X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=rc_proto.c;h=1c1a29fec54d5714af6d5b39b154eb832b5d6af5;hp=ee2888bb3f43de05dc4823a71bff2cf58d7a697f;hb=HEAD;hpb=d6014994e06ebe952d51bef2e36a795f624c4b4d diff --git a/rc_proto.c b/rc_proto.c index ee2888b..1c1a29f 100644 --- a/rc_proto.c +++ b/rc_proto.c @@ -1,48 +1,851 @@ +/* + * Copyright (c) 2013, Olivier MATZ + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the University of California, Berkeley nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include + #include #include +#include #include #include -#include -#include #include #include #include +#include -#include "xbee_proto.h" #include "callout.h" #include "rc_proto.h" +#include "xbee_user.h" +#include "spi_servo.h" #include "main.h" +#define N_SERVO 6 +#define SERVO_NBITS 10 +#define RX_DB_THRESHOLD 65 /* mean -65 dB */ +/* 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, +}; -struct power_levels { - int ttl; - int power_db; +/* rc_proto statistics, accessed with sched_prio=XBEE_PRIO */ +struct rc_proto_stats_data { + uint32_t hello_rx; + uint32_t hello_tx; + uint32_t echo_req_rx; + uint32_t echo_req_tx; + uint32_t echo_ans_rx; + uint32_t echo_ans_tx; + uint32_t power_probe_rx; + uint32_t power_probe_tx; + uint32_t ack_rx; + uint32_t ack_tx; + uint32_t servo_rx; + uint32_t servo_tx; + uint32_t stats_rx; + uint32_t stats_tx; + uint32_t echo_ans_latency_sum; }; +static struct rc_proto_stats_data stats; /* local stats */ +static struct rc_proto_stats_data peer_stats; /* peer stats */ + +/* store last received power probes */ +struct rc_proto_power_levels { + uint8_t ttl; + uint16_t power_db; +}; +static struct rc_proto_power_levels power_levels[MAX_POWER_LEVEL]; + +/* address of the peer */ +static uint64_t rc_proto_dstaddr = 0xFFFF; /* broadcast by default */ + +/* state sent to the xbee peer (used on RC) */ +struct servo_tx { + uint16_t servos[N_SERVO]; + uint8_t bypass; /* ask the wing to bypass servos = use legacy controller */ + uint8_t seq; /* from 0 to 15, 4 bits */ + uint16_t time; /* time of last xmit */ +}; +static struct servo_tx servo_tx; + +/* state received from the xbee peer (used on WING) */ +struct servo_rx { + uint16_t servos[N_SERVO]; + uint16_t time; /* time of last xmit */ +}; +static struct servo_rx servo_rx; + +/* the received seq value (acknowledged by the wing, received on the rc) */ +static uint8_t ack; + +/* define tx mode (disabled, send from spi, bypass), rx mode (auto-bypass), + ... */ +static uint8_t rc_proto_flags; + +/* callout managing rc_proto (ex: sending of servos periodically) */ +static struct callout rc_proto_timer; -struct power_levels power_levels[MAX_POWER_LEVEL]; +/* a negative value (-1 or -4) means we don't know the best level, but it stores + * the previous PL value (0 or 4) so we can alternate. */ +int8_t power_level_global = -1; -static int set_power_level(void *frame, unsigned len, void *arg) +/* update power level when we receive the answer from DB. The request is sent by + * rc_proto_rx_power_probe(). */ +static int8_t update_power_level(int8_t retcode, void *frame, unsigned len, + void *arg) { struct xbee_atresp_hdr *atresp = (struct xbee_atresp_hdr *)frame; int level = (intptr_t)arg; uint8_t db; - db = atresp->data[0]; + /* nothing more to do, error is already logged by xbee_user */ + if (retcode < 0) + return retcode; + + if (len < sizeof(struct xbee_atresp_hdr) + sizeof(uint8_t)) + return -1; + + db = atresp->data[0]; power_levels[level].power_db = db; - power_levels[level].ttl = 2; + power_levels[level].ttl = 10; /* valid during 10 seconds */ + return 0; +} + +/* when we receive a power probe, ask the DB value to the xbee */ +static void rc_proto_rx_power_probe(int power_level) +{ + xbeeapp_send_atcmd("DB", NULL, 0, update_power_level, + (void *)(intptr_t)power_level); +} + +/* called every second to decide which power should be used */ +static void compute_best_power(void) +{ + int8_t best_power_level = -1; + int8_t i; + + /* decrement TTL */ + for (i = 0; i < MAX_POWER_LEVEL; i++) { + if (power_levels[i].ttl > 0) + power_levels[i].ttl--; + } + + for (i = 0; i < MAX_POWER_LEVEL; i++) { + if (power_levels[i].ttl == 0) + continue; + + /* if signal is powerful enough, select this as level */ + if (power_levels[i].power_db < RX_DB_THRESHOLD) { + best_power_level = i; + break; + } + } + + /* we have no info, don't touch the negative value */ + if (best_power_level < 0 && power_level_global < 0) + return; + + if (power_level_global != best_power_level) { + DEBUG(E_USER_RC_PROTO, "changing power level %d => %d\n", + power_level_global, best_power_level); + } + power_level_global = best_power_level; +} + +/* 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; + return 4; + } + else if (power_level_global == -4) { + power_level_global = -1; + return 0; + } + else + return power_level_global; +} + +/* send a hello message: no answer expected */ +int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len, + int8_t power) +{ + struct rc_proto_hello hdr; + struct xbee_msg msg; + uint8_t prio; + int8_t ret; + + hdr.type = RC_PROTO_HELLO; + hdr.datalen = data_len; + + msg.iovlen = 2; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + msg.iov[1].buf = data; + msg.iov[1].len = data_len; + + /* set power level */ + if (power != -1) + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* we need to lock callout to increment stats */ + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + stats.hello_tx++; + ret = xbeeapp_send_msg(addr, &msg, NULL, NULL); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); + + return ret; +} + +/* send an echo message: expect a reply */ +int8_t rc_proto_send_echo_req(uint64_t addr, void *data, uint8_t data_len, + int8_t power) +{ + struct rc_proto_echo_req hdr; + struct xbee_msg msg; + uint8_t prio; + int8_t ret; + + hdr.type = RC_PROTO_ECHO_REQ; + hdr.power = power; + hdr.timestamp = get_time_ms(); + hdr.datalen = data_len; + + msg.iovlen = 2; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + msg.iov[1].buf = data; + msg.iov[1].len = data_len; + + /* set power level */ + if (power != -1) + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* we need to lock callout to increment stats */ + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + stats.echo_req_tx++; + ret = xbeeapp_send_msg(addr, &msg, NULL, NULL); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); + + return ret; +} + +/* 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, uint16_t timestamp) +{ + struct rc_proto_echo_ans hdr; + struct xbee_msg msg; + uint8_t prio; + int8_t ret; + + hdr.type = RC_PROTO_ECHO_ANS; + hdr.datalen = data_len; + hdr.timestamp = timestamp; + + msg.iovlen = 2; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + msg.iov[1].buf = data; + msg.iov[1].len = data_len; + + /* set power level */ + if (power != -1) + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* we need to lock callout to increment stats */ + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + stats.echo_ans_tx++; + ret = xbeeapp_send_msg(addr, &msg, NULL, NULL); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); + + return ret; +} + +/* send an echo message: expect a reply */ +int8_t rc_proto_send_power_probe(uint64_t addr, uint8_t power) +{ + struct rc_proto_power_probe hdr; + struct xbee_msg msg; + uint8_t prio; + int8_t ret; + + hdr.type = RC_PROTO_POWER_PROBE; + hdr.power_level = power; + + msg.iovlen = 1; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + + /* set power level */ + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* we need to lock callout to increment stats */ + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + stats.power_probe_tx++; + ret = xbeeapp_send_msg(addr, &msg, NULL, NULL); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); + + return ret; +} + +/* convert values from servo_tx.servos into a xbee frame */ +static int8_t servo2buf(uint8_t buf[RC_PROTO_SERVO_LEN], + uint8_t seq, uint8_t bypass, uint8_t pow, const uint16_t servos[N_SERVO]) +{ + uint8_t i = 0; + + buf[i++] = RC_PROTO_SERVO; + buf[i++] = ((seq & 0xf) << 4) | (bypass << 3) | (pow & 0x7); + + buf[i++] = servos[0] >> 2; + buf[i] = (servos[0] & 0x3) << 6; + + buf[i++] |= servos[1] >> 4; + buf[i] = (servos[1] & 0xf) << 4; + + buf[i++] |= servos[2] >> 6; + buf[i] = (servos[2] & 0x3f) << 2; + + buf[i++] |= servos[3] >> 8; + buf[i++] = servos[3] & 0xff; + + buf[i++] = servos[4] >> 2; + buf[i] = (servos[4] & 0x3) << 6; + + buf[i++] |= servos[5] >> 4; + buf[i] = (servos[5] & 0xf) << 4; + + return 0; +} + +/* send servos, called periodically with prio = XBEE_PRIO */ +static int8_t rc_proto_send_servos(void) +{ + struct rc_proto_servo hdr; + struct xbee_msg msg; + uint8_t i, updated = 0; + uint16_t ms, diff, servo_val; + uint8_t frame[RC_PROTO_SERVO_LEN]; + int8_t ret; + uint8_t power; + + /* servo send disabled */ + if ((rc_proto_flags & RC_PROTO_FLAGS_TX_MASK) == RC_PROTO_FLAGS_TX_OFF) + return 0; + + /* if we transmitted servos values recently, nothing to do */ + ms = get_time_ms(); + diff = ms - servo_tx.time; + if (diff < rc_proto_timers.send_servo_min_ms) + return 0; + + /* prepare values to send */ + if ((rc_proto_flags & RC_PROTO_FLAGS_TX_MASK) == + RC_PROTO_FLAGS_TX_COPY_SPI) { + + /* set bypass to 0 */ + if (servo_tx.bypass == 1) { + servo_tx.bypass = 0; + updated = 1; + } + + /* copy values from spi */ + for (i = 0; i < N_SERVO; i++) { + servo_val = spi_servo_get(i); + if (servo_val != servo_tx.servos[i]) { + servo_tx.servos[i] = servo_val; + updated = 1; + } + } + } + else { + /* set bypass to 1 */ + if (servo_tx.bypass == 0) { + servo_tx.bypass = 1; + updated = 1; + } + } + + /* 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 < rc_proto_timers.send_servo_max_ms) + return 0; + + /* ok, we need to transmit */ + + /* get the new seq value */ + if (updated == 1) { + servo_tx.seq++; + servo_tx.seq &= 0x1f; + if (servo_tx.seq == ack) + servo_tx.seq = (ack - 1) & 0x1f; + } + /* reset the "updated" flag and save time */ + servo_tx.time = ms; + + /* set power level */ + power = get_best_power(); + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* create frame and send it */ + servo2buf(frame, servo_tx.seq, servo_tx.bypass, power, servo_tx.servos); + hdr.type = RC_PROTO_SERVO; + + msg.iovlen = 2; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + msg.iov[1].buf = frame; + msg.iov[1].len = RC_PROTO_SERVO_LEN; + + stats.servo_tx++; + ret = xbeeapp_send_msg(rc_proto_dstaddr, &msg, NULL, NULL); + stats.servo_tx++; + + return ret; +} + +/* send a ack message: no answer expected */ +int8_t rc_proto_send_ack(uint64_t addr, uint8_t seq, int8_t power) +{ + struct rc_proto_ack hdr; + struct xbee_msg msg; + uint8_t prio; + int8_t ret; + + hdr.type = RC_PROTO_ACK; + hdr.seq = seq; + + msg.iovlen = 1; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + + /* set power level */ + if (power != -1) + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* we need to lock callout to increment stats */ + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + stats.ack_tx++; + ret = xbeeapp_send_msg(addr, &msg, NULL, NULL); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); + + return ret; +} + +/* send a hello message: no answer expected */ +int8_t rc_proto_send_stats(uint64_t addr, int8_t power) +{ + struct rc_proto_stats hdr; + struct xbee_msg msg; + uint8_t prio; + int8_t ret; + + hdr.type = RC_PROTO_STATS; + + msg.iovlen = 2; + msg.iov[0].buf = &hdr; + msg.iov[0].len = sizeof(hdr); + msg.iov[1].buf = &stats; + msg.iov[1].len = sizeof(stats); + + /* set power level */ + if (power != -1) + xbeeapp_send_atcmd("PL", &power, sizeof(power), NULL, NULL); + + /* we need to lock callout to increment stats */ + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + stats.stats_tx++; + ret = xbeeapp_send_msg(addr, &msg, NULL, NULL); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); + + return ret; +} + +void rc_proto_set_mode(uint8_t flags) +{ + rc_proto_flags = flags; +} + +uint8_t rc_proto_get_mode(void) +{ + return rc_proto_flags; +} + +/* convert a receved servo frame into servo values */ +static int8_t buf2servo(uint16_t servos[N_SERVO], const uint8_t *buf) +{ + uint16_t val; + + val = buf[1]; + val <<= 2; + val |= (buf[2] >> 6); + servos[0] = val; + + val = buf[2] & 0x3f; + val <<= 4; + val |= (buf[3] >> 4); + servos[1] = val; + + val = buf[3] & 0xf; + val <<= 6; + val |= (buf[4] >> 2); + servos[2] = val; + + val = buf[4] & 0x3; + val <<= 8; + val |= (buf[5]); + servos[3] = val; + + val = buf[6]; + val <<= 2; + val |= (buf[7] >> 6); + servos[4] = val; + + val = buf[7]; + val <<= 4; + val |= (buf[8] >> 4); + servos[5] = val; + return 0; } -void rc_proto_rx_range(int power_level) +/* process a received servo frame */ +static int8_t rc_proto_rx_servo(struct rc_proto_servo *rcs) { - xbeeapp_send_atcmd("DB", NULL, 0, 0, - set_power_level, (void *)(intptr_t)power_level); + uint8_t bypass; + uint8_t i, seq, pow; + + bypass = !!(rcs->data[0] & 0x08); + pow = rcs->data[0] & 0x07; + + /* convert it in a table of servo values */ + if (bypass == 0 && buf2servo(servo_rx.servos, rcs->data) < 0) + return -1; + + /* save time */ + servo_rx.time = get_time_ms(); + /* acknowledge received frame */ + seq = rcs->data[0] >> 4; + rc_proto_send_ack(rc_proto_dstaddr, seq, pow); + + /* copy values to spi */ + if (rc_proto_flags & RC_PROTO_FLAGS_RX_COPY_SPI) { + spi_servo_set_bypass(bypass); + + if (bypass == 0) { + for (i = 0; i < N_SERVO; i++) + spi_servo_set(i, servo_rx.servos[i]); + } + } + return 0; } +/* receive a rc_proto message */ +int rc_proto_rx(struct xbee_recv_hdr *recvframe, unsigned len) +{ + unsigned int datalen; + struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data; + + if (len < sizeof(*recvframe)) + return -1; + + datalen = len - sizeof(*recvframe); + if (datalen < sizeof(struct rc_proto_hdr)) + return -1; + + /* other command types */ + switch (rch->type) { + case RC_PROTO_HELLO: { + struct rc_proto_hello *rch = + (struct rc_proto_hello *) recvframe->data; + + NOTICE(E_USER_XBEE, "recv hello len=%d", rch->datalen); + stats.hello_rx++; + return 0; + } + + case RC_PROTO_ECHO_REQ: { + struct rc_proto_echo_req *rce = + (struct rc_proto_echo_req *) recvframe->data; + int8_t power = rce->power; + + NOTICE(E_USER_XBEE, "recv echo len=%d", rce->datalen); + stats.echo_req_rx++; + + if (rc_proto_send_echo_ans(ntohll(recvframe->srcaddr), + rce->data, rce->datalen, power, + rce->timestamp) < 0) + return -1; + + return 0; + } + + case RC_PROTO_ECHO_ANS: { + struct rc_proto_echo_ans *rce = + (struct rc_proto_echo_ans *) recvframe->data; + uint16_t diff; + + NOTICE(E_USER_XBEE, "recv echo_ans len=%d", rce->datalen); + stats.echo_ans_rx++; + diff = get_time_ms() - rce->timestamp; + stats.echo_ans_latency_sum += diff; + return 0; + } + + /* received by the radio controller every ~500ms */ + case RC_PROTO_POWER_PROBE: { + struct rc_proto_power_probe *rcpb = + (struct rc_proto_power_probe *) recvframe->data; + + NOTICE(E_USER_XBEE, "recv power_probe"); + + if (datalen != sizeof(*rcpb)) + return -1; + + if (rcpb->power_level >= MAX_POWER_LEVEL) + return -1; + stats.power_probe_rx++; + /* ask the DB value to the xbee module */ + rc_proto_rx_power_probe(rcpb->power_level); + + return 0; + } + + /* received by the radio controller */ + case RC_PROTO_ACK: { + struct rc_proto_ack *rca = + (struct rc_proto_ack *) recvframe->data; + + NOTICE(E_USER_XBEE, "recv ack, ack=%d", rca->seq); + stats.ack_rx++; + return 0; + } + + /* received by the wing */ + case RC_PROTO_SERVO: { + struct rc_proto_servo *rcs = + (struct rc_proto_servo *) recvframe->data; + + NOTICE(E_USER_XBEE, "recv servo"); + + if (datalen != RC_PROTO_SERVO_LEN) + return -1; + + stats.servo_rx++; + return rc_proto_rx_servo(rcs); + } + + /* received by the radio controller */ + case RC_PROTO_STATS: { + struct rc_proto_stats *rcs = + (struct rc_proto_stats *) recvframe->data; + + NOTICE(E_USER_XBEE, "recv stats"); + + if (datalen != sizeof(*rcs) + sizeof(peer_stats)) + return -1; + + stats.stats_rx++; + memcpy(&peer_stats, rcs->stats, sizeof(peer_stats)); + return 0; + } + + default: + return -1; + } + + /* not reached */ + return 0; +} + +/* called by the scheduler, manage rc_proto periodical tasks */ +static void rc_proto_cb(struct callout_mgr *cm, struct callout *tim, void *arg) +{ + (void)arg; + static uint16_t prev_stats_send; + static uint16_t prev_compute_pow; + static uint16_t prev_power_probe; + static uint8_t pow_probe; + uint16_t t, diff; + + t = get_time_ms(); + + /* send servo values if flags are enabled. The function will decide + * by itself if it's time to send or not */ + rc_proto_send_servos(); + + /* send power probe periodically */ + if (rc_proto_flags & RC_PROTO_FLAGS_TX_POW_PROBE) { + diff = t - prev_power_probe; + if (diff > rc_proto_timers.send_power_probe_ms) { + pow_probe++; + if (pow_probe > 4) + pow_probe = 0; + rc_proto_send_power_probe(rc_proto_dstaddr, pow_probe); + prev_power_probe = t; + } + } + + /* 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 > rc_proto_timers.autobypass_ms) + spi_servo_set_bypass(1); + } + + /* send stats to peer every second */ + 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 */ + if (rc_proto_flags & RC_PROTO_FLAGS_TX_STATS) { + diff = t - prev_stats_send; + if (diff >= 1000) { + rc_proto_send_stats(rc_proto_dstaddr, get_best_power()); + prev_stats_send = t; + } + } + + callout_schedule(cm, tim, 0); +} + +void rc_proto_dump_stats(void) +{ + printf_P(PSTR("rc_proto stats LOCAL\r\n")); + printf_P(PSTR(" hello_tx: %"PRIu32"\r\n"), stats.hello_tx); + printf_P(PSTR(" hello_rx: %"PRIu32"\r\n"), stats.hello_rx); + printf_P(PSTR(" echo_req_rx: %"PRIu32"\r\n"), stats.echo_req_rx); + printf_P(PSTR(" echo_req_tx: %"PRIu32"\r\n"), stats.echo_req_tx); + printf_P(PSTR(" echo_ans_rx: %"PRIu32"\r\n"), stats.echo_ans_rx); + printf_P(PSTR(" echo_ans_tx: %"PRIu32"\r\n"), stats.echo_ans_tx); + printf_P(PSTR(" power_probe_rx: %"PRIu32"\r\n"), stats.power_probe_rx); + printf_P(PSTR(" power_probe_tx: %"PRIu32"\r\n"), stats.power_probe_tx); + printf_P(PSTR(" ack_rx: %"PRIu32"\r\n"), stats.ack_rx); + printf_P(PSTR(" ack_tx: %"PRIu32"\r\n"), stats.ack_tx); + printf_P(PSTR(" servo_rx: %"PRIu32"\r\n"), stats.servo_rx); + printf_P(PSTR(" servo_tx: %"PRIu32"\r\n"), stats.servo_tx); + printf_P(PSTR(" stats_rx: %"PRIu32"\r\n"), stats.stats_rx); + printf_P(PSTR(" stats_tx: %"PRIu32"\r\n"), stats.stats_tx); + if (stats.echo_ans_rx != 0) { + printf_P(PSTR(" echo_ans_latency_ms: %"PRIu32"\r\n"), + stats.echo_ans_latency_sum / stats.echo_ans_rx); + } + + printf_P(PSTR("rc_proto stats PEER\r\n")); + printf_P(PSTR(" hello_tx: %"PRIu32"\r\n"), peer_stats.hello_tx); + printf_P(PSTR(" hello_rx: %"PRIu32"\r\n"), peer_stats.hello_rx); + printf_P(PSTR(" echo_req_rx: %"PRIu32"\r\n"), peer_stats.echo_req_rx); + printf_P(PSTR(" echo_req_tx: %"PRIu32"\r\n"), peer_stats.echo_req_tx); + printf_P(PSTR(" echo_ans_rx: %"PRIu32"\r\n"), peer_stats.echo_ans_rx); + printf_P(PSTR(" echo_ans_tx: %"PRIu32"\r\n"), peer_stats.echo_ans_tx); + printf_P(PSTR(" power_probe_rx: %"PRIu32"\r\n"), peer_stats.power_probe_rx); + printf_P(PSTR(" power_probe_tx: %"PRIu32"\r\n"), peer_stats.power_probe_tx); + printf_P(PSTR(" ack_rx: %"PRIu32"\r\n"), peer_stats.ack_rx); + printf_P(PSTR(" ack_tx: %"PRIu32"\r\n"), peer_stats.ack_tx); + printf_P(PSTR(" servo_rx: %"PRIu32"\r\n"), peer_stats.servo_rx); + 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 (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); + } +} + +void rc_proto_reset_stats(void) +{ + uint8_t prio; + + prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO); + memset(&stats, 0, sizeof(stats)); + callout_mgr_restore_prio(&xbeeboard.intr_cm, prio); +} + +void rc_proto_dump_servos(void) +{ + uint8_t i; + + printf_P(PSTR("servo rx\r\n")); + for (i = 0; i < N_SERVO; i++) { + printf_P(PSTR(" servo[%d] = %d\r\n"), i, servo_rx.servos[i]); + } + printf_P(PSTR("servo tx\r\n")); + printf_P(PSTR(" bypass=%d\r\n"), servo_tx.bypass); + printf_P(PSTR(" seq=%d\r\n"), servo_tx.seq); + printf_P(PSTR(" time=%d\r\n"), servo_tx.time); + for (i = 0; i < N_SERVO; i++) { + printf_P(PSTR(" servo[%d] = %d\r\n"), i, servo_tx.servos[i]); + } +} + +void rc_proto_set_dstaddr(uint64_t addr) +{ + uint8_t flags; + + IRQ_LOCK(flags); + rc_proto_dstaddr = addr; + IRQ_UNLOCK(flags); +} + +uint64_t rc_proto_get_dstaddr(void) +{ + uint64_t addr; + uint8_t flags; + + IRQ_LOCK(flags); + addr = rc_proto_dstaddr; + IRQ_UNLOCK(flags); + return addr; +} + +void rc_proto_init(void) +{ + callout_init(&rc_proto_timer, rc_proto_cb, NULL, XBEE_PRIO); + callout_schedule(&xbeeboard.intr_cm, &rc_proto_timer, 0); +}