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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 %7.3f kPa  %7.1f m temp %9u %6.2f °C",
  60                pres,
  61                ms5607_value.pres / 1000.0,
  62                ao_pressure_to_altitude(ms5607_value.pres),
  63                temp,
  64                ms5607_value.temp / 100.0);
  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 double
 109 ao_adc_to_volts(int16_t value, int16_t max_adc, double ref, double r1, double r2)
 110 {
 111         return ref * ((double) value / max_adc) * (r1 + r2) / r2;
 112 }
 113
 114 static void
 115 ao_volts(const char *name, int16_t value, int16_t max_adc, double ref, double r1, double r2)
 116 {
 117         printf(" %s %5d",
 118                name, value);
 119         if (r1 && r2 && ref)
 120                 printf(" %6.3f V", ao_adc_to_volts(value, max_adc, ref, r1, r2));
 121 }
 122
 123 static double lb_to_n(double lb)
 124 {
 125         return lb / 0.22480894;
 126 }
 127
 128 static double psi_to_pa(double psi)
 129 {
 130         return psi * 6894.76;
 131 }
 132
 133 static double
 134 ao_volts_to_newtons(double volts)
 135 {
 136         /* this is a total guess */
 137         return lb_to_n(volts * 57.88645 * GRAVITY);
 138 }
 139
 140 static void
 141 ao_thrust(int16_t value, int16_t max_adc, double ref, double r1, double r2)
 142 {
 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));
 147         }
 148 }
 149
 150 static void
 151 ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2, double sensor_range)
 152 {
 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;
 158
 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);
 162         }
 163 }
 164
 165 #if 0
 166 static uint16_t
 167 uint16(uint8_t *bytes, int off)
 168 {
 169         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 170 }
 171
 172 static int16_t
 173 int16(uint8_t *bytes, int off)
 174 {
 175         return (int16_t) uint16(bytes, off);
 176 }
 177
 178 static uint32_t
 179 uint32(uint8_t *bytes, int off)
 180 {
 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);
 184 }
 185
 186 static int32_t
 187 int32(uint8_t *bytes, int off)
 188 {
 189         return (int32_t) uint32(bytes, off);
 190 }
 191 #endif
 192
 193 static uint32_t
 194 uint24(uint8_t *bytes, int off)
 195 {
 196         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 197                 (((uint32_t) bytes[off+2]) << 16);
 198 }
 199
 200 static int32_t
 201 int24(uint8_t *bytes, int off)
 202 {
 203         return (int32_t) uint24(bytes, off);
 204 }
 205
 206 int
 207 main (int argc, char **argv)
 208 {
 209         struct ao_eeprom        *eeprom;
 210         FILE                    *file;
 211         int                     c;
 212         bool                    raw = false;
 213         bool                    csum = false;
 214         bool                    verbose = false;
 215         int                     arg_len = 0;
 216         char                    *end;
 217         int                     ret = 0;
 218         int                     i;
 219
 220         while ((c = getopt_long(argc, argv, "rcvl:", options, NULL)) != -1) {
 221                 switch (c) {
 222                 case 'r':
 223                         raw = true;
 224                         break;
 225                 case 'c':
 226                         csum = true;
 227                         break;
 228                 case 'v':
 229                         verbose = true;
 230                         break;
 231                 case 'l':
 232                         arg_len = strtol(optarg, &end, 0);
 233                         if (!*optarg || *end)
 234                                 usage(argv[0]);
 235                         break;
 236                 default:
 237                         usage(argv[0]);
 238                         break;
 239                 }
 240         }
 241         for (i = optind; i < argc; i++) {
 242                 file = fopen(argv[i], "r");
 243                 if (!file) {
 244                         perror(argv[i]);
 245                         ret++;
 246                         continue;
 247                 }
 248                 eeprom = ao_eeprom_read(file);
 249                 fclose(file);
 250                 if (!eeprom) {
 251                         perror(argv[i]);
 252                         ret++;
 253                         continue;
 254                 }
 255                 int     len = 0;
 256                 bool    is_ms5611 = false;
 257
 258                 int64_t current_tick = 0;
 259                 int64_t first_tick = 0x7fffffffffffffffLL;
 260
 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;
 265                 int16_t max_adc = 0;
 266
 267                 switch (eeprom->log_format) {
 268                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 269                         len = 32;
 270                         break;
 271                 case AO_LOG_FORMAT_EASYMINI1:
 272                         len = 16;
 273                         max_adc = 32767;
 274                         if (eeprom->serial_number < 1000)
 275                                 adc_ref = 3.0;
 276                         else
 277                                 adc_ref = 3.3;
 278                         batt_r1 = sense_r1 = 100e3;
 279                         batt_r2 = sense_r2 = 27e3;
 280                         break;
 281                 case AO_LOG_FORMAT_TELEMETRUM:
 282                         len = 16;
 283                         max_adc = 4095;
 284                         adc_ref = 3.3;
 285                         batt_r1 = 5600;
 286                         batt_r2 = 10000;
 287                         sense_r1 = 100e3;
 288                         sense_r2 = 27e3;
 289                         break;
 290                 case AO_LOG_FORMAT_TELEMINI2:
 291                         len = 16;
 292                         break;
 293                 case AO_LOG_FORMAT_TELEGPS:
 294                         len = 32;
 295                         break;
 296                 case AO_LOG_FORMAT_TELEMEGA:
 297                         len = 32;
 298                         max_adc = 4095;
 299                         adc_ref = 3.3;
 300                         batt_r1 = 5600;
 301                         batt_r2 = 10000;
 302                         sense_r1 = 100e3;
 303                         sense_r2 = 27e3;
 304                         break;
 305                 case AO_LOG_FORMAT_DETHERM:
 306                         len = 16;
 307                         break;
 308                 case AO_LOG_FORMAT_TELEMINI3:
 309                         len = 16;
 310                         max_adc = 4095;
 311                         adc_ref = 3.3;
 312                         batt_r1 = 5600;
 313                         batt_r2 = 10000;
 314                         sense_r1 = 100e3;
 315                         sense_r2 = 27e3;
 316                         break;
 317                 case AO_LOG_FORMAT_TELEFIRETWO:
 318                         len = 32;
 319                         pressure_sensor = 2500.0;
 320                         max_adc = 4095;
 321                         adc_ref = 3.3;
 322                         sense_r1 = batt_r1 = 5600;
 323                         sense_r2 = batt_r2 = 10000;
 324                         break;
 325                 case AO_LOG_FORMAT_EASYMINI2:
 326                         len = 16;
 327                         max_adc = 4095;
 328                         adc_ref = 3.3;
 329                         batt_r1 = sense_r1 = 100e3;
 330                         batt_r2 = sense_r2 = 27e3;
 331                         break;
 332                 case AO_LOG_FORMAT_TELEMEGA_3:
 333                         len = 32;
 334                         max_adc = 4095;
 335                         adc_ref = 3.3;
 336                         batt_r1 = 5600;
 337                         batt_r2 = 10000;
 338                         sense_r1 = 100e3;
 339                         sense_r2 = 27e3;
 340                         break;
 341                 case AO_LOG_FORMAT_EASYMEGA_2:
 342                         len = 32;
 343                         max_adc = 4095;
 344                         adc_ref = 3.3;
 345                         batt_r1 = 5600;
 346                         batt_r2 = 10000;
 347                         sense_r1 = 100e3;
 348                         sense_r2 = 27e3;
 349                         break;
 350                 case AO_LOG_FORMAT_TELESTATIC:
 351                         len = 32;
 352                         break;
 353                 case AO_LOG_FORMAT_MICROPEAK2:
 354                         len = 2;
 355                         break;
 356                 case AO_LOG_FORMAT_TELEMEGA_4:
 357                         len = 32;
 358                         max_adc= 4095;
 359                         adc_ref = 3.3;
 360                         batt_r1 = 5600;
 361                         batt_r2 = 10000;
 362                         sense_r1 = 100e3;
 363                         sense_r2 = 27e3;
 364                         break;
 365                 case AO_LOG_FORMAT_EASYMOTOR:
 366                         len = 16;
 367                         max_adc = 32767;
 368                         adc_ref = 3.3;
 369                         pressure_sensor = 1600.0;
 370                         batt_r1 = 5600;
 371                         batt_r2 = 10000;
 372                         sense_r1 = 5600;
 373                         sense_r2 = 10000;
 374                         break;
 375                 }
 376                 if (arg_len)
 377                         len = arg_len;
 378                 if (verbose)
 379                         printf("config major %d minor %d log format %d total %u len %d\n",
 380                                eeprom->config.major,
 381                                eeprom->config.minor,
 382                                eeprom->log_format,
 383                                eeprom->len,
 384                                len);
 385
 386                 uint32_t        pos;
 387                 for (pos = 0; pos < eeprom->len; pos += len) {
 388                         int i;
 389                         if (raw) {
 390                                 printf("%9u", pos);
 391                                 for (i = 0; i < len; i++)
 392                                         printf(" %02x", eeprom->data[pos + i]);
 393                         } else {
 394                                 struct ao_log_mega *log_mega;
 395                                 struct ao_log_mini *log_mini;
 396                                 struct ao_log_metrum *log_metrum;
 397                                 struct ao_log_gps *log_gps;
 398                                 struct ao_log_firetwo *log_firetwo;
 399                                 struct ao_log_motor *log_motor;
 400
 401                                 if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
 402                                         if (verbose)
 403                                                 printf("\tchecksum error at %d\n", pos);
 404                                         continue;
 405                                 }
 406
 407                                 struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
 408
 409                                 if (first_tick == 0x7fffffffffffffffLL) {
 410                                         current_tick = first_tick = log_header->tick;
 411                                 } else {
 412                                         int16_t diff = (int16_t) (log_header->tick - (uint16_t) current_tick);
 413
 414                                         current_tick += diff;
 415                                 }
 416                                 printf("type %c tick %5u %6.2f S", log_header->type, log_header->tick, (current_tick - first_tick) / 100.0);
 417
 418                                 switch (eeprom->log_format) {
 419                                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 420                                 case AO_LOG_FORMAT_TELEMEGA:
 421                                 case AO_LOG_FORMAT_TELEMEGA_3:
 422                                 case AO_LOG_FORMAT_EASYMEGA_2:
 423                                 case AO_LOG_FORMAT_TELEMEGA_4:
 424                                         log_mega = (struct ao_log_mega *) &eeprom->data[pos];
 425                                         switch (log_mega->type) {
 426                                         case AO_LOG_FLIGHT:
 427                                                 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u kPa  %7.1f  %7.1f m",
 428                                                        eeprom->serial_number,
 429                                                        log_mega->u.flight.flight,
 430                                                        log_mega->u.flight.ground_accel,
 431                                                        log_mega->u.flight.ground_pres,
 432                                                        log_mega->u.flight.ground_pres / 1000.0,
 433                                                        ao_pressure_to_altitude(log_mega->u.flight.ground_pres));
 434
 435                                                 printf(" along %6d aross %6d through %6d",
 436                                                        log_mega->u.flight.ground_accel_along,
 437                                                        log_mega->u.flight.ground_accel_across,
 438                                                        log_mega->u.flight.ground_accel_through);
 439                                                 printf(" roll %6d pitch %6d yaw %6d",
 440                                                        log_mega->u.flight.ground_roll,
 441                                                        log_mega->u.flight.ground_pitch,
 442                                                        log_mega->u.flight.ground_yaw);
 443                                                 break;
 444                                         case AO_LOG_STATE:
 445                                                 ao_state(log_mega->u.state.state,
 446                                                          log_mega->u.state.reason);
 447                                                 break;
 448                                         case AO_LOG_SENSOR:
 449                                                 ao_ms5607(log_mega->u.sensor.pres,
 450                                                           log_mega->u.sensor.temp,
 451                                                           eeprom, is_ms5611);
 452                                                 printf(" accel_x %6d accel_y %6d accel_z %6d",
 453                                                        log_mega->u.sensor.accel_x,
 454                                                        log_mega->u.sensor.accel_y,
 455                                                        log_mega->u.sensor.accel_z);
 456                                                 printf (" gyro_x %6d gyro_y %6d gyro_z %6d",
 457                                                        log_mega->u.sensor.gyro_x,
 458                                                        log_mega->u.sensor.gyro_y,
 459                                                        log_mega->u.sensor.gyro_z);
 460                                                 printf (" mag_x %6d mag_y %6d mag_z %6d",
 461                                                        log_mega->u.sensor.mag_x,
 462                                                        log_mega->u.sensor.mag_y,
 463                                                        log_mega->u.sensor.mag_z);
 464                                                 ao_accel(log_mega->u.sensor.accel, eeprom);
 465                                                 break;
 466                                         case AO_LOG_TEMP_VOLT:
 467                                                 ao_volts("v_batt",
 468                                                          log_mega->u.volt.v_batt,
 469                                                          max_adc,
 470                                                          adc_ref,
 471                                                          batt_r1, batt_r2);
 472                                                 ao_volts("v_pbatt",
 473                                                          log_mega->u.volt.v_pbatt,
 474                                                          max_adc,
 475                                                          adc_ref,
 476                                                          sense_r1, sense_r2);
 477                                                 printf(" n_sense %1d",
 478                                                        log_mega->u.volt.n_sense);
 479                                                 for (i = 0; i < log_mega->u.volt.n_sense; i++) {
 480                                                         char name[10];
 481                                                         sprintf(name, "sense%d", i);
 482                                                         ao_volts(name,
 483                                                                  log_mega->u.volt.sense[i],
 484                                                                  max_adc,
 485                                                                  adc_ref,
 486                                                                  sense_r1, sense_r2);
 487                                                 }
 488                                                 printf(" pyro %04x", log_mega->u.volt.pyro);
 489                                                 break;
 490                                         case AO_LOG_GPS_TIME:
 491                                                 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
 492                                                        log_mega->u.gps.latitude / 10000000.0,
 493                                                        log_mega->u.gps.longitude/ 10000000.0,
 494                                                        (int32_t) (log_mega->u.gps.altitude_low |
 495                                                                   (log_mega->u.gps.altitude_high << 16)));
 496                                                 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
 497                                                        log_mega->u.gps.hour,
 498                                                        log_mega->u.gps.minute,
 499                                                        log_mega->u.gps.second,
 500                                                        log_mega->u.gps.year + 2000,
 501                                                        log_mega->u.gps.month,
 502                                                        log_mega->u.gps.day,
 503                                                        log_mega->u.gps.flags);
 504                                                 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
 505                                                        log_mega->u.gps.course,
 506                                                        log_mega->u.gps.ground_speed,
 507                                                        log_mega->u.gps.climb_rate,
 508                                                        log_mega->u.gps.pdop,
 509                                                        log_mega->u.gps.hdop,
 510                                                        log_mega->u.gps.vdop,
 511                                                        log_mega->u.gps.mode);
 512                                                 break;
 513                                         case AO_LOG_GPS_SAT:
 514                                                 printf(" channels %2d",
 515                                                        log_mega->u.gps_sat.channels);
 516                                                 for (i = 0; i < 12; i++) {
 517                                                         printf(" svid %3d c_n %2d",
 518                                                                log_mega->u.gps_sat.sats[i].svid,
 519                                                                log_mega->u.gps_sat.sats[i].c_n);
 520                                                 }
 521                                                 break;
 522                                         }
 523                                         break;
 524                                 case AO_LOG_FORMAT_EASYMINI1:
 525                                 case AO_LOG_FORMAT_EASYMINI2:
 526                                 case AO_LOG_FORMAT_TELEMINI2:
 527                                 case AO_LOG_FORMAT_TELEMINI3:
 528                                         log_mini = (struct ao_log_mini *) &eeprom->data[pos];
 529                                         switch (log_mini->type) {
 530                                         case AO_LOG_FLIGHT:
 531                                                 printf(" serial %5u flight %5u ground_pres %9u kPa  %7.1f  %7.1f m",
 532                                                        eeprom->serial_number,
 533                                                        log_mini->u.flight.flight,
 534                                                        log_mini->u.flight.ground_pres,
 535                                                        log_mini->u.flight.ground_pres / 1000.0,
 536                                                        ao_pressure_to_altitude(log_mini->u.flight.ground_pres));
 537                                                 break;
 538                                         case AO_LOG_STATE:
 539                                                 ao_state(log_mini->u.state.state,
 540                                                          log_mini->u.state.reason);
 541                                                 break;
 542                                         case AO_LOG_SENSOR:
 543                                                 ao_ms5607(int24(log_mini->u.sensor.pres, 0),
 544                                                           int24(log_mini->u.sensor.temp, 0),
 545                                                           eeprom, is_ms5611);
 546                                                 ao_volts("sense_a",
 547                                                          log_mini->u.sensor.sense_a, max_adc,
 548                                                          adc_ref, sense_r1, sense_r2);
 549                                                 ao_volts("sense_m",
 550                                                          log_mini->u.sensor.sense_m, max_adc,
 551                                                          adc_ref, sense_r1, sense_r2);
 552                                                 ao_volts("v_batt",
 553                                                          log_mini->u.sensor.v_batt, max_adc,
 554                                                          adc_ref, batt_r1, batt_r2);
 555                                                 break;
 556                                         } /*  */
 557                                         break;
 558                                 case AO_LOG_FORMAT_TELEMETRUM:
 559                                         log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
 560                                         switch (log_metrum->type) {
 561                                         case AO_LOG_FLIGHT:
 562                                                 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u kPa  %7.1f  %7.1f m ground_temp %9u",
 563                                                        eeprom->serial_number,
 564                                                        log_metrum->u.flight.flight,
 565                                                        log_metrum->u.flight.ground_accel,
 566                                                        log_metrum->u.flight.ground_pres,
 567                                                        log_metrum->u.flight.ground_pres / 1000.0,
 568                                                        ao_pressure_to_altitude(log_metrum->u.flight.ground_pres),
 569                                                        log_metrum->u.flight.ground_temp);
 570                                                 break;
 571                                         case AO_LOG_SENSOR:
 572                                                 ao_ms5607(log_metrum->u.sensor.pres,
 573                                                           log_metrum->u.sensor.temp,
 574                                                           eeprom, is_ms5611);
 575                                                 ao_accel(log_metrum->u.sensor.accel, eeprom);
 576                                                 break;
 577                                         case AO_LOG_TEMP_VOLT:
 578                                                 ao_volts("v_batt",
 579                                                          log_metrum->u.volt.v_batt, max_adc,
 580                                                          adc_ref, batt_r1, batt_r2);
 581                                                 ao_volts("sense_a",
 582                                                          log_metrum->u.volt.sense_a, max_adc,
 583                                                          adc_ref, sense_r1, sense_r2);
 584                                                 ao_volts("sense_m",
 585                                                          log_metrum->u.volt.sense_m, max_adc,
 586                                                          adc_ref, sense_r1, sense_r2);
 587                                                 break;
 588                                         case AO_LOG_DEPLOY:
 589                                                 break;
 590                                         case AO_LOG_STATE:
 591                                                 ao_state(log_metrum->u.state.state,
 592                                                          log_metrum->u.state.reason);
 593                                                 break;
 594                                         case AO_LOG_GPS_TIME:
 595                                                 printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x pdop %3u",
 596                                                        log_metrum->u.gps_time.hour,
 597                                                        log_metrum->u.gps_time.minute,
 598                                                        log_metrum->u.gps_time.second,
 599                                                        log_metrum->u.gps_time.year,
 600                                                        log_metrum->u.gps_time.month,
 601                                                        log_metrum->u.gps_time.day,
 602                                                        log_metrum->u.gps_time.flags,
 603                                                        log_metrum->u.gps_time.pdop);
 604                                                 break;
 605                                         case AO_LOG_GPS_SAT:
 606                                                 printf(" channels %2d more %1d",
 607                                                        log_metrum->u.gps_sat.channels,
 608                                                        log_metrum->u.gps_sat.more);
 609                                                 for (i = 0; i < 4; i++) {
 610                                                         printf(" svid %3d c_n %2d",
 611                                                                log_metrum->u.gps_sat.sats[i].svid,
 612                                                                log_metrum->u.gps_sat.sats[i].c_n);
 613                                                 }
 614                                                 break;
 615                                         case AO_LOG_GPS_POS:
 616                                                 printf(" lat %10.7f° lon %10.7f° alt %8d m",
 617                                                        log_metrum->u.gps.latitude / 10000000.0,
 618                                                        log_metrum->u.gps.longitude/ 10000000.0,
 619                                                        (int32_t) (log_metrum->u.gps.altitude_low |
 620                                                                   (log_metrum->u.gps.altitude_high << 16)));
 621                                                 break;
 622                                         default:
 623                                                 printf(" unknown");
 624                                         }
 625                                         break;
 626                                 case AO_LOG_FORMAT_TELEFIRETWO:
 627                                         log_firetwo = (struct ao_log_firetwo *) &eeprom->data[pos];
 628                                         switch (log_firetwo->type) {
 629                                         case AO_LOG_FLIGHT:
 630                                                 printf(" serial %5u flight %5u",
 631                                                        eeprom->serial_number,
 632                                                        log_firetwo->u.flight.flight);
 633                                                 break;
 634                                         case AO_LOG_STATE:
 635                                                 ao_state(log_firetwo->u.state.state,
 636                                                          log_firetwo->u.state.reason);
 637                                                 break;
 638                                         case AO_LOG_SENSOR:
 639                                                 ao_pressure(log_firetwo->u.sensor.pressure,
 640                                                             max_adc, adc_ref,
 641                                                             sense_r1, sense_r2,
 642                                                             pressure_sensor);
 643                                                 ao_thrust(log_firetwo->u.sensor.thrust,
 644                                                           max_adc, adc_ref,
 645                                                           sense_r1, sense_r2);
 646                                                 for (i = 0; i < 4; i++) {
 647                                                         char name[20];
 648                                                         sprintf(name, "thermistor%d", i);
 649                                                         ao_volts(name,
 650                                                                  log_firetwo->u.sensor.thermistor[i],
 651                                                                  max_adc, adc_ref,
 652                                                                  sense_r1, sense_r2);
 653                                                 }
 654                                                 break;
 655                                         }
 656                                         break;
 657                                 case AO_LOG_FORMAT_TELEGPS:
 658                                         log_gps = (struct ao_log_gps *) &eeprom->data[pos];
 659                                         switch (log_gps->type) {
 660                                         case AO_LOG_GPS_TIME:
 661                                                 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
 662                                                        log_gps->u.gps.latitude / 10000000.0,
 663                                                        log_gps->u.gps.longitude/ 10000000.0,
 664                                                        (int32_t) (log_gps->u.gps.altitude_low |
 665                                                                   (log_gps->u.gps.altitude_high << 16)));
 666                                                 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
 667                                                        log_gps->u.gps.hour,
 668                                                        log_gps->u.gps.minute,
 669                                                        log_gps->u.gps.second,
 670                                                        log_gps->u.gps.year + 2000,
 671                                                        log_gps->u.gps.month,
 672                                                        log_gps->u.gps.day,
 673                                                        log_gps->u.gps.flags);
 674                                                 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
 675                                                        log_gps->u.gps.course,
 676                                                        log_gps->u.gps.ground_speed,
 677                                                        log_gps->u.gps.climb_rate,
 678                                                        log_gps->u.gps.pdop,
 679                                                        log_gps->u.gps.hdop,
 680                                                        log_gps->u.gps.vdop,
 681                                                        log_gps->u.gps.mode);
 682                                                 break;
 683                                         case AO_LOG_GPS_SAT:
 684                                                 printf(" channels %2d",
 685                                                        log_gps->u.gps_sat.channels);
 686                                                 for (i = 0; i < 12; i++) {
 687                                                         printf(" svid %3d c_n %2d",
 688                                                                log_gps->u.gps_sat.sats[i].svid,
 689                                                                log_gps->u.gps_sat.sats[i].c_n);
 690                                                 }
 691                                                 break;
 692                                         default:
 693                                                 printf (" unknown");
 694                                                 break;
 695                                         }
 696                                         break;
 697                                 case AO_LOG_FORMAT_EASYMOTOR:
 698                                         log_motor = (struct ao_log_motor *) &eeprom->data[pos];
 699                                         switch (log_motor->type) {
 700                                         case AO_LOG_FLIGHT:
 701                                                 printf(" serial %5u flight %5u ground_accel %6d",
 702                                                        eeprom->serial_number,
 703                                                        log_motor->u.flight.flight,
 704                                                        log_motor->u.flight.ground_accel);
 705                                                 printf(" along %6d aross %6d through %6d",
 706                                                        log_motor->u.flight.ground_accel_along,
 707                                                        log_motor->u.flight.ground_accel_across,
 708                                                        log_motor->u.flight.ground_accel_through);
 709                                                 ao_volts("ground pressure",
 710                                                          log_motor->u.flight.ground_motor_pressure,
 711                                                          max_adc, adc_ref,
 712                                                          sense_r1, sense_r2);
 713                                                 break;
 714                                         case AO_LOG_STATE:
 715                                                 ao_state(log_motor->u.state.state,
 716                                                          log_motor->u.state.reason);
 717                                                 break;
 718                                         case AO_LOG_SENSOR:
 719                                                 ao_volts("pressure",
 720                                                          log_motor->u.sensor.pressure,
 721                                                          max_adc, adc_ref,
 722                                                          sense_r1, sense_r2);
 723                                                 ao_volts("v_batt",
 724                                                          log_motor->u.sensor.v_batt,
 725                                                          max_adc,
 726                                                          adc_ref, batt_r1, batt_r2);
 727                                                 printf(" accel %6d",
 728                                                        log_motor->u.sensor.accel);
 729                                                 printf(" along %6d aross %6d through %6d",
 730                                                        log_motor->u.sensor.accel_along,
 731                                                        log_motor->u.sensor.accel_across,
 732                                                        log_motor->u.sensor.accel_through);
 733                                                 break;
 734                                         }
 735                                         break;
 736                                 case AO_LOG_FORMAT_DETHERM:
 737                                         break;
 738                                 case AO_LOG_FORMAT_EASYMOTOR:
 739                                         log_motor = (struct ao_log_motor *) &eeprom->data[pos];
 740                                         switch (log_motor->type) {
 741                                         case AO_LOG_FLIGHT:
 742                                                 printf(" serial %5u flight %5u",
 743                                                        eeprom->serial_number,
 744                                                        log_motor->u.flight.flight);
 745                                                 break;
 746                                         case AO_LOG_STATE:
 747                                                 ao_state(log_motor->u.state.state,
 748                                                          log_motor->u.state.reason);
 749                                                 break;
 750                                         case AO_LOG_SENSOR:
 751                                                 ao_pressure(log_motor->u.sensor.pressure,
 752                                                             max_adc, adc_ref,
 753                                                             sense_r1, sense_r2,
 754                                                             pressure_sensor);
 755                                                 ao_volts("v_batt",
 756                                                          log_motor->u.sensor.v_batt,
 757                                                          max_adc,
 758                                                          adc_ref,
 759                                                          batt_r1, batt_r2);
 760                                                 break;
 761                                         }
 762                                         break;
 763                                 }
 764                         }
 765                         printf("\n");
 766                 }
 767         }
 768         return ret;
 769 }