diff options
Diffstat (limited to 'src/ao_monitor.c')
| -rw-r--r-- | src/ao_monitor.c | 66 |
1 files changed, 35 insertions, 31 deletions
diff --git a/src/ao_monitor.c b/src/ao_monitor.c index 8f290071..248857de 100644 --- a/src/ao_monitor.c +++ b/src/ao_monitor.c @@ -26,11 +26,12 @@ ao_monitor(void) { __xdata char callsign[AO_MAX_CALLSIGN+1]; __xdata union { - struct ao_telemetry_recv full; + struct ao_telemetry_orig_recv orig; struct ao_telemetry_tiny_recv tiny; } u; -#define recv (u.full) +#define recv_raw (u.raw) +#define recv_orig (u.orig) #define recv_tiny (u.tiny) uint8_t state; @@ -39,18 +40,19 @@ ao_monitor(void) for (;;) { __critical while (!ao_monitoring) ao_sleep(&ao_monitoring); - if (ao_monitoring == AO_MONITORING_FULL) { - if (!ao_radio_recv(&recv, sizeof (struct ao_telemetry_recv))) + switch (ao_monitoring) { + case AO_MONITORING_ORIG: + if (!ao_radio_recv(&recv_orig, sizeof (struct ao_telemetry_orig_recv))) continue; - state = recv.telemetry.flight_state; + state = recv_orig.telemetry_orig.flight_state; /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */ - rssi = (int16_t) (recv.rssi >> 1) - 74; - memcpy(callsign, recv.telemetry.callsign, AO_MAX_CALLSIGN); + rssi = (int16_t) (recv_orig.rssi >> 1) - 74; + memcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN); if (state > ao_flight_invalid) state = ao_flight_invalid; - if (recv.status & PKT_APPEND_STATUS_1_CRC_OK) { + if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) { /* General header fields */ printf(AO_TELEM_VERSION " %d " @@ -62,11 +64,11 @@ ao_monitor(void) AO_TELEM_TICK " %d ", AO_TELEMETRY_VERSION, callsign, - recv.telemetry.serial, - recv.telemetry.flight, + recv_orig.telemetry_orig.serial, + recv_orig.telemetry_orig.flight, rssi, ao_state_names[state], - recv.telemetry.adc.tick); + recv_orig.telemetry_orig.adc.tick); /* Raw sensor values */ printf(AO_TELEM_RAW_ACCEL " %d " @@ -75,48 +77,49 @@ ao_monitor(void) AO_TELEM_RAW_BATT " %d " AO_TELEM_RAW_DROGUE " %d " AO_TELEM_RAW_MAIN " %d ", - recv.telemetry.adc.accel, - recv.telemetry.adc.pres, - recv.telemetry.adc.temp, - recv.telemetry.adc.v_batt, - recv.telemetry.adc.sense_d, - recv.telemetry.adc.sense_m); + recv_orig.telemetry_orig.adc.accel, + recv_orig.telemetry_orig.adc.pres, + recv_orig.telemetry_orig.adc.temp, + recv_orig.telemetry_orig.adc.v_batt, + recv_orig.telemetry_orig.adc.sense_d, + recv_orig.telemetry_orig.adc.sense_m); /* Sensor calibration values */ printf(AO_TELEM_CAL_ACCEL_GROUND " %d " AO_TELEM_CAL_BARO_GROUND " %d " AO_TELEM_CAL_ACCEL_PLUS " %d " AO_TELEM_CAL_ACCEL_MINUS " %d ", - recv.telemetry.ground_accel, - recv.telemetry.ground_pres, - recv.telemetry.accel_plus_g, - recv.telemetry.accel_minus_g); + recv_orig.telemetry_orig.ground_accel, + recv_orig.telemetry_orig.ground_pres, + recv_orig.telemetry_orig.accel_plus_g, + recv_orig.telemetry_orig.accel_minus_g); - if (recv.telemetry.u.k.unused == 0x8000) { + if (recv_orig.telemetry_orig.u.k.unused == 0x8000) { /* Kalman state values */ printf(AO_TELEM_KALMAN_HEIGHT " %d " AO_TELEM_KALMAN_SPEED " %d " AO_TELEM_KALMAN_ACCEL " %d ", - recv.telemetry.height, - recv.telemetry.u.k.speed, - recv.telemetry.accel); + recv_orig.telemetry_orig.height, + recv_orig.telemetry_orig.u.k.speed, + recv_orig.telemetry_orig.accel); } else { /* Ad-hoc flight values */ printf(AO_TELEM_ADHOC_ACCEL " %d " AO_TELEM_ADHOC_SPEED " %ld " AO_TELEM_ADHOC_BARO " %d ", - recv.telemetry.accel, - recv.telemetry.u.flight_vel, - recv.telemetry.height); + recv_orig.telemetry_orig.accel, + recv_orig.telemetry_orig.u.flight_vel, + recv_orig.telemetry_orig.height); } - ao_gps_print(&recv.telemetry.gps); - ao_gps_tracking_print(&recv.telemetry.gps_tracking); + ao_gps_print(&recv_orig.telemetry_orig.gps); + ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking); putchar('\n'); ao_rssi_set(rssi); } else { printf("CRC INVALID RSSI %3d\n", rssi); } - } else { + break; + case AO_MONITORING_TINY: if (!ao_radio_recv(&recv_tiny, sizeof (struct ao_telemetry_tiny_recv))) continue; @@ -181,6 +184,7 @@ ao_monitor(void) } else { printf("CRC INVALID RSSI %3d\n", rssi); } + break; } ao_usb_flush(); ao_led_toggle(ao_monitor_led); |