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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 #include <stdio.h>
  20 #include <stdlib.h>
  21 #include <stdbool.h>
  22 #include <unistd.h>
  23 #include <getopt.h>
  24 #include <ao-eeprom-read.h>
  25 #include <ao-atmosphere.h>
  26
  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' },
  32         { 0, 0, 0, 0},
  33 };
  34
  35 static void usage(char *program)
  36 {
  37         fprintf(stderr, "usage: %s [--raw] [--csum] [--verbose] [--len <record-len>] {flight.eeprom} ...\n", program);
  38         exit(1);
  39 }
  40
  41 static bool
  42 ao_csum_valid(uint8_t *d, int len)
  43 {
  44         uint8_t sum = 0x5a;
  45         int i;
  46         for (i = 0; i < len; i++)
  47                 sum += d[i];
  48         return sum == 0;
  49 }
  50
  51 static void
  52 ao_ms5607(uint32_t pres, uint32_t temp, struct ao_eeprom *eeprom, bool is_ms5611)
  53 {
  54         struct ao_ms5607_sample ms5607_sample = { .pres = pres, .temp = temp };
  55         struct ao_ms5607_value ms5607_value;
  56
  57         ao_ms5607_convert(&ms5607_sample, &ms5607_value,
  58                           &eeprom->ms5607_prom, is_ms5611);
  59         printf(" pres %9u temp %9u (%7.3f kPa %6.2f°C %7.1f m)",
  60                pres,
  61                temp,
  62                ms5607_value.pres / 1000.0,
  63                ms5607_value.temp / 100.0,
  64                ao_pressure_to_altitude(ms5607_value.pres));
  65 }
  66
  67 #define GRAVITY 9.80665
  68
  69 static void
  70 ao_accel(int16_t accel, struct ao_eeprom *eeprom)
  71 {
  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);
  76 }
  77
  78 static const char *state_names[] = {
  79         "startup",
  80         "idle",
  81         "pad",
  82         "boost",
  83         "fast",
  84         "coast",
  85         "drogue",
  86         "main",
  87         "landed",
  88         "invalid"
  89 };
  90
  91 #define NUM_STATE       (sizeof state_names/sizeof state_names[0])
  92
  93 static const char *
  94 ao_state_name(uint16_t state)
  95 {
  96         if (state < NUM_STATE)
  97                 return state_names[state];
  98         return "UNKNOWN";
  99 }
 100
 101 static void
 102 ao_state(uint16_t state, uint16_t reason)
 103 {
 104         printf(" state %5u %s reason %5u",
 105                state, ao_state_name(state), reason);
 106 }
 107
 108 static void
 109 ao_volts(const char *name, int16_t value, int16_t max_adc, double ref, double r1, double r2)
 110 {
 111         printf(" %s %5d",
 112                name, value);
 113         if (r1 && r2 && ref)
 114                printf("(%6.3f V)",
 115                       ref * ((double) value / max_adc) * (r1 + r2) / r2);
 116 }
 117
 118 #if 0
 119 static uint16_t
 120 uint16(uint8_t *bytes, int off)
 121 {
 122         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 123 }
 124
 125 static int16_t
 126 int16(uint8_t *bytes, int off)
 127 {
 128         return (int16_t) uint16(bytes, off);
 129 }
 130
 131 static uint32_t
 132 uint32(uint8_t *bytes, int off)
 133 {
 134         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 135                 (((uint32_t) bytes[off+2]) << 16) |
 136                 (((uint32_t) bytes[off+3]) << 24);
 137 }
 138
 139 static int32_t
 140 int32(uint8_t *bytes, int off)
 141 {
 142         return (int32_t) uint32(bytes, off);
 143 }
 144 #endif
 145
 146 static uint32_t
 147 uint24(uint8_t *bytes, int off)
 148 {
 149         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 150                 (((uint32_t) bytes[off+2]) << 16);
 151 }
 152
 153 static int32_t
 154 int24(uint8_t *bytes, int off)
 155 {
 156         return (int32_t) uint24(bytes, off);
 157 }
 158
 159 int
 160 main (int argc, char **argv)
 161 {
 162         struct ao_eeprom        *eeprom;
 163         FILE                    *file;
 164         int                     c;
 165         bool                    raw = false;
 166         bool                    csum = false;
 167         bool                    verbose = false;
 168         int                     arg_len = 0;
 169         char                    *end;
 170         int                     ret = 0;
 171         int                     i;
 172
 173         while ((c = getopt_long(argc, argv, "rcvl:", options, NULL)) != -1) {
 174                 switch (c) {
 175                 case 'r':
 176                         raw = true;
 177                         break;
 178                 case 'c':
 179                         csum = true;
 180                         break;
 181                 case 'v':
 182                         verbose = true;
 183                         break;
 184                 case 'l':
 185                         arg_len = strtol(optarg, &end, 0);
 186                         if (!*optarg || *end)
 187                                 usage(argv[0]);
 188                         break;
 189                 default:
 190                         usage(argv[0]);
 191                         break;
 192                 }
 193         }
 194         for (i = optind; i < argc; i++) {
 195                 file = fopen(argv[i], "r");
 196                 if (!file) {
 197                         perror(argv[i]);
 198                         ret++;
 199                         continue;
 200                 }
 201                 eeprom = ao_eeprom_read(file);
 202                 fclose(file);
 203                 if (!eeprom) {
 204                         perror(argv[i]);
 205                         ret++;
 206                         continue;
 207                 }
 208                 int     len = 0;
 209                 bool    is_ms5611 = false;
 210
 211                 double  sense_r1 = 0.0, sense_r2 = 0.0;
 212                 double  batt_r1 = 0.0, batt_r2 = 0.0;
 213                 double  adc_ref = 0.0;
 214                 int16_t max_adc = 0;
 215
 216                 switch (eeprom->log_format) {
 217                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 218                         len = 32;
 219                         break;
 220                 case AO_LOG_FORMAT_EASYMINI1:
 221                         len = 16;
 222                         max_adc = 32767;
 223                         if (eeprom->serial_number < 1000)
 224                                 adc_ref = 3.0;
 225                         else
 226                                 adc_ref = 3.3;
 227                         batt_r1 = sense_r1 = 100e3;
 228                         batt_r2 = sense_r2 = 27e3;
 229                         break;
 230                 case AO_LOG_FORMAT_TELEMETRUM:
 231                         len = 16;
 232                         max_adc = 4095;
 233                         adc_ref = 3.3;
 234                         batt_r1 = 5600;
 235                         batt_r2 = 10000;
 236                         sense_r1 = 100e3;
 237                         sense_r2 = 27e3;
 238                         break;
 239                 case AO_LOG_FORMAT_TELEMINI2:
 240                         len = 16;
 241                         break;
 242                 case AO_LOG_FORMAT_TELEGPS:
 243                         len = 32;
 244                         break;
 245                 case AO_LOG_FORMAT_TELEMEGA:
 246                         len = 32;
 247                         max_adc = 4095;
 248                         adc_ref = 3.3;
 249                         batt_r1 = 5600;
 250                         batt_r2 = 10000;
 251                         sense_r1 = 100e3;
 252                         sense_r2 = 27e3;
 253                         break;
 254                 case AO_LOG_FORMAT_DETHERM:
 255                         len = 16;
 256                         break;
 257                 case AO_LOG_FORMAT_TELEMINI3:
 258                         len = 16;
 259                         max_adc = 4095;
 260                         adc_ref = 3.3;
 261                         batt_r1 = 5600;
 262                         batt_r2 = 10000;
 263                         sense_r1 = 100e3;
 264                         sense_r2 = 27e3;
 265                         break;
 266                 case AO_LOG_FORMAT_TELEFIRETWO:
 267                         len = 32;
 268                         break;
 269                 case AO_LOG_FORMAT_EASYMINI2:
 270                         len = 16;
 271                         max_adc = 4095;
 272                         adc_ref = 3.3;
 273                         batt_r1 = sense_r1 = 100e3;
 274                         batt_r2 = sense_r2 = 27e3;
 275                         break;
 276                 case AO_LOG_FORMAT_TELEMEGA_3:
 277                         len = 32;
 278                         max_adc = 4095;
 279                         adc_ref = 3.3;
 280                         batt_r1 = 5600;
 281                         batt_r2 = 10000;
 282                         sense_r1 = 100e3;
 283                         sense_r2 = 27e3;
 284                         break;
 285                 case AO_LOG_FORMAT_EASYMEGA_2:
 286                         len = 32;
 287                         max_adc = 4095;
 288                         adc_ref = 3.3;
 289                         batt_r1 = 5600;
 290                         batt_r2 = 10000;
 291                         sense_r1 = 100e3;
 292                         sense_r2 = 27e3;
 293                         break;
 294                 case AO_LOG_FORMAT_TELESTATIC:
 295                         len = 32;
 296                         break;
 297                 case AO_LOG_FORMAT_MICROPEAK2:
 298                         len = 2;
 299                         break;
 300                 }
 301                 if (arg_len)
 302                         len = arg_len;
 303                 printf("config major %d minor %d log format %d total %u len %d\n",
 304                        eeprom->config.major,
 305                        eeprom->config.minor,
 306                        eeprom->log_format,
 307                        eeprom->len,
 308                        len);
 309                 uint32_t        pos;
 310                 for (pos = 0; pos < eeprom->len; pos += len) {
 311                         int i;
 312                         if (raw) {
 313                                 printf("%9u", pos);
 314                                 for (i = 0; i < len; i++)
 315                                         printf(" %02x", eeprom->data[pos + i]);
 316                         } else {
 317                                 struct ao_log_mega *log_mega;
 318                                 struct ao_log_mini *log_mini;
 319                                 struct ao_log_metrum *log_metrum;
 320                                 struct ao_log_gps *log_gps;
 321
 322                                 if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
 323                                         if (verbose)
 324                                                 printf("\tchecksum error at %d\n", pos);
 325                                         continue;
 326                                 }
 327
 328                                 struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
 329
 330                                 printf("type %c tick %5u", log_header->type, log_header->tick);
 331
 332                                 switch (eeprom->log_format) {
 333                                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 334                                 case AO_LOG_FORMAT_TELEMEGA:
 335                                 case AO_LOG_FORMAT_TELEMEGA_3:
 336                                 case AO_LOG_FORMAT_EASYMEGA_2:
 337                                         log_mega = (struct ao_log_mega *) &eeprom->data[pos];
 338                                         switch (log_mega->type) {
 339                                         case AO_LOG_FLIGHT:
 340                                                 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u",
 341                                                        eeprom->serial_number,
 342                                                        log_mega->u.flight.flight,
 343                                                        log_mega->u.flight.ground_accel,
 344                                                        log_mega->u.flight.ground_pres);
 345                                                 printf(" along %6d aross %6d through %6d",
 346                                                        log_mega->u.flight.ground_accel_along,
 347                                                        log_mega->u.flight.ground_accel_across,
 348                                                        log_mega->u.flight.ground_accel_through);
 349                                                 printf(" roll %6d pitch %6d yaw %6d",
 350                                                        log_mega->u.flight.ground_roll,
 351                                                        log_mega->u.flight.ground_pitch,
 352                                                        log_mega->u.flight.ground_yaw);
 353                                                 break;
 354                                         case AO_LOG_STATE:
 355                                                 ao_state(log_mega->u.state.state,
 356                                                          log_mega->u.state.reason);
 357                                                 break;
 358                                         case AO_LOG_SENSOR:
 359                                                 ao_ms5607(log_mega->u.sensor.pres,
 360                                                           log_mega->u.sensor.temp,
 361                                                           eeprom, is_ms5611);
 362                                                 printf(" accel_x %6d accel_y %6d accel_z %6d",
 363                                                        log_mega->u.sensor.accel_x,
 364                                                        log_mega->u.sensor.accel_y,
 365                                                        log_mega->u.sensor.accel_z);
 366                                                 printf (" gyro_x %6d gyro_y %6d gyro_z %6d",
 367                                                        log_mega->u.sensor.gyro_x,
 368                                                        log_mega->u.sensor.gyro_y,
 369                                                        log_mega->u.sensor.gyro_z);
 370                                                 printf (" mag_x %6d mag_y %6d mag_z %6d",
 371                                                        log_mega->u.sensor.mag_x,
 372                                                        log_mega->u.sensor.mag_y,
 373                                                        log_mega->u.sensor.mag_z);
 374                                                 ao_accel(log_mega->u.sensor.accel, eeprom);
 375                                                 break;
 376                                         case AO_LOG_TEMP_VOLT:
 377                                                 ao_volts("v_batt",
 378                                                          log_mega->u.volt.v_batt,
 379                                                          max_adc,
 380                                                          adc_ref,
 381                                                          batt_r1, batt_r2);
 382                                                 ao_volts("v_pbatt",
 383                                                          log_mega->u.volt.v_pbatt,
 384                                                          max_adc,
 385                                                          adc_ref,
 386                                                          sense_r1, sense_r2);
 387                                                 printf(" n_sense %1d",
 388                                                        log_mega->u.volt.n_sense);
 389                                                 for (i = 0; i < log_mega->u.volt.n_sense; i++) {
 390                                                         char name[10];
 391                                                         sprintf(name, "sense%d", i);
 392                                                         ao_volts(name,
 393                                                                  log_mega->u.volt.sense[i],
 394                                                                  max_adc,
 395                                                                  adc_ref,
 396                                                                  sense_r1, sense_r2);
 397                                                 }
 398                                                 printf(" pyro %04x", log_mega->u.volt.pyro);
 399                                                 break;
 400                                         case AO_LOG_GPS_TIME:
 401                                                 printf(" lat %10.7f° lon %10.7f° alt %8d m",
 402                                                        log_mega->u.gps.latitude / 10000000.0,
 403                                                        log_mega->u.gps.longitude/ 10000000.0,
 404                                                        (int32_t) (log_mega->u.gps.altitude_low |
 405                                                                   (log_mega->u.gps.altitude_high << 16)));
 406                                                 printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x",
 407                                                        log_mega->u.gps.hour,
 408                                                        log_mega->u.gps.minute,
 409                                                        log_mega->u.gps.second,
 410                                                        log_mega->u.gps.year,
 411                                                        log_mega->u.gps.month,
 412                                                        log_mega->u.gps.day,
 413                                                        log_mega->u.gps.flags);
 414                                                 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
 415                                                        log_mega->u.gps.course,
 416                                                        log_mega->u.gps.ground_speed,
 417                                                        log_mega->u.gps.climb_rate,
 418                                                        log_mega->u.gps.pdop,
 419                                                        log_mega->u.gps.hdop,
 420                                                        log_mega->u.gps.vdop,
 421                                                        log_mega->u.gps.mode);
 422                                                 break;
 423                                         case AO_LOG_GPS_SAT:
 424                                                 printf(" channels %2d",
 425                                                        log_mega->u.gps_sat.channels);
 426                                                 for (i = 0; i < 12; i++) {
 427                                                         printf(" svid %3d c_n %2d",
 428                                                                log_mega->u.gps_sat.sats[i].svid,
 429                                                                log_mega->u.gps_sat.sats[i].c_n);
 430                                                 }
 431                                                 break;
 432                                         }
 433                                         break;
 434                                 case AO_LOG_FORMAT_EASYMINI1:
 435                                 case AO_LOG_FORMAT_EASYMINI2:
 436                                 case AO_LOG_FORMAT_TELEMINI2:
 437                                 case AO_LOG_FORMAT_TELEMINI3:
 438                                         log_mini = (struct ao_log_mini *) &eeprom->data[pos];
 439                                         switch (log_mini->type) {
 440                                         case AO_LOG_FLIGHT:
 441                                                 printf(" serial %5u flight %5u ground_pres %9u",
 442                                                        eeprom->serial_number,
 443                                                        log_mini->u.flight.flight,
 444                                                        log_mini->u.flight.ground_pres);
 445                                                 break;
 446                                         case AO_LOG_STATE:
 447                                                 ao_state(log_mini->u.state.state,
 448                                                          log_mini->u.state.reason);
 449                                                 break;
 450                                         case AO_LOG_SENSOR:
 451                                                 ao_ms5607(int24(log_mini->u.sensor.pres, 0),
 452                                                           int24(log_mini->u.sensor.temp, 0),
 453                                                           eeprom, is_ms5611);
 454                                                 ao_volts("sense_a",
 455                                                          log_mini->u.sensor.sense_a, max_adc,
 456                                                          adc_ref, sense_r1, sense_r2);
 457                                                 ao_volts("sense_m",
 458                                                          log_mini->u.sensor.sense_m, max_adc,
 459                                                          adc_ref, sense_r1, sense_r2);
 460                                                 ao_volts("v_batt",
 461                                                          log_mini->u.sensor.v_batt, max_adc,
 462                                                          adc_ref, batt_r1, batt_r2);
 463                                                 break;
 464                                         } /*  */
 465                                         break;
 466                                 case AO_LOG_FORMAT_TELEMETRUM:
 467                                         log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
 468                                         switch (log_metrum->type) {
 469                                         case AO_LOG_FLIGHT:
 470                                                 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u ground_temp %9u",
 471                                                        eeprom->serial_number,
 472                                                        log_metrum->u.flight.flight,
 473                                                        log_metrum->u.flight.ground_accel,
 474                                                        log_metrum->u.flight.ground_pres,
 475                                                        log_metrum->u.flight.ground_temp);
 476                                                 break;
 477                                         case AO_LOG_SENSOR:
 478                                                 ao_ms5607(log_metrum->u.sensor.pres,
 479                                                           log_metrum->u.sensor.temp,
 480                                                           eeprom, is_ms5611);
 481                                                 ao_accel(log_metrum->u.sensor.accel, eeprom);
 482                                                 break;
 483                                         case AO_LOG_TEMP_VOLT:
 484                                                 ao_volts("v_batt",
 485                                                          log_metrum->u.volt.v_batt, max_adc,
 486                                                          adc_ref, batt_r1, batt_r2);
 487                                                 ao_volts("sense_a",
 488                                                          log_metrum->u.volt.sense_a, max_adc,
 489                                                          adc_ref, sense_r1, sense_r2);
 490                                                 ao_volts("sense_m",
 491                                                          log_metrum->u.volt.sense_m, max_adc,
 492                                                          adc_ref, sense_r1, sense_r2);
 493                                                 break;
 494                                         case AO_LOG_DEPLOY:
 495                                                 break;
 496                                         case AO_LOG_STATE:
 497                                                 ao_state(log_metrum->u.state.state,
 498                                                          log_metrum->u.state.reason);
 499                                                 break;
 500                                         case AO_LOG_GPS_TIME:
 501                                                 printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x pdop %3u",
 502                                                        log_metrum->u.gps_time.hour,
 503                                                        log_metrum->u.gps_time.minute,
 504                                                        log_metrum->u.gps_time.second,
 505                                                        log_metrum->u.gps_time.year,
 506                                                        log_metrum->u.gps_time.month,
 507                                                        log_metrum->u.gps_time.day,
 508                                                        log_metrum->u.gps_time.flags,
 509                                                        log_metrum->u.gps_time.pdop);
 510                                                 break;
 511                                         case AO_LOG_GPS_SAT:
 512                                                 printf(" channels %2d more %1d",
 513                                                        log_metrum->u.gps_sat.channels,
 514                                                        log_metrum->u.gps_sat.more);
 515                                                 for (i = 0; i < 4; i++) {
 516                                                         printf(" svid %3d c_n %2d",
 517                                                                log_metrum->u.gps_sat.sats[i].svid,
 518                                                                log_metrum->u.gps_sat.sats[i].c_n);
 519                                                 }
 520                                                 break;
 521                                         case AO_LOG_GPS_POS:
 522                                                 printf(" lat %10.7f° lon %10.7f° alt %8d m",
 523                                                        log_metrum->u.gps.latitude / 10000000.0,
 524                                                        log_metrum->u.gps.longitude/ 10000000.0,
 525                                                        (int32_t) (log_metrum->u.gps.altitude_low |
 526                                                                   (log_metrum->u.gps.altitude_high << 16)));
 527                                                 break;
 528                                         default:
 529                                                 printf(" unknown");
 530                                         }
 531                                         break;
 532                                 case AO_LOG_FORMAT_TELEGPS:
 533                                         log_gps = (struct ao_log_gps *) &eeprom->data[pos];
 534                                         (void) log_gps;
 535                                         break;
 536                                 case AO_LOG_FORMAT_DETHERM:
 537                                         break;
 538                                 }
 539                         }
 540                         printf("\n");
 541                 }
 542         }
 543         return ret;
 544 }