Switch from GPLv2 to GPLv2+

[fw/altos] / ao-tools / ao-telem / ao-telem.c

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index 384b2fc835253950678898e05a76ff703edfee39..aa54a1b9a4ffe5b0a1906ff211e659197118d463 100644 (file)
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -24,6 +25,7 @@
 #include "cc.h"
 
 static const struct option options[] = {
+       { .name = "crc", .has_arg = 0, .val = 'c' },
        { 0, 0, 0, 0},
 };
 
@@ -44,8 +46,12 @@ main (int argc, char **argv)
        char *s;
        FILE *file;
        int serial;
-       while ((c = getopt_long(argc, argv, "", options, NULL)) != -1) {
+       int ignore_crc = 0;
+       while ((c = getopt_long(argc, argv, "c", options, NULL)) != -1) {
                switch (c) {
+               case 'c':
+                       ignore_crc = 1;
+                       break;
                default:
                        usage(argv[0]);
                        break;
@@ -74,7 +80,7 @@ main (int argc, char **argv)
                                printf ("serial %5d rssi %d status %02x tick %5d type %3d ",
                                        telem.generic.serial, rssi, telem.generic.status,
                                        telem.generic.tick, telem.generic.type);
-                               if ((telem.generic.status & (1 << 7)) == 0) {
+                               if (!ignore_crc && (telem.generic.status & (1 << 7)) == 0) {
                                        printf ("CRC error\n");
                                        continue;
                                }
@@ -82,7 +88,6 @@ main (int argc, char **argv)
                                case AO_TELEMETRY_SENSOR_TELEMETRUM:
                                case AO_TELEMETRY_SENSOR_TELEMINI:
                                case AO_TELEMETRY_SENSOR_TELENANO:
-                               case AO_TELEMETRY_SENSOR_MEGAMETRUM:
                                        printf ("state %1d accel %5d pres %5d ",
                                                telem.sensor.state, telem.sensor.accel, telem.sensor.pres);
                                        printf ("accel %6.2f speed %6.2f height %5d ",
@@ -153,6 +158,86 @@ main (int argc, char **argv)
                                        }
                                        printf ("\n");
                                        break;
+                               case AO_TELEMETRY_MEGA_SENSOR:
+                                       printf ("orient %3d accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
+                                               telem.mega_sensor.orient,
+                                               telem.mega_sensor.accel,
+                                               telem.mega_sensor.pres,
+                                               telem.mega_sensor.temp,
+                                               telem.mega_sensor.accel_x,
+                                               telem.mega_sensor.accel_y,
+                                               telem.mega_sensor.accel_z,
+                                               telem.mega_sensor.gyro_x,
+                                               telem.mega_sensor.gyro_y,
+                                               telem.mega_sensor.gyro_z,
+                                               telem.mega_sensor.mag_x,
+                                               telem.mega_sensor.mag_y,
+                                               telem.mega_sensor.mag_z);
+                                       break;
+                               case AO_TELEMETRY_COMPANION:
+                                       printf("board_id %3d update_period %3d channels %2d",
+                                              telem.companion.board_id,
+                                              telem.companion.update_period,
+                                              telem.companion.channels);
+                                       for (c = 0; c < telem.companion.channels; c++)
+                                               printf(" %6d", telem.companion.companion_data[c]);
+                                       printf("\n");
+                                       break;
+                               case AO_TELEMETRY_MEGA_DATA:
+                                       printf ("state %1d v_batt %5d v_pyro %5d ",
+                                               telem.mega_data.state,
+                                               telem.mega_data.v_batt,
+                                               telem.mega_data.v_pyro);
+                                       for (c = 0; c < 6; c++)
+                                               printf ("s%1d %5d ", c,
+                                                       telem.mega_data.sense[c] |
+                                                       (telem.mega_data.sense[c] << 8));
+
+                                       printf ("ground_pres %5d ground_accel %5d accel_plus %5d accel_minus %5d ",
+                                               telem.mega_data.ground_pres,
+                                               telem.mega_data.ground_accel,
+                                               telem.mega_data.accel_plus_g,
+                                               telem.mega_data.accel_minus_g);
+
+                                       printf ("accel %6.2f speed %6.2f height %5d\n",
+                                               telem.mega_data.acceleration / 16.0,
+                                               telem.mega_data.speed / 16.0,
+                                               telem.mega_data.height);
+
+                                       break;
+                               case AO_TELEMETRY_METRUM_SENSOR:
+                                       printf ("state %1d accel %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d v_batt %5d sense_a %5d sense_m %5d\n",
+                                               telem.metrum_sensor.state,
+                                               telem.metrum_sensor.accel,
+                                               telem.metrum_sensor.pres,
+                                               telem.metrum_sensor.temp / 100.0,
+                                               telem.metrum_sensor.acceleration / 16.0,
+                                               telem.metrum_sensor.speed / 16.0,
+                                               telem.metrum_sensor.height,
+                                               telem.metrum_sensor.v_batt,
+                                               telem.metrum_sensor.sense_a,
+                                               telem.metrum_sensor.sense_m);
+                                       break;
+                               case AO_TELEMETRY_METRUM_DATA:
+                                       printf ("ground_pres %9d ground_accel %5d accel_plus %5d accel_minus %5d\n",
+                                               telem.metrum_data.ground_pres,
+                                               telem.metrum_data.ground_accel,
+                                               telem.metrum_data.accel_plus_g,
+                                               telem.metrum_data.accel_minus_g);
+                                       break;
+                               case AO_TELEMETRY_MINI:
+                                       printf ("state %1d v_batt %5d sense_a %5d sense_m %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d ground_pres %9d\n",
+                                               telem.mini.state,
+                                               telem.mini.v_batt,
+                                               telem.mini.sense_a,
+                                               telem.mini.sense_m,
+                                               telem.mini.pres,
+                                               telem.mini.temp / 100.0,
+                                               telem.mini.acceleration / 16.0,
+                                               telem.mini.speed / 16.0,
+                                               telem.mini.height,
+                                               telem.mini.ground_pres);
+                                       break;
                                default:
                                        printf("\n");
                                }