diff options
Diffstat (limited to 'src/ao_launch.c')
| -rw-r--r-- | src/ao_launch.c | 44 |
1 files changed, 27 insertions, 17 deletions
diff --git a/src/ao_launch.c b/src/ao_launch.c index 6c154719..35afbda8 100644 --- a/src/ao_launch.c +++ b/src/ao_launch.c @@ -19,6 +19,12 @@ __xdata uint16_t ao_launch_ignite; +#if 0 +#define PRINTD(...) printf(__VA_ARGS__) +#else +#define PRINTD(...) +#endif + static void ao_launch_run(void) { @@ -71,19 +77,20 @@ ao_launch(void) ao_led_off(AO_LED_RED); ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); for (;;) { + flush(); if (ao_radio_cmac_recv(&command, sizeof (command), 0) != AO_RADIO_CMAC_OK) continue; - printf ("tick %d serial %d cmd %d channel %d\n", + PRINTD ("tick %d serial %d cmd %d channel %d\n", command.tick, command.serial, command.cmd, command.channel); - if (command.serial != ao_serial_number) { - printf ("serial number mismatch\n"); - continue; - } - switch (command.cmd) { case AO_LAUNCH_QUERY: + if (command.serial != ao_serial_number) { + PRINTD ("serial number mismatch\n"); + break; + } + if (command.channel == 0) { query.valid = 1; query.arm_status = ao_igniter_status(ao_igniter_drogue); @@ -94,35 +101,38 @@ ao_launch(void) query.tick = ao_time(); query.serial = ao_serial_number; query.channel = command.channel; - printf ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n", + PRINTD ("query tick %d serial %d channel %d valid %d arm %d igniter %d\n", query.tick, query.serial, query.channel, query.valid, query.arm_status, query.igniter_status); ao_radio_cmac_send(&query, sizeof (query)); break; case AO_LAUNCH_ARM: + if (command.serial != ao_serial_number) { + PRINTD ("serial number mismatch\n"); + break; + } + if (command.channel != 0) break; time_difference = command.tick - ao_time(); - printf ("arm tick %d local tick %d\n", command.tick, ao_time()); + PRINTD ("arm tick %d local tick %d\n", command.tick, ao_time()); if (time_difference < 0) time_difference = -time_difference; if (time_difference > 10) { - printf ("time difference too large %d\n", time_difference); + PRINTD ("time difference too large %d\n", time_difference); break; } - printf ("armed\n"); + PRINTD ("armed\n"); ao_launch_armed = 1; ao_launch_arm_time = ao_time(); break; case AO_LAUNCH_FIRE: - if (command.channel != 0) - break; if (!ao_launch_armed) { - printf ("not armed\n"); + PRINTD ("not armed\n"); break; } - if ((uint16_t) (ao_launch_arm_time - ao_time()) > AO_SEC_TO_TICKS(20)) { - printf ("late launch arm_time %d time %d\n", + if ((uint16_t) (ao_time() - ao_launch_arm_time) > AO_SEC_TO_TICKS(20)) { + PRINTD ("late launch arm_time %d time %d\n", ao_launch_arm_time, ao_time()); break; } @@ -130,10 +140,10 @@ ao_launch(void) if (time_difference < 0) time_difference = -time_difference; if (time_difference > 10) { - printf ("time different too large %d\n", time_difference); + PRINTD ("time different too large %d\n", time_difference); break; } - printf ("ignite\n"); + PRINTD ("ignite\n"); ao_launch_ignite = 1; ao_wakeup(&ao_launch_ignite); break; |