X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=rc_proto.c;h=1c1a29fec54d5714af6d5b39b154eb832b5d6af5;hp=8ea3767b26b7fc54d8ba8bfcb57e6b78a2849406;hb=refs%2Fheads%2Fmaster;hpb=6811941dc02f68dd0305a30f3c1cf72a23566b6b

diff --git a/rc_proto.c b/rc_proto.c
index 8ea3767..1c1a29f 100644
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -149,7 +149,7 @@ static void rc_proto_rx_power_probe(int power_level)
 		(void *)(intptr_t)power_level);
 }
 
-/* called every second */
+/* called every second to decide which power should be used */
 static void compute_best_power(void)
 {
 	int8_t best_power_level = -1;
@@ -183,8 +183,13 @@ static void compute_best_power(void)
 	power_level_global = best_power_level;
 }
 
-static uint8_t get_best_power(void)
+/* return the best power level, or -1 if best power level computation is
+ * disabled. */
+static int8_t get_best_power(void)
 {
+	if ((rc_proto_flags & RC_PROTO_FLAGS_COMPUTE_BEST_POW) == 0)
+		return -1;
+
 	/* special values */
 	if (power_level_global == -1) {
 		power_level_global = -4;
@@ -264,7 +269,7 @@ int8_t rc_proto_send_echo_req(uint64_t addr, void *data, uint8_t data_len,
 
 /* send an echo message: expect a reply */
 int8_t rc_proto_send_echo_ans(uint64_t addr, void *data, uint8_t data_len,
-	int8_t power)
+	int8_t power, uint16_t timestamp)
 {
 	struct rc_proto_echo_ans hdr;
 	struct xbee_msg msg;
@@ -273,6 +278,7 @@ int8_t rc_proto_send_echo_ans(uint64_t addr, void *data, uint8_t data_len,
 
 	hdr.type = RC_PROTO_ECHO_ANS;
 	hdr.datalen = data_len;
+	hdr.timestamp = timestamp;
 
 	msg.iovlen = 2;
 	msg.iov[0].buf = &hdr;
@@ -607,7 +613,8 @@ int rc_proto_rx(struct xbee_recv_hdr *recvframe, unsigned len)
 			stats.echo_req_rx++;
 
 			if (rc_proto_send_echo_ans(ntohll(recvframe->srcaddr),
-					rce->data, rce->datalen, power) < 0)
+					rce->data, rce->datalen, power,
+					rce->timestamp) < 0)
 				return -1;
 
 			return 0;
@@ -728,10 +735,12 @@ static void rc_proto_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 	}
 
 	/* send stats to peer every second */
-	diff = t - prev_compute_pow;
-	if (diff >= 1000) {
-		compute_best_power();
-		prev_compute_pow = t;
+	if (rc_proto_flags & RC_PROTO_FLAGS_COMPUTE_BEST_POW) {
+		diff = t - prev_compute_pow;
+		if (diff >= 1000) {
+			compute_best_power();
+			prev_compute_pow = t;
+		}
 	}
 
 	/* send stats to peer every second */
@@ -783,7 +792,7 @@ void rc_proto_dump_stats(void)
 	printf_P(PSTR("  servo_tx: %"PRIu32"\r\n"), peer_stats.servo_tx);
 	printf_P(PSTR("  stats_rx: %"PRIu32"\r\n"), peer_stats.stats_rx);
 	printf_P(PSTR("  stats_tx: %"PRIu32"\r\n"), peer_stats.stats_tx);
-	if (stats.echo_ans_rx != 0) {
+	if (peer_stats.echo_ans_rx != 0) {
 		printf_P(PSTR("  echo_ans_latency_ms: %"PRIu32"\r\n"),
 			peer_stats.echo_ans_latency_sum / peer_stats.echo_ans_rx);
 	}