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, double sensor_range)
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 * sensor_range;
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;
264 double pressure_sensor = 0.0;
267 switch (eeprom->log_format) {
268 case AO_LOG_FORMAT_TELEMEGA_OLD:
271 case AO_LOG_FORMAT_EASYMINI1:
274 if (eeprom->serial_number < 1000)
278 batt_r1 = sense_r1 = 100e3;
279 batt_r2 = sense_r2 = 27e3;
281 case AO_LOG_FORMAT_TELEMETRUM:
290 case AO_LOG_FORMAT_TELEMINI2:
293 case AO_LOG_FORMAT_TELEGPS:
296 case AO_LOG_FORMAT_TELEMEGA:
305 case AO_LOG_FORMAT_DETHERM:
308 case AO_LOG_FORMAT_TELEMINI3:
317 case AO_LOG_FORMAT_TELEFIRETWO:
319 pressure_sensor = 2500.0;
322 sense_r1 = batt_r1 = 5600;
323 sense_r2 = batt_r2 = 10000;
325 case AO_LOG_FORMAT_EASYMINI2:
329 batt_r1 = sense_r1 = 100e3;
330 batt_r2 = sense_r2 = 27e3;
332 case AO_LOG_FORMAT_TELEMEGA_3:
341 case AO_LOG_FORMAT_EASYMEGA_2:
350 case AO_LOG_FORMAT_TELESTATIC:
353 case AO_LOG_FORMAT_MICROPEAK2:
356 case AO_LOG_FORMAT_TELEMEGA_4:
357 case AO_LOG_FORMAT_TELEMEGA_5:
366 case AO_LOG_FORMAT_EASYMOTOR:
370 pressure_sensor = 1600.0;
380 fprintf(stderr, "Unknown eeprom format %d and no specified length\n",
385 printf("config major %d minor %d log format %d total %u len %d\n",
386 eeprom->config.major,
387 eeprom->config.minor,
393 for (pos = 0; pos < eeprom->len; pos += len) {
397 for (i = 0; i < len; i++)
398 printf(" %02x", eeprom->data[pos + i]);
400 struct ao_log_mega *log_mega;
401 struct ao_log_mini *log_mini;
402 struct ao_log_metrum *log_metrum;
403 struct ao_log_gps *log_gps;
404 struct ao_log_firetwo *log_firetwo;
405 struct ao_log_motor *log_motor;
407 if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
409 printf("\tchecksum error at %d\n", pos);
413 struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
415 if (first_tick == 0x7fffffffffffffffLL) {
416 current_tick = first_tick = log_header->tick;
418 int16_t diff = (int16_t) (log_header->tick - (uint16_t) current_tick);
420 current_tick += diff;
422 printf("type %c tick %5u %6.2f S", log_header->type, log_header->tick, (current_tick - first_tick) / 100.0);
424 switch (eeprom->log_format) {
425 case AO_LOG_FORMAT_TELEMEGA_OLD:
426 case AO_LOG_FORMAT_TELEMEGA:
427 case AO_LOG_FORMAT_TELEMEGA_3:
428 case AO_LOG_FORMAT_EASYMEGA_2:
429 case AO_LOG_FORMAT_TELEMEGA_4:
430 case AO_LOG_FORMAT_TELEMEGA_5:
431 log_mega = (struct ao_log_mega *) &eeprom->data[pos];
432 switch (log_mega->type) {
434 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u kPa %7.1f %7.1f m",
435 eeprom->serial_number,
436 log_mega->u.flight.flight,
437 log_mega->u.flight.ground_accel,
438 log_mega->u.flight.ground_pres,
439 log_mega->u.flight.ground_pres / 1000.0,
440 ao_pressure_to_altitude(log_mega->u.flight.ground_pres));
442 printf(" along %6d aross %6d through %6d",
443 log_mega->u.flight.ground_accel_along,
444 log_mega->u.flight.ground_accel_across,
445 log_mega->u.flight.ground_accel_through);
446 printf(" roll %6d pitch %6d yaw %6d",
447 log_mega->u.flight.ground_roll,
448 log_mega->u.flight.ground_pitch,
449 log_mega->u.flight.ground_yaw);
452 ao_state(log_mega->u.state.state,
453 log_mega->u.state.reason);
456 ao_ms5607(log_mega->u.sensor.pres,
457 log_mega->u.sensor.temp,
459 printf(" accel_x %6d accel_y %6d accel_z %6d",
460 log_mega->u.sensor.accel_x,
461 log_mega->u.sensor.accel_y,
462 log_mega->u.sensor.accel_z);
463 printf (" gyro_x %6d gyro_y %6d gyro_z %6d",
464 log_mega->u.sensor.gyro_x,
465 log_mega->u.sensor.gyro_y,
466 log_mega->u.sensor.gyro_z);
467 printf (" mag_x %6d mag_y %6d mag_z %6d",
468 log_mega->u.sensor.mag_x,
469 log_mega->u.sensor.mag_y,
470 log_mega->u.sensor.mag_z);
471 ao_accel(log_mega->u.sensor.accel, eeprom);
473 case AO_LOG_TEMP_VOLT:
475 log_mega->u.volt.v_batt,
480 log_mega->u.volt.v_pbatt,
484 printf(" n_sense %1d",
485 log_mega->u.volt.n_sense);
486 for (i = 0; i < log_mega->u.volt.n_sense; i++) {
488 sprintf(name, "sense%d", i);
490 log_mega->u.volt.sense[i],
495 printf(" pyro %04x", log_mega->u.volt.pyro);
497 case AO_LOG_GPS_TIME:
498 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
499 log_mega->u.gps.latitude / 10000000.0,
500 log_mega->u.gps.longitude/ 10000000.0,
501 (int32_t) (log_mega->u.gps.altitude_low |
502 (log_mega->u.gps.altitude_high << 16)));
503 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
504 log_mega->u.gps.hour,
505 log_mega->u.gps.minute,
506 log_mega->u.gps.second,
507 log_mega->u.gps.year + 2000,
508 log_mega->u.gps.month,
510 log_mega->u.gps.flags);
511 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
512 log_mega->u.gps.course,
513 log_mega->u.gps.ground_speed,
514 log_mega->u.gps.climb_rate,
515 log_mega->u.gps.pdop,
516 log_mega->u.gps.hdop,
517 log_mega->u.gps.vdop,
518 log_mega->u.gps.mode);
521 printf(" channels %2d",
522 log_mega->u.gps_sat.channels);
523 for (i = 0; i < 12; i++) {
524 printf(" svid %3d c_n %2d",
525 log_mega->u.gps_sat.sats[i].svid,
526 log_mega->u.gps_sat.sats[i].c_n);
531 case AO_LOG_FORMAT_EASYMINI1:
532 case AO_LOG_FORMAT_EASYMINI2:
533 case AO_LOG_FORMAT_TELEMINI2:
534 case AO_LOG_FORMAT_TELEMINI3:
535 log_mini = (struct ao_log_mini *) &eeprom->data[pos];
536 switch (log_mini->type) {
538 printf(" serial %5u flight %5u ground_pres %9u kPa %7.1f %7.1f m",
539 eeprom->serial_number,
540 log_mini->u.flight.flight,
541 log_mini->u.flight.ground_pres,
542 log_mini->u.flight.ground_pres / 1000.0,
543 ao_pressure_to_altitude(log_mini->u.flight.ground_pres));
546 ao_state(log_mini->u.state.state,
547 log_mini->u.state.reason);
550 ao_ms5607(int24(log_mini->u.sensor.pres, 0),
551 int24(log_mini->u.sensor.temp, 0),
554 log_mini->u.sensor.sense_a, max_adc,
555 adc_ref, sense_r1, sense_r2);
557 log_mini->u.sensor.sense_m, max_adc,
558 adc_ref, sense_r1, sense_r2);
560 log_mini->u.sensor.v_batt, max_adc,
561 adc_ref, batt_r1, batt_r2);
565 case AO_LOG_FORMAT_TELEMETRUM:
566 log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
567 switch (log_metrum->type) {
569 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u kPa %7.1f %7.1f m ground_temp %9u",
570 eeprom->serial_number,
571 log_metrum->u.flight.flight,
572 log_metrum->u.flight.ground_accel,
573 log_metrum->u.flight.ground_pres,
574 log_metrum->u.flight.ground_pres / 1000.0,
575 ao_pressure_to_altitude(log_metrum->u.flight.ground_pres),
576 log_metrum->u.flight.ground_temp);
579 ao_ms5607(log_metrum->u.sensor.pres,
580 log_metrum->u.sensor.temp,
582 ao_accel(log_metrum->u.sensor.accel, eeprom);
584 case AO_LOG_TEMP_VOLT:
586 log_metrum->u.volt.v_batt, max_adc,
587 adc_ref, batt_r1, batt_r2);
589 log_metrum->u.volt.sense_a, max_adc,
590 adc_ref, sense_r1, sense_r2);
592 log_metrum->u.volt.sense_m, max_adc,
593 adc_ref, sense_r1, sense_r2);
598 ao_state(log_metrum->u.state.state,
599 log_metrum->u.state.reason);
601 case AO_LOG_GPS_TIME:
602 printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x pdop %3u",
603 log_metrum->u.gps_time.hour,
604 log_metrum->u.gps_time.minute,
605 log_metrum->u.gps_time.second,
606 log_metrum->u.gps_time.year,
607 log_metrum->u.gps_time.month,
608 log_metrum->u.gps_time.day,
609 log_metrum->u.gps_time.flags,
610 log_metrum->u.gps_time.pdop);
613 printf(" channels %2d more %1d",
614 log_metrum->u.gps_sat.channels,
615 log_metrum->u.gps_sat.more);
616 for (i = 0; i < 4; i++) {
617 printf(" svid %3d c_n %2d",
618 log_metrum->u.gps_sat.sats[i].svid,
619 log_metrum->u.gps_sat.sats[i].c_n);
623 printf(" lat %10.7f° lon %10.7f° alt %8d m",
624 log_metrum->u.gps.latitude / 10000000.0,
625 log_metrum->u.gps.longitude/ 10000000.0,
626 (int32_t) (log_metrum->u.gps.altitude_low |
627 (log_metrum->u.gps.altitude_high << 16)));
633 case AO_LOG_FORMAT_TELEFIRETWO:
634 log_firetwo = (struct ao_log_firetwo *) &eeprom->data[pos];
635 switch (log_firetwo->type) {
637 printf(" serial %5u flight %5u",
638 eeprom->serial_number,
639 log_firetwo->u.flight.flight);
642 ao_state(log_firetwo->u.state.state,
643 log_firetwo->u.state.reason);
646 ao_pressure(log_firetwo->u.sensor.pressure,
650 ao_thrust(log_firetwo->u.sensor.thrust,
653 for (i = 0; i < 4; i++) {
655 sprintf(name, "thermistor%d", i);
657 log_firetwo->u.sensor.thermistor[i],
664 case AO_LOG_FORMAT_TELEGPS:
665 log_gps = (struct ao_log_gps *) &eeprom->data[pos];
666 switch (log_gps->type) {
667 case AO_LOG_GPS_TIME:
668 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
669 log_gps->u.gps.latitude / 10000000.0,
670 log_gps->u.gps.longitude/ 10000000.0,
671 (int32_t) (log_gps->u.gps.altitude_low |
672 (log_gps->u.gps.altitude_high << 16)));
673 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
675 log_gps->u.gps.minute,
676 log_gps->u.gps.second,
677 log_gps->u.gps.year + 2000,
678 log_gps->u.gps.month,
680 log_gps->u.gps.flags);
681 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
682 log_gps->u.gps.course,
683 log_gps->u.gps.ground_speed,
684 log_gps->u.gps.climb_rate,
688 log_gps->u.gps.mode);
691 printf(" channels %2d",
692 log_gps->u.gps_sat.channels);
693 for (i = 0; i < 12; i++) {
694 printf(" svid %3d c_n %2d",
695 log_gps->u.gps_sat.sats[i].svid,
696 log_gps->u.gps_sat.sats[i].c_n);
704 case AO_LOG_FORMAT_EASYMOTOR:
705 log_motor = (struct ao_log_motor *) &eeprom->data[pos];
706 switch (log_motor->type) {
708 printf(" serial %5u flight %5u ground_accel %6d",
709 eeprom->serial_number,
710 log_motor->u.flight.flight,
711 log_motor->u.flight.ground_accel);
712 printf(" along %6d aross %6d through %6d",
713 log_motor->u.flight.ground_accel_along,
714 log_motor->u.flight.ground_accel_across,
715 log_motor->u.flight.ground_accel_through);
716 ao_volts("ground pressure",
717 log_motor->u.flight.ground_motor_pressure,
722 ao_state(log_motor->u.state.state,
723 log_motor->u.state.reason);
727 log_motor->u.sensor.pressure,
731 log_motor->u.sensor.v_batt,
733 adc_ref, batt_r1, batt_r2);
735 log_motor->u.sensor.accel);
736 printf(" along %6d aross %6d through %6d",
737 log_motor->u.sensor.accel_along,
738 log_motor->u.sensor.accel_across,
739 log_motor->u.sensor.accel_through);
743 case AO_LOG_FORMAT_DETHERM: