X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=rc_proto.c;fp=rc_proto.c;h=8ea3767b26b7fc54d8ba8bfcb57e6b78a2849406;hp=d8c4727e6497bee7f122eb16a0d4f3b45d436dbe;hb=6811941dc02f68dd0305a30f3c1cf72a23566b6b;hpb=d8ce6478238b8e6093c9c0a18325d51d6dcf7e06

diff --git a/rc_proto.c b/rc_proto.c
index d8c4727..8ea3767 100644
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -51,13 +51,13 @@
 
 #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 {
@@ -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 (diff < SEND_SERVO_MIN_TIME_MS)
+	if (diff < rc_proto_timers.send_servo_min_ms)
 		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 &&
-		diff < SEND_SERVO_MAX_TIME_MS)
+		diff < rc_proto_timers.send_servo_max_ms)
 		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;
-		if (diff > AUTO_BYPASS_TIME_MS) {
+		if (diff > rc_proto_timers.send_power_probe_ms) {
 			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;
-		if (diff > AUTO_BYPASS_TIME_MS)
+		if (diff > rc_proto_timers.autobypass_ms)
 			spi_servo_set_bypass(1);
 	}