#define RX_DB_THRESHOLD 65 /* mean -65 dB */
-/* XXX make it configurable */
-/* min time between 2 servo_send */
-#define SEND_SERVO_MIN_TIME_MS 50
-/* max time between 2 servo_send */
-#define SEND_SERVO_MAX_TIME_MS 300
-/* time before switching into bypass mode when no servo command received */
-#define AUTO_BYPASS_TIME_MS 500
+/* default values */
+struct rc_proto_timers rc_proto_timers = {
+ .send_servo_min_ms = 50,
+ .send_servo_max_ms = 300,
+ .send_power_probe_ms = 500,
+ .autobypass_ms = 500,
+};
/* rc_proto statistics, accessed with sched_prio=XBEE_PRIO */
struct rc_proto_stats_data {
/* if we transmitted servos values recently, nothing to do */
ms = get_time_ms();
diff = ms - servo_tx.time;
- if (diff < SEND_SERVO_MIN_TIME_MS)
+ if (diff < rc_proto_timers.send_servo_min_ms)
return 0;
/* prepare values to send */
/* if no value changed and last message is acknowledged, don't transmit
* if we already transmitted quite recently */
if (updated == 0 && ack == servo_tx.seq &&
- diff < SEND_SERVO_MAX_TIME_MS)
+ diff < rc_proto_timers.send_servo_max_ms)
return 0;
/* ok, we need to transmit */
/* send power probe periodically */
if (rc_proto_flags & RC_PROTO_FLAGS_TX_POW_PROBE) {
diff = t - prev_power_probe;
- if (diff > AUTO_BYPASS_TIME_MS) {
+ if (diff > rc_proto_timers.send_power_probe_ms) {
pow_probe++;
if (pow_probe > 4)
pow_probe = 0;
/* on wing, auto bypass servos if no commands since some time */
if (rc_proto_flags & RC_PROTO_FLAGS_RX_AUTOBYPASS) {
diff = t - servo_rx.time;
- if (diff > AUTO_BYPASS_TIME_MS)
+ if (diff > rc_proto_timers.autobypass_ms)
spi_servo_set_bypass(1);
}