rc_proto: allow to configure timers

diff --git a/commands.c b/commands.c
index c827001..dc88a06 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -1613,6 +1613,93 @@ const parse_inst_t PROGMEM cmd_rc_proto_stats = {
 
 /**********************************************************/
 
 
 /**********************************************************/
 

+/* this structure is filled when cmd_rc_proto_timers is parsed successfully */
+struct cmd_rc_proto_timers_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+       uint16_t servo_min;
+       uint16_t servo_max;
+       uint16_t power_probe;
+       uint16_t autobypass;
+};
+
+static void cmd_rc_proto_timers_parsed(void *parsed_result, void *data)
+{
+       struct cmd_rc_proto_timers_result *res = parsed_result;
+       (void)data;
+
+       if (!strcmp_P(res->arg1, PSTR("set"))) {
+               rc_proto_timers.send_servo_min_ms = res->servo_min;
+               rc_proto_timers.send_servo_max_ms = res->servo_max;
+               rc_proto_timers.send_power_probe_ms = res->power_probe;
+               rc_proto_timers.autobypass_ms = res->autobypass;
+       }
+
+       printf_P(PSTR("rc_proto_timers: min=%d, max=%d, "
+                       "power_probe=%d autobypass=%d\n"),
+               rc_proto_timers.send_servo_min_ms,
+               rc_proto_timers.send_servo_max_ms,
+               rc_proto_timers.send_power_probe_ms,
+               rc_proto_timers.autobypass_ms);
+}
+
+const char PROGMEM str_rc_proto_timers_arg0[] = "rc_proto_timers";
+const parse_token_string_t PROGMEM cmd_rc_proto_timers_arg0 =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_timers_result, arg0,
+                                str_rc_proto_timers_arg0);
+const char PROGMEM str_rc_proto_timers_arg1[] = "set";
+const parse_token_string_t PROGMEM cmd_rc_proto_timers_arg1 =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_timers_result, arg1,
+                                str_rc_proto_timers_arg1);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_servo_min =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, servo_min,
+               UINT16);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_servo_max =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, servo_max,
+               UINT16);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_power_probe =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, power_probe,
+               UINT16);
+const parse_token_num_t PROGMEM cmd_rc_proto_timers_autobypass =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_timers_result, autobypass,
+               UINT16);
+
+const char PROGMEM help_rc_proto_timers[] = "set rc_proto_timers (servo_min, "
+       "servo_max, pow_probe, autobypass)";
+const parse_inst_t PROGMEM cmd_rc_proto_timers = {
+       .f = cmd_rc_proto_timers_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_rc_proto_timers,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_timers_arg0,
+               (PGM_P)&cmd_rc_proto_timers_arg1,
+               (PGM_P)&cmd_rc_proto_timers_servo_min,
+               (PGM_P)&cmd_rc_proto_timers_servo_max,
+               (PGM_P)&cmd_rc_proto_timers_power_probe,
+               (PGM_P)&cmd_rc_proto_timers_autobypass,
+               NULL,
+       },
+};
+
+const char PROGMEM str_rc_proto_timers_show_arg1[] = "show";
+const parse_token_string_t PROGMEM cmd_rc_proto_timers_show_arg1 =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_timers_result, arg1,
+                                str_rc_proto_timers_show_arg1);
+
+const char PROGMEM help_rc_proto_timers_show[] = "show rc_proto timers value";
+const parse_inst_t PROGMEM cmd_rc_proto_timers_show = {
+       .f = cmd_rc_proto_timers_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_rc_proto_timers_show,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_timers_arg0,
+               (PGM_P)&cmd_rc_proto_timers_show_arg1,
+               NULL,
+       },
+};
+
+/**********************************************************/
+

 /* this structure is filled when cmd_rc_proto_mode is parsed successfully */
 struct cmd_rc_proto_mode_result {
        fixed_string_t arg0;
 /* this structure is filled when cmd_rc_proto_mode is parsed successfully */
 struct cmd_rc_proto_mode_result {
        fixed_string_t arg0;


@@ -2192,6 +2279,8 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_test_spi,
        &cmd_dump_xbee_stats,
        &cmd_rc_proto_stats,
        &cmd_test_spi,
        &cmd_dump_xbee_stats,
        &cmd_rc_proto_stats,

+       &cmd_rc_proto_timers,
+       &cmd_rc_proto_timers_show,

        &cmd_rc_proto_mode,
        &cmd_rc_proto_mode2,
        &cmd_rc_proto_mode3,
        &cmd_rc_proto_mode,
        &cmd_rc_proto_mode2,
        &cmd_rc_proto_mode3,

diff --git a/rc_proto.c b/rc_proto.c
index d8c4727..8ea3767 100644 (file)
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -51,13 +51,13 @@
 
 #define RX_DB_THRESHOLD 65 /* mean -65 dB */
 
 
 #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 {
 
 /* rc_proto statistics, accessed with sched_prio=XBEE_PRIO */
 struct rc_proto_stats_data {


@@ -368,7 +368,7 @@ static int8_t rc_proto_send_servos(void)
        /* if we transmitted servos values recently, nothing to do */
        ms = get_time_ms();
        diff = ms - servo_tx.time;
        /* 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 */
                return 0;
 
        /* prepare values to send */


@@ -401,7 +401,7 @@ static int8_t rc_proto_send_servos(void)
        /* 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 &&
        /* 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 */
                return 0;
 
        /* ok, we need to transmit */


@@ -711,7 +711,7 @@ static void rc_proto_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
        /* send power probe periodically */
        if (rc_proto_flags & RC_PROTO_FLAGS_TX_POW_PROBE) {
                diff = t - prev_power_probe;
        /* 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;
                        pow_probe++;
                        if (pow_probe > 4)
                                pow_probe = 0;


@@ -723,7 +723,7 @@ static void rc_proto_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
        /* 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;
        /* 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);
        }
 
                        spi_servo_set_bypass(1);
        }
 

diff --git a/rc_proto.h b/rc_proto.h
index 82f2fd2..3df4aaf 100644 (file)
--- a/rc_proto.h
+++ b/rc_proto.h
@@ -20,6 +20,7 @@ struct rc_proto_hello {
 struct rc_proto_echo_req {
        uint8_t type;
        int8_t power;
 struct rc_proto_echo_req {
        uint8_t type;
        int8_t power;

+       uint16_t timestamp; /* copied as-is in answer */

        uint8_t datalen; /* len of data excluding header */
        uint8_t data[];
 } __attribute__((packed));
        uint8_t datalen; /* len of data excluding header */
        uint8_t data[];
 } __attribute__((packed));


@@ -28,6 +29,7 @@ struct rc_proto_echo_req {
 #define RC_PROTO_ECHO_ANS 0x02
 struct rc_proto_echo_ans {
        uint8_t type;
 #define RC_PROTO_ECHO_ANS 0x02
 struct rc_proto_echo_ans {
        uint8_t type;

+       uint16_t timestamp;

        uint8_t datalen; /* len of data excluding header */
        uint8_t data[];
 } __attribute__((packed));
        uint8_t datalen; /* len of data excluding header */
        uint8_t data[];
 } __attribute__((packed));


@@ -84,6 +86,15 @@ struct rc_proto_stats {
        uint8_t stats[]; /* format is struct rc_proto_stats_data */
 } __attribute__((packed));
 
        uint8_t stats[]; /* format is struct rc_proto_stats_data */
 } __attribute__((packed));
 

+/* rc_proto timers configuration */
+struct rc_proto_timers {
+       uint16_t send_servo_min_ms;
+       uint16_t send_servo_max_ms;
+       uint16_t send_power_probe_ms;
+       uint16_t autobypass_ms;
+};
+extern struct rc_proto_timers rc_proto_timers;
+

 /* send a Hello message to a peer */
 int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len,
        int8_t power);
 /* send a Hello message to a peer */
 int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len,
        int8_t power);