{
__xdata char callsign[AO_MAX_CALLSIGN+1];
__xdata union {
- struct ao_telemetry_recv full;
+ struct ao_telemetry_raw_recv raw;
+ 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;
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 "
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 "
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;
} else {
printf("CRC INVALID RSSI %3d\n", rssi);
}
+ break;
+ default:
+ if (ao_monitoring > AO_MAX_TELEMETRY)
+ ao_monitoring = AO_MAX_TELEMETRY;
+ if (!ao_radio_recv(&recv_raw, ao_monitoring))
+ continue;
+ for (state = 0; state < ao_monitoring + 1; state++)
+ printf("%02x ", recv_raw.packet[state]);
+ printf("%02x\n", recv_raw.packet[state]);
+ break;
}
ao_usb_flush();
ao_led_toggle(ao_monitor_led);