2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
24 #include <ao-eeprom-read.h>
25 #include <ao-atmosphere.h>
27 static const struct option options[] = {
28 { .name = "raw", .has_arg = 0, .val = 'r' },
29 { .name = "csum", .has_arg = 0, .val = 'c' },
30 { .name = "verbose", .has_arg = 0, .val = 'v' },
31 { .name = "len", .has_arg = 1, .val = 'l' },
35 static void usage(char *program)
37 fprintf(stderr, "usage: %s [--raw] [--csum] [--verbose] [--len <record-len>] {flight.eeprom} ...\n", program);
42 ao_csum_valid(uint8_t *d, int len)
46 for (i = 0; i < len; i++)
52 ao_ms5607(uint32_t pres, uint32_t temp, struct ao_eeprom *eeprom, bool is_ms5611)
54 struct ao_ms5607_sample ms5607_sample = { .pres = pres, .temp = temp };
55 struct ao_ms5607_value ms5607_value;
57 ao_ms5607_convert(&ms5607_sample, &ms5607_value,
58 &eeprom->ms5607_prom, is_ms5611);
59 printf(" pres %9u %7.3f kPa %7.1f m temp %9u %6.2f °C",
61 ms5607_value.pres / 1000.0,
62 ao_pressure_to_altitude(ms5607_value.pres),
64 ms5607_value.temp / 100.0);
67 #define GRAVITY 9.80665
70 ao_accel(int16_t accel, struct ao_eeprom *eeprom)
72 double accel_2g = eeprom->config.accel_minus_g - eeprom->config.accel_plus_g;
73 double accel_scale = GRAVITY * 2.0 / accel_2g;
74 printf(" accel %6d %7.2f m/s²",
75 accel, (eeprom->config.accel_plus_g - accel) * accel_scale);
78 static const char *state_names[] = {
91 #define NUM_STATE (sizeof state_names/sizeof state_names[0])
94 ao_state_name(uint16_t state)
96 if (state < NUM_STATE)
97 return state_names[state];
102 ao_state(uint16_t state, uint16_t reason)
104 printf(" state %5u %s reason %5u",
105 state, ao_state_name(state), reason);
109 ao_adc_to_volts(int16_t value, int16_t max_adc, double ref, double r1, double r2)
111 return ref * ((double) value / max_adc) * (r1 + r2) / r2;
115 ao_volts(const char *name, int16_t value, int16_t max_adc, double ref, double r1, double r2)
120 printf(" %6.3f V", ao_adc_to_volts(value, max_adc, ref, r1, r2));
123 static double lb_to_n(double lb)
125 return lb / 0.22480894;
128 static double psi_to_pa(double psi)
130 return psi * 6894.76;
134 ao_volts_to_newtons(double volts)
136 /* this is a total guess */
137 return lb_to_n(volts * 57.88645 * GRAVITY);
141 ao_thrust(int16_t value, int16_t max_adc, double ref, double r1, double r2)
143 printf(" thrust %5d", value);
144 if (r1 && r2 && ref) {
145 double volts = ao_adc_to_volts(value, max_adc, ref, r1, r2);
146 printf(" %6.3f V %8.1f N", volts, ao_volts_to_newtons(volts));
151 ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2)
153 printf(" pressure %5d", value);
154 if (r1 && r2 && ref) {
155 double volts = ao_adc_to_volts(value, max_adc, ref, r1, r2);
156 if (volts < 0.5) volts = 0.5;
157 if (volts > 4.5) volts = 4.5;
159 double psi = (volts - 0.5) / 4.0 * 2500.0;
160 double pa = psi_to_pa(psi);
161 printf(" %9.3f kPa", pa / 1000.0);
167 uint16(uint8_t *bytes, int off)
169 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
173 int16(uint8_t *bytes, int off)
175 return (int16_t) uint16(bytes, off);
179 uint32(uint8_t *bytes, int off)
181 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
182 (((uint32_t) bytes[off+2]) << 16) |
183 (((uint32_t) bytes[off+3]) << 24);
187 int32(uint8_t *bytes, int off)
189 return (int32_t) uint32(bytes, off);
194 uint24(uint8_t *bytes, int off)
196 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
197 (((uint32_t) bytes[off+2]) << 16);
201 int24(uint8_t *bytes, int off)
203 return (int32_t) uint24(bytes, off);
207 main (int argc, char **argv)
209 struct ao_eeprom *eeprom;
214 bool verbose = false;
220 while ((c = getopt_long(argc, argv, "rcvl:", options, NULL)) != -1) {
232 arg_len = strtol(optarg, &end, 0);
233 if (!*optarg || *end)
241 for (i = optind; i < argc; i++) {
242 file = fopen(argv[i], "r");
248 eeprom = ao_eeprom_read(file);
256 bool is_ms5611 = false;
258 int64_t current_tick = 0;
259 int64_t first_tick = 0x7fffffffffffffffLL;
261 double sense_r1 = 0.0, sense_r2 = 0.0;
262 double batt_r1 = 0.0, batt_r2 = 0.0;
263 double adc_ref = 0.0;
266 switch (eeprom->log_format) {
267 case AO_LOG_FORMAT_TELEMEGA_OLD:
270 case AO_LOG_FORMAT_EASYMINI1:
273 if (eeprom->serial_number < 1000)
277 batt_r1 = sense_r1 = 100e3;
278 batt_r2 = sense_r2 = 27e3;
280 case AO_LOG_FORMAT_TELEMETRUM:
289 case AO_LOG_FORMAT_TELEMINI2:
292 case AO_LOG_FORMAT_TELEGPS:
295 case AO_LOG_FORMAT_TELEMEGA:
304 case AO_LOG_FORMAT_DETHERM:
307 case AO_LOG_FORMAT_TELEMINI3:
316 case AO_LOG_FORMAT_TELEFIRETWO:
320 sense_r1 = batt_r1 = 5600;
321 sense_r2 = batt_r2 = 10000;
323 case AO_LOG_FORMAT_EASYMINI2:
327 batt_r1 = sense_r1 = 100e3;
328 batt_r2 = sense_r2 = 27e3;
330 case AO_LOG_FORMAT_TELEMEGA_3:
339 case AO_LOG_FORMAT_EASYMEGA_2:
348 case AO_LOG_FORMAT_TELESTATIC:
351 case AO_LOG_FORMAT_MICROPEAK2:
354 case AO_LOG_FORMAT_TELEMEGA_4:
368 printf("config major %d minor %d log format %d total %u len %d\n",
369 eeprom->config.major,
370 eeprom->config.minor,
376 for (pos = 0; pos < eeprom->len; pos += len) {
380 for (i = 0; i < len; i++)
381 printf(" %02x", eeprom->data[pos + i]);
383 struct ao_log_mega *log_mega;
384 struct ao_log_mini *log_mini;
385 struct ao_log_metrum *log_metrum;
386 struct ao_log_gps *log_gps;
387 struct ao_log_firetwo *log_firetwo;
389 if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
391 printf("\tchecksum error at %d\n", pos);
395 struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
397 if (first_tick == 0x7fffffffffffffffLL) {
398 current_tick = first_tick = log_header->tick;
400 int16_t diff = (int16_t) (log_header->tick - (uint16_t) current_tick);
402 current_tick += diff;
404 printf("type %c tick %5u %6.2f S", log_header->type, log_header->tick, (current_tick - first_tick) / 100.0);
406 switch (eeprom->log_format) {
407 case AO_LOG_FORMAT_TELEMEGA_OLD:
408 case AO_LOG_FORMAT_TELEMEGA:
409 case AO_LOG_FORMAT_TELEMEGA_3:
410 case AO_LOG_FORMAT_EASYMEGA_2:
411 case AO_LOG_FORMAT_TELEMEGA_4:
412 log_mega = (struct ao_log_mega *) &eeprom->data[pos];
413 switch (log_mega->type) {
415 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u",
416 eeprom->serial_number,
417 log_mega->u.flight.flight,
418 log_mega->u.flight.ground_accel,
419 log_mega->u.flight.ground_pres);
420 printf(" along %6d aross %6d through %6d",
421 log_mega->u.flight.ground_accel_along,
422 log_mega->u.flight.ground_accel_across,
423 log_mega->u.flight.ground_accel_through);
424 printf(" roll %6d pitch %6d yaw %6d",
425 log_mega->u.flight.ground_roll,
426 log_mega->u.flight.ground_pitch,
427 log_mega->u.flight.ground_yaw);
430 ao_state(log_mega->u.state.state,
431 log_mega->u.state.reason);
434 ao_ms5607(log_mega->u.sensor.pres,
435 log_mega->u.sensor.temp,
437 printf(" accel_x %6d accel_y %6d accel_z %6d",
438 log_mega->u.sensor.accel_x,
439 log_mega->u.sensor.accel_y,
440 log_mega->u.sensor.accel_z);
441 printf (" gyro_x %6d gyro_y %6d gyro_z %6d",
442 log_mega->u.sensor.gyro_x,
443 log_mega->u.sensor.gyro_y,
444 log_mega->u.sensor.gyro_z);
445 printf (" mag_x %6d mag_y %6d mag_z %6d",
446 log_mega->u.sensor.mag_x,
447 log_mega->u.sensor.mag_y,
448 log_mega->u.sensor.mag_z);
449 ao_accel(log_mega->u.sensor.accel, eeprom);
451 case AO_LOG_TEMP_VOLT:
453 log_mega->u.volt.v_batt,
458 log_mega->u.volt.v_pbatt,
462 printf(" n_sense %1d",
463 log_mega->u.volt.n_sense);
464 for (i = 0; i < log_mega->u.volt.n_sense; i++) {
466 sprintf(name, "sense%d", i);
468 log_mega->u.volt.sense[i],
473 printf(" pyro %04x", log_mega->u.volt.pyro);
475 case AO_LOG_GPS_TIME:
476 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
477 log_mega->u.gps.latitude / 10000000.0,
478 log_mega->u.gps.longitude/ 10000000.0,
479 (int32_t) (log_mega->u.gps.altitude_low |
480 (log_mega->u.gps.altitude_high << 16)));
481 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
482 log_mega->u.gps.hour,
483 log_mega->u.gps.minute,
484 log_mega->u.gps.second,
485 log_mega->u.gps.year + 2000,
486 log_mega->u.gps.month,
488 log_mega->u.gps.flags);
489 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
490 log_mega->u.gps.course,
491 log_mega->u.gps.ground_speed,
492 log_mega->u.gps.climb_rate,
493 log_mega->u.gps.pdop,
494 log_mega->u.gps.hdop,
495 log_mega->u.gps.vdop,
496 log_mega->u.gps.mode);
499 printf(" channels %2d",
500 log_mega->u.gps_sat.channels);
501 for (i = 0; i < 12; i++) {
502 printf(" svid %3d c_n %2d",
503 log_mega->u.gps_sat.sats[i].svid,
504 log_mega->u.gps_sat.sats[i].c_n);
509 case AO_LOG_FORMAT_EASYMINI1:
510 case AO_LOG_FORMAT_EASYMINI2:
511 case AO_LOG_FORMAT_TELEMINI2:
512 case AO_LOG_FORMAT_TELEMINI3:
513 log_mini = (struct ao_log_mini *) &eeprom->data[pos];
514 switch (log_mini->type) {
516 printf(" serial %5u flight %5u ground_pres %9u",
517 eeprom->serial_number,
518 log_mini->u.flight.flight,
519 log_mini->u.flight.ground_pres);
522 ao_state(log_mini->u.state.state,
523 log_mini->u.state.reason);
526 ao_ms5607(int24(log_mini->u.sensor.pres, 0),
527 int24(log_mini->u.sensor.temp, 0),
530 log_mini->u.sensor.sense_a, max_adc,
531 adc_ref, sense_r1, sense_r2);
533 log_mini->u.sensor.sense_m, max_adc,
534 adc_ref, sense_r1, sense_r2);
536 log_mini->u.sensor.v_batt, max_adc,
537 adc_ref, batt_r1, batt_r2);
541 case AO_LOG_FORMAT_TELEMETRUM:
542 log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
543 switch (log_metrum->type) {
545 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u ground_temp %9u",
546 eeprom->serial_number,
547 log_metrum->u.flight.flight,
548 log_metrum->u.flight.ground_accel,
549 log_metrum->u.flight.ground_pres,
550 log_metrum->u.flight.ground_temp);
553 ao_ms5607(log_metrum->u.sensor.pres,
554 log_metrum->u.sensor.temp,
556 ao_accel(log_metrum->u.sensor.accel, eeprom);
558 case AO_LOG_TEMP_VOLT:
560 log_metrum->u.volt.v_batt, max_adc,
561 adc_ref, batt_r1, batt_r2);
563 log_metrum->u.volt.sense_a, max_adc,
564 adc_ref, sense_r1, sense_r2);
566 log_metrum->u.volt.sense_m, max_adc,
567 adc_ref, sense_r1, sense_r2);
572 ao_state(log_metrum->u.state.state,
573 log_metrum->u.state.reason);
575 case AO_LOG_GPS_TIME:
576 printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x pdop %3u",
577 log_metrum->u.gps_time.hour,
578 log_metrum->u.gps_time.minute,
579 log_metrum->u.gps_time.second,
580 log_metrum->u.gps_time.year,
581 log_metrum->u.gps_time.month,
582 log_metrum->u.gps_time.day,
583 log_metrum->u.gps_time.flags,
584 log_metrum->u.gps_time.pdop);
587 printf(" channels %2d more %1d",
588 log_metrum->u.gps_sat.channels,
589 log_metrum->u.gps_sat.more);
590 for (i = 0; i < 4; i++) {
591 printf(" svid %3d c_n %2d",
592 log_metrum->u.gps_sat.sats[i].svid,
593 log_metrum->u.gps_sat.sats[i].c_n);
597 printf(" lat %10.7f° lon %10.7f° alt %8d m",
598 log_metrum->u.gps.latitude / 10000000.0,
599 log_metrum->u.gps.longitude/ 10000000.0,
600 (int32_t) (log_metrum->u.gps.altitude_low |
601 (log_metrum->u.gps.altitude_high << 16)));
607 case AO_LOG_FORMAT_TELEFIRETWO:
608 log_firetwo = (struct ao_log_firetwo *) &eeprom->data[pos];
609 switch (log_firetwo->type) {
611 printf(" serial %5u flight %5u",
612 eeprom->serial_number,
613 log_firetwo->u.flight.flight);
616 ao_state(log_firetwo->u.state.state,
617 log_firetwo->u.state.reason);
620 ao_pressure(log_firetwo->u.sensor.pressure,
623 ao_thrust(log_firetwo->u.sensor.thrust,
626 for (i = 0; i < 4; i++) {
628 sprintf(name, "thermistor%d", i);
630 log_firetwo->u.sensor.thermistor[i],
637 case AO_LOG_FORMAT_TELEGPS:
638 log_gps = (struct ao_log_gps *) &eeprom->data[pos];
639 switch (log_gps->type) {
640 case AO_LOG_GPS_TIME:
641 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
642 log_gps->u.gps.latitude / 10000000.0,
643 log_gps->u.gps.longitude/ 10000000.0,
644 (int32_t) (log_gps->u.gps.altitude_low |
645 (log_gps->u.gps.altitude_high << 16)));
646 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
648 log_gps->u.gps.minute,
649 log_gps->u.gps.second,
650 log_gps->u.gps.year + 2000,
651 log_gps->u.gps.month,
653 log_gps->u.gps.flags);
654 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
655 log_gps->u.gps.course,
656 log_gps->u.gps.ground_speed,
657 log_gps->u.gps.climb_rate,
661 log_gps->u.gps.mode);
664 printf(" channels %2d",
665 log_gps->u.gps_sat.channels);
666 for (i = 0; i < 12; i++) {
667 printf(" svid %3d c_n %2d",
668 log_gps->u.gps_sat.sats[i].svid,
669 log_gps->u.gps_sat.sats[i].c_n);
677 case AO_LOG_FORMAT_DETHERM: