2 * Copyright (c) 2013, Olivier MATZ <zer0@droids-corp.org>
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the University of California, Berkeley nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
16 * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 #include <aversive/queue.h>
32 #include <aversive/endian.h>
45 #include "xbee_user.h"
46 #include "spi_servo.h"
50 #define SERVO_NBITS 10
52 #define RX_DB_THRESHOLD 65 /* mean -65 dB */
55 struct rc_proto_timers rc_proto_timers = {
56 .send_servo_min_ms = 50,
57 .send_servo_max_ms = 300,
58 .send_power_probe_ms = 500,
62 /* rc_proto statistics, accessed with sched_prio=XBEE_PRIO */
63 struct rc_proto_stats_data {
70 uint32_t power_probe_rx;
71 uint32_t power_probe_tx;
78 uint32_t echo_ans_latency_sum;
80 static struct rc_proto_stats_data stats; /* local stats */
81 static struct rc_proto_stats_data peer_stats; /* peer stats */
83 /* store last received power probes */
84 struct rc_proto_power_levels {
88 static struct rc_proto_power_levels power_levels[MAX_POWER_LEVEL];
90 /* address of the peer */
91 static uint64_t rc_proto_dstaddr = 0xFFFF; /* broadcast by default */
93 /* state sent to the xbee peer (used on RC) */
95 uint16_t servos[N_SERVO];
96 uint8_t bypass; /* ask the wing to bypass servos = use legacy controller */
97 uint8_t seq; /* from 0 to 15, 4 bits */
98 uint16_t time; /* time of last xmit */
100 static struct servo_tx servo_tx;
102 /* state received from the xbee peer (used on WING) */
104 uint16_t servos[N_SERVO];
105 uint16_t time; /* time of last xmit */
107 static struct servo_rx servo_rx;
109 /* the received seq value (acknowledged by the wing, received on the rc) */
112 /* define tx mode (disabled, send from spi, bypass), rx mode (auto-bypass),
114 static uint8_t rc_proto_flags;
116 /* callout managing rc_proto (ex: sending of servos periodically) */
117 static struct callout rc_proto_timer;
119 /* a negative value (-1 or -4) means we don't know the best level, but it stores
120 * the previous PL value (0 or 4) so we can alternate. */
121 int8_t power_level_global = -1;
123 /* update power level when we receive the answer from DB. The request is sent by
124 * rc_proto_rx_power_probe(). */
125 static int8_t update_power_level(int8_t retcode, void *frame, unsigned len,
128 struct xbee_atresp_hdr *atresp = (struct xbee_atresp_hdr *)frame;
129 int level = (intptr_t)arg;
132 /* nothing more to do, error is already logged by xbee_user */
136 if (len < sizeof(struct xbee_atresp_hdr) + sizeof(uint8_t))
139 db = atresp->data[0];
140 power_levels[level].power_db = db;
141 power_levels[level].ttl = 10; /* valid during 10 seconds */
145 /* when we receive a power probe, ask the DB value to the xbee */
146 static void rc_proto_rx_power_probe(int power_level)
148 xbeeapp_send_atcmd("DB", NULL, 0, update_power_level,
149 (void *)(intptr_t)power_level);
152 /* called every second */
153 static void compute_best_power(void)
155 int8_t best_power_level = -1;
159 for (i = 0; i < MAX_POWER_LEVEL; i++) {
160 if (power_levels[i].ttl > 0)
161 power_levels[i].ttl--;
164 for (i = 0; i < MAX_POWER_LEVEL; i++) {
165 if (power_levels[i].ttl == 0)
168 /* if signal is powerful enough, select this as level */
169 if (power_levels[i].power_db < RX_DB_THRESHOLD) {
170 best_power_level = i;
175 /* we have no info, don't touch the negative value */
176 if (best_power_level < 0 && power_level_global < 0)
179 if (power_level_global != best_power_level) {
180 DEBUG(E_USER_RC_PROTO, "changing power level %d => %d\n",
181 power_level_global, best_power_level);
183 power_level_global = best_power_level;
186 static uint8_t get_best_power(void)
189 if (power_level_global == -1) {
190 power_level_global = -4;
193 else if (power_level_global == -4) {
194 power_level_global = -1;
198 return power_level_global;
201 /* send a hello message: no answer expected */
202 int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len,
205 struct rc_proto_hello hdr;
210 hdr.type = RC_PROTO_HELLO;
211 hdr.datalen = data_len;
214 msg.iov[0].buf = &hdr;
215 msg.iov[0].len = sizeof(hdr);
216 msg.iov[1].buf = data;
217 msg.iov[1].len = data_len;
219 /* set power level */
221 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
223 /* we need to lock callout to increment stats */
224 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
226 ret = xbeeapp_send_msg(addr, &msg, NULL, NULL);
227 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
232 /* send an echo message: expect a reply */
233 int8_t rc_proto_send_echo_req(uint64_t addr, void *data, uint8_t data_len,
236 struct rc_proto_echo_req hdr;
241 hdr.type = RC_PROTO_ECHO_REQ;
243 hdr.timestamp = get_time_ms();
244 hdr.datalen = data_len;
247 msg.iov[0].buf = &hdr;
248 msg.iov[0].len = sizeof(hdr);
249 msg.iov[1].buf = data;
250 msg.iov[1].len = data_len;
252 /* set power level */
254 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
256 /* we need to lock callout to increment stats */
257 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
259 ret = xbeeapp_send_msg(addr, &msg, NULL, NULL);
260 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
265 /* send an echo message: expect a reply */
266 int8_t rc_proto_send_echo_ans(uint64_t addr, void *data, uint8_t data_len,
269 struct rc_proto_echo_ans hdr;
274 hdr.type = RC_PROTO_ECHO_ANS;
275 hdr.datalen = data_len;
278 msg.iov[0].buf = &hdr;
279 msg.iov[0].len = sizeof(hdr);
280 msg.iov[1].buf = data;
281 msg.iov[1].len = data_len;
283 /* set power level */
285 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
287 /* we need to lock callout to increment stats */
288 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
290 ret = xbeeapp_send_msg(addr, &msg, NULL, NULL);
291 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
296 /* send an echo message: expect a reply */
297 int8_t rc_proto_send_power_probe(uint64_t addr, uint8_t power)
299 struct rc_proto_power_probe hdr;
304 hdr.type = RC_PROTO_POWER_PROBE;
305 hdr.power_level = power;
308 msg.iov[0].buf = &hdr;
309 msg.iov[0].len = sizeof(hdr);
311 /* set power level */
312 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
314 /* we need to lock callout to increment stats */
315 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
316 stats.power_probe_tx++;
317 ret = xbeeapp_send_msg(addr, &msg, NULL, NULL);
318 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
323 /* convert values from servo_tx.servos into a xbee frame */
324 static int8_t servo2buf(uint8_t buf[RC_PROTO_SERVO_LEN],
325 uint8_t seq, uint8_t bypass, uint8_t pow, const uint16_t servos[N_SERVO])
329 buf[i++] = RC_PROTO_SERVO;
330 buf[i++] = ((seq & 0xf) << 4) | (bypass << 3) | (pow & 0x7);
332 buf[i++] = servos[0] >> 2;
333 buf[i] = (servos[0] & 0x3) << 6;
335 buf[i++] |= servos[1] >> 4;
336 buf[i] = (servos[1] & 0xf) << 4;
338 buf[i++] |= servos[2] >> 6;
339 buf[i] = (servos[2] & 0x3f) << 2;
341 buf[i++] |= servos[3] >> 8;
342 buf[i++] = servos[3] & 0xff;
344 buf[i++] = servos[4] >> 2;
345 buf[i] = (servos[4] & 0x3) << 6;
347 buf[i++] |= servos[5] >> 4;
348 buf[i] = (servos[5] & 0xf) << 4;
353 /* send servos, called periodically with prio = XBEE_PRIO */
354 static int8_t rc_proto_send_servos(void)
356 struct rc_proto_servo hdr;
358 uint8_t i, updated = 0;
359 uint16_t ms, diff, servo_val;
360 uint8_t frame[RC_PROTO_SERVO_LEN];
364 /* servo send disabled */
365 if ((rc_proto_flags & RC_PROTO_FLAGS_TX_MASK) == RC_PROTO_FLAGS_TX_OFF)
368 /* if we transmitted servos values recently, nothing to do */
370 diff = ms - servo_tx.time;
371 if (diff < rc_proto_timers.send_servo_min_ms)
374 /* prepare values to send */
375 if ((rc_proto_flags & RC_PROTO_FLAGS_TX_MASK) ==
376 RC_PROTO_FLAGS_TX_COPY_SPI) {
378 /* set bypass to 0 */
379 if (servo_tx.bypass == 1) {
384 /* copy values from spi */
385 for (i = 0; i < N_SERVO; i++) {
386 servo_val = spi_servo_get(i);
387 if (servo_val != servo_tx.servos[i]) {
388 servo_tx.servos[i] = servo_val;
394 /* set bypass to 1 */
395 if (servo_tx.bypass == 0) {
401 /* if no value changed and last message is acknowledged, don't transmit
402 * if we already transmitted quite recently */
403 if (updated == 0 && ack == servo_tx.seq &&
404 diff < rc_proto_timers.send_servo_max_ms)
407 /* ok, we need to transmit */
409 /* get the new seq value */
412 servo_tx.seq &= 0x1f;
413 if (servo_tx.seq == ack)
414 servo_tx.seq = (ack - 1) & 0x1f;
416 /* reset the "updated" flag and save time */
419 /* set power level */
420 power = get_best_power();
421 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
423 /* create frame and send it */
424 servo2buf(frame, servo_tx.seq, servo_tx.bypass, power, servo_tx.servos);
425 hdr.type = RC_PROTO_SERVO;
428 msg.iov[0].buf = &hdr;
429 msg.iov[0].len = sizeof(hdr);
430 msg.iov[1].buf = frame;
431 msg.iov[1].len = RC_PROTO_SERVO_LEN;
434 ret = xbeeapp_send_msg(rc_proto_dstaddr, &msg, NULL, NULL);
440 /* send a ack message: no answer expected */
441 int8_t rc_proto_send_ack(uint64_t addr, uint8_t seq, int8_t power)
443 struct rc_proto_ack hdr;
448 hdr.type = RC_PROTO_ACK;
452 msg.iov[0].buf = &hdr;
453 msg.iov[0].len = sizeof(hdr);
455 /* set power level */
457 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
459 /* we need to lock callout to increment stats */
460 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
462 ret = xbeeapp_send_msg(addr, &msg, NULL, NULL);
463 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
468 /* send a hello message: no answer expected */
469 int8_t rc_proto_send_stats(uint64_t addr, int8_t power)
471 struct rc_proto_stats hdr;
476 hdr.type = RC_PROTO_STATS;
479 msg.iov[0].buf = &hdr;
480 msg.iov[0].len = sizeof(hdr);
481 msg.iov[1].buf = &stats;
482 msg.iov[1].len = sizeof(stats);
484 /* set power level */
486 xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL);
488 /* we need to lock callout to increment stats */
489 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
491 ret = xbeeapp_send_msg(addr, &msg, NULL, NULL);
492 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
497 void rc_proto_set_mode(uint8_t flags)
499 rc_proto_flags = flags;
502 uint8_t rc_proto_get_mode(void)
504 return rc_proto_flags;
507 /* convert a receved servo frame into servo values */
508 static int8_t buf2servo(uint16_t servos[N_SERVO], const uint8_t *buf)
514 val |= (buf[2] >> 6);
519 val |= (buf[3] >> 4);
524 val |= (buf[4] >> 2);
534 val |= (buf[7] >> 6);
539 val |= (buf[8] >> 4);
545 /* process a received servo frame */
546 static int8_t rc_proto_rx_servo(struct rc_proto_servo *rcs)
551 bypass = !!(rcs->data[0] & 0x08);
552 pow = rcs->data[0] & 0x07;
554 /* convert it in a table of servo values */
555 if (bypass == 0 && buf2servo(servo_rx.servos, rcs->data) < 0)
559 servo_rx.time = get_time_ms();
561 /* acknowledge received frame */
562 seq = rcs->data[0] >> 4;
563 rc_proto_send_ack(rc_proto_dstaddr, seq, pow);
565 /* copy values to spi */
566 if (rc_proto_flags & RC_PROTO_FLAGS_RX_COPY_SPI) {
567 spi_servo_set_bypass(bypass);
570 for (i = 0; i < N_SERVO; i++)
571 spi_servo_set(i, servo_rx.servos[i]);
577 /* receive a rc_proto message */
578 int rc_proto_rx(struct xbee_recv_hdr *recvframe, unsigned len)
580 unsigned int datalen;
581 struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
583 if (len < sizeof(*recvframe))
586 datalen = len - sizeof(*recvframe);
587 if (datalen < sizeof(struct rc_proto_hdr))
590 /* other command types */
592 case RC_PROTO_HELLO: {
593 struct rc_proto_hello *rch =
594 (struct rc_proto_hello *) recvframe->data;
596 NOTICE(E_USER_XBEE, "recv hello len=%d", rch->datalen);
601 case RC_PROTO_ECHO_REQ: {
602 struct rc_proto_echo_req *rce =
603 (struct rc_proto_echo_req *) recvframe->data;
604 int8_t power = rce->power;
606 NOTICE(E_USER_XBEE, "recv echo len=%d", rce->datalen);
609 if (rc_proto_send_echo_ans(ntohll(recvframe->srcaddr),
610 rce->data, rce->datalen, power) < 0)
616 case RC_PROTO_ECHO_ANS: {
617 struct rc_proto_echo_ans *rce =
618 (struct rc_proto_echo_ans *) recvframe->data;
621 NOTICE(E_USER_XBEE, "recv echo_ans len=%d", rce->datalen);
623 diff = get_time_ms() - rce->timestamp;
624 stats.echo_ans_latency_sum += diff;
628 /* received by the radio controller every ~500ms */
629 case RC_PROTO_POWER_PROBE: {
630 struct rc_proto_power_probe *rcpb =
631 (struct rc_proto_power_probe *) recvframe->data;
633 NOTICE(E_USER_XBEE, "recv power_probe");
635 if (datalen != sizeof(*rcpb))
638 if (rcpb->power_level >= MAX_POWER_LEVEL)
641 stats.power_probe_rx++;
642 /* ask the DB value to the xbee module */
643 rc_proto_rx_power_probe(rcpb->power_level);
648 /* received by the radio controller */
650 struct rc_proto_ack *rca =
651 (struct rc_proto_ack *) recvframe->data;
653 NOTICE(E_USER_XBEE, "recv ack, ack=%d", rca->seq);
658 /* received by the wing */
659 case RC_PROTO_SERVO: {
660 struct rc_proto_servo *rcs =
661 (struct rc_proto_servo *) recvframe->data;
663 NOTICE(E_USER_XBEE, "recv servo");
665 if (datalen != RC_PROTO_SERVO_LEN)
669 return rc_proto_rx_servo(rcs);
672 /* received by the radio controller */
673 case RC_PROTO_STATS: {
674 struct rc_proto_stats *rcs =
675 (struct rc_proto_stats *) recvframe->data;
677 NOTICE(E_USER_XBEE, "recv stats");
679 if (datalen != sizeof(*rcs) + sizeof(peer_stats))
683 memcpy(&peer_stats, rcs->stats, sizeof(peer_stats));
695 /* called by the scheduler, manage rc_proto periodical tasks */
696 static void rc_proto_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
699 static uint16_t prev_stats_send;
700 static uint16_t prev_compute_pow;
701 static uint16_t prev_power_probe;
702 static uint8_t pow_probe;
707 /* send servo values if flags are enabled. The function will decide
708 * by itself if it's time to send or not */
709 rc_proto_send_servos();
711 /* send power probe periodically */
712 if (rc_proto_flags & RC_PROTO_FLAGS_TX_POW_PROBE) {
713 diff = t - prev_power_probe;
714 if (diff > rc_proto_timers.send_power_probe_ms) {
718 rc_proto_send_power_probe(rc_proto_dstaddr, pow_probe);
719 prev_power_probe = t;
723 /* on wing, auto bypass servos if no commands since some time */
724 if (rc_proto_flags & RC_PROTO_FLAGS_RX_AUTOBYPASS) {
725 diff = t - servo_rx.time;
726 if (diff > rc_proto_timers.autobypass_ms)
727 spi_servo_set_bypass(1);
730 /* send stats to peer every second */
731 diff = t - prev_compute_pow;
733 compute_best_power();
734 prev_compute_pow = t;
737 /* send stats to peer every second */
738 if (rc_proto_flags & RC_PROTO_FLAGS_TX_STATS) {
739 diff = t - prev_stats_send;
741 rc_proto_send_stats(rc_proto_dstaddr, get_best_power());
746 callout_schedule(cm, tim, 0);
749 void rc_proto_dump_stats(void)
751 printf_P(PSTR("rc_proto stats LOCAL\r\n"));
752 printf_P(PSTR(" hello_tx: %"PRIu32"\r\n"), stats.hello_tx);
753 printf_P(PSTR(" hello_rx: %"PRIu32"\r\n"), stats.hello_rx);
754 printf_P(PSTR(" echo_req_rx: %"PRIu32"\r\n"), stats.echo_req_rx);
755 printf_P(PSTR(" echo_req_tx: %"PRIu32"\r\n"), stats.echo_req_tx);
756 printf_P(PSTR(" echo_ans_rx: %"PRIu32"\r\n"), stats.echo_ans_rx);
757 printf_P(PSTR(" echo_ans_tx: %"PRIu32"\r\n"), stats.echo_ans_tx);
758 printf_P(PSTR(" power_probe_rx: %"PRIu32"\r\n"), stats.power_probe_rx);
759 printf_P(PSTR(" power_probe_tx: %"PRIu32"\r\n"), stats.power_probe_tx);
760 printf_P(PSTR(" ack_rx: %"PRIu32"\r\n"), stats.ack_rx);
761 printf_P(PSTR(" ack_tx: %"PRIu32"\r\n"), stats.ack_tx);
762 printf_P(PSTR(" servo_rx: %"PRIu32"\r\n"), stats.servo_rx);
763 printf_P(PSTR(" servo_tx: %"PRIu32"\r\n"), stats.servo_tx);
764 printf_P(PSTR(" stats_rx: %"PRIu32"\r\n"), stats.stats_rx);
765 printf_P(PSTR(" stats_tx: %"PRIu32"\r\n"), stats.stats_tx);
766 if (stats.echo_ans_rx != 0) {
767 printf_P(PSTR(" echo_ans_latency_ms: %"PRIu32"\r\n"),
768 stats.echo_ans_latency_sum / stats.echo_ans_rx);
771 printf_P(PSTR("rc_proto stats PEER\r\n"));
772 printf_P(PSTR(" hello_tx: %"PRIu32"\r\n"), peer_stats.hello_tx);
773 printf_P(PSTR(" hello_rx: %"PRIu32"\r\n"), peer_stats.hello_rx);
774 printf_P(PSTR(" echo_req_rx: %"PRIu32"\r\n"), peer_stats.echo_req_rx);
775 printf_P(PSTR(" echo_req_tx: %"PRIu32"\r\n"), peer_stats.echo_req_tx);
776 printf_P(PSTR(" echo_ans_rx: %"PRIu32"\r\n"), peer_stats.echo_ans_rx);
777 printf_P(PSTR(" echo_ans_tx: %"PRIu32"\r\n"), peer_stats.echo_ans_tx);
778 printf_P(PSTR(" power_probe_rx: %"PRIu32"\r\n"), peer_stats.power_probe_rx);
779 printf_P(PSTR(" power_probe_tx: %"PRIu32"\r\n"), peer_stats.power_probe_tx);
780 printf_P(PSTR(" ack_rx: %"PRIu32"\r\n"), peer_stats.ack_rx);
781 printf_P(PSTR(" ack_tx: %"PRIu32"\r\n"), peer_stats.ack_tx);
782 printf_P(PSTR(" servo_rx: %"PRIu32"\r\n"), peer_stats.servo_rx);
783 printf_P(PSTR(" servo_tx: %"PRIu32"\r\n"), peer_stats.servo_tx);
784 printf_P(PSTR(" stats_rx: %"PRIu32"\r\n"), peer_stats.stats_rx);
785 printf_P(PSTR(" stats_tx: %"PRIu32"\r\n"), peer_stats.stats_tx);
786 if (stats.echo_ans_rx != 0) {
787 printf_P(PSTR(" echo_ans_latency_ms: %"PRIu32"\r\n"),
788 peer_stats.echo_ans_latency_sum / peer_stats.echo_ans_rx);
792 void rc_proto_reset_stats(void)
796 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
797 memset(&stats, 0, sizeof(stats));
798 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
801 void rc_proto_dump_servos(void)
805 printf_P(PSTR("servo rx\r\n"));
806 for (i = 0; i < N_SERVO; i++) {
807 printf_P(PSTR(" servo[%d] = %d\r\n"), i, servo_rx.servos[i]);
809 printf_P(PSTR("servo tx\r\n"));
810 printf_P(PSTR(" bypass=%d\r\n"), servo_tx.bypass);
811 printf_P(PSTR(" seq=%d\r\n"), servo_tx.seq);
812 printf_P(PSTR(" time=%d\r\n"), servo_tx.time);
813 for (i = 0; i < N_SERVO; i++) {
814 printf_P(PSTR(" servo[%d] = %d\r\n"), i, servo_tx.servos[i]);
818 void rc_proto_set_dstaddr(uint64_t addr)
823 rc_proto_dstaddr = addr;
827 uint64_t rc_proto_get_dstaddr(void)
833 addr = rc_proto_dstaddr;
838 void rc_proto_init(void)
840 callout_init(&rc_proto_timer, rc_proto_cb, NULL, XBEE_PRIO);
841 callout_schedule(&xbeeboard.intr_cm, &rc_proto_timer, 0);