shouldProcessRx(uint32_t currentTime)
-{
-    return rxDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz
 }
 
 static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)

src/main/rx/rx.h

@@ -151,10 +151,9 @@ typedef uint16_t (*rcReadRawDataPtr)(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t
 struct modeActivationCondition_s;
 void rxInit(rxConfig_t *rxConfig, struct modeActivationCondition_s *modeActivationConditions);
 void useRxConfig(rxConfig_t *rxConfigToUse);
-void updateRx(uint32_t currentTime);
+bool rxUpdate(uint32_t currentTime);
 bool rxIsReceivingSignal(void);
 bool rxAreFlightChannelsValid(void);
-bool shouldProcessRx(uint32_t currentTime);
 void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime);
 
 void parseRcChannels(const char *input, rxConfig_t *rxConfig);

src/main/telemetry/hott.c

@@ -490,7 +490,7 @@ void checkHoTTTelemetryState(void)
         freeHoTTTelemetryPort();
 }
 
-void handleHoTTTelemetry(void)
+void handleHoTTTelemetry(uint32_t currentTime)
 {
     static uint32_t serialTimer;
 
@@ -498,27 +498,25 @@ void handleHoTTTelemetry(void)
         return;
     }
 
-    uint32_t now = micros();
+    if (shouldPrepareHoTTMessages(currentTime)) {
-
-    if (shouldPrepareHoTTMessages(now)) {
         hottPrepareMessages();
-        lastMessagesPreparedAt = now;
+        lastMessagesPreparedAt = currentTime;
     }
 
     if (shouldCheckForHoTTRequest()) {
-        hottCheckSerialData(now);
+        hottCheckSerialData(currentTime);
     }
 
     if (!hottMsg)
         return;
 
     if (hottIsSending) {
-        if(now - serialTimer < HOTT_TX_DELAY_US) {
+        if(currentTime - serialTimer < HOTT_TX_DELAY_US) {
             return;
         }
     }
     hottSendTelemetryData();
-    serialTimer = now;
+    serialTimer = currentTime;
 }
 
 #endif

src/main/telemetry/hott.h

@@ -485,7 +485,7 @@ typedef struct HOTT_AIRESC_MSG_s {
     uint8_t stop_byte;      //#44 constant value 0x7d
 } HOTT_AIRESC_MSG_t;
 
-void handleHoTTTelemetry(void);
+void handleHoTTTelemetry(uint32_t currentTime);
 void checkHoTTTelemetryState(void);
 
 void initHoTTTelemetry(telemetryConfig_t *telemetryConfig);

src/main/telemetry/telemetry.c

@@ -90,10 +90,10 @@ void telemetryCheckState(void)
     checkJetiExBusTelemetryState();
 }
 
-void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
+void telemetryProcess(uint32_t currentTime, rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
 {
     handleFrSkyTelemetry(rxConfig, deadband3d_throttle);
-    handleHoTTTelemetry();
+    handleHoTTTelemetry(currentTime);
     handleSmartPortTelemetry();
     handleLtmTelemetry();
     handleJetiExBusTelemetry();

src/main/telemetry/telemetry.h

@@ -53,7 +53,7 @@ extern serialPort_t *telemetrySharedPort;
 
 void telemetryCheckState(void);
 struct rxConfig_s;
-void telemetryProcess(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
+void telemetryProcess(uint32_t currentTime, struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
 
 bool telemetryDetermineEnabledState(portSharing_e portSharing);