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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)
 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 * 2500.0;
 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                 int16_t max_adc = 0;
 265
 266                 switch (eeprom->log_format) {
 267                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 268                         len = 32;
 269                         break;
 270                 case AO_LOG_FORMAT_EASYMINI1:
 271                         len = 16;
 272                         max_adc = 32767;
 273                         if (eeprom->serial_number < 1000)
 274                                 adc_ref = 3.0;
 275                         else
 276                                 adc_ref = 3.3;
 277                         batt_r1 = sense_r1 = 100e3;
 278                         batt_r2 = sense_r2 = 27e3;
 279                         break;
 280                 case AO_LOG_FORMAT_TELEMETRUM:
 281                         len = 16;
 282                         max_adc = 4095;
 283                         adc_ref = 3.3;
 284                         batt_r1 = 5600;
 285                         batt_r2 = 10000;
 286                         sense_r1 = 100e3;
 287                         sense_r2 = 27e3;
 288                         break;
 289                 case AO_LOG_FORMAT_TELEMINI2:
 290                         len = 16;
 291                         break;
 292                 case AO_LOG_FORMAT_TELEGPS:
 293                         len = 32;
 294                         break;
 295                 case AO_LOG_FORMAT_TELEMEGA:
 296                         len = 32;
 297                         max_adc = 4095;
 298                         adc_ref = 3.3;
 299                         batt_r1 = 5600;
 300                         batt_r2 = 10000;
 301                         sense_r1 = 100e3;
 302                         sense_r2 = 27e3;
 303                         break;
 304                 case AO_LOG_FORMAT_DETHERM:
 305                         len = 16;
 306                         break;
 307                 case AO_LOG_FORMAT_TELEMINI3:
 308                         len = 16;
 309                         max_adc = 4095;
 310                         adc_ref = 3.3;
 311                         batt_r1 = 5600;
 312                         batt_r2 = 10000;
 313                         sense_r1 = 100e3;
 314                         sense_r2 = 27e3;
 315                         break;
 316                 case AO_LOG_FORMAT_TELEFIRETWO:
 317                         len = 32;
 318                         max_adc = 4095;
 319                         adc_ref = 3.3;
 320                         sense_r1 = batt_r1 = 5600;
 321                         sense_r2 = batt_r2 = 10000;
 322                         break;
 323                 case AO_LOG_FORMAT_EASYMINI2:
 324                         len = 16;
 325                         max_adc = 4095;
 326                         adc_ref = 3.3;
 327                         batt_r1 = sense_r1 = 100e3;
 328                         batt_r2 = sense_r2 = 27e3;
 329                         break;
 330                 case AO_LOG_FORMAT_TELEMEGA_3:
 331                         len = 32;
 332                         max_adc = 4095;
 333                         adc_ref = 3.3;
 334                         batt_r1 = 5600;
 335                         batt_r2 = 10000;
 336                         sense_r1 = 100e3;
 337                         sense_r2 = 27e3;
 338                         break;
 339                 case AO_LOG_FORMAT_EASYMEGA_2:
 340                         len = 32;
 341                         max_adc = 4095;
 342                         adc_ref = 3.3;
 343                         batt_r1 = 5600;
 344                         batt_r2 = 10000;
 345                         sense_r1 = 100e3;
 346                         sense_r2 = 27e3;
 347                         break;
 348                 case AO_LOG_FORMAT_TELESTATIC:
 349                         len = 32;
 350                         break;
 351                 case AO_LOG_FORMAT_MICROPEAK2:
 352                         len = 2;
 353                         break;
 354                 case AO_LOG_FORMAT_TELEMEGA_4:
 355                         len = 32;
 356                         max_adc= 4095;
 357                         adc_ref = 3.3;
 358                         batt_r1 = 5600;
 359                         batt_r2 = 10000;
 360                         sense_r1 = 100e3;
 361                         sense_r2 = 27e3;
 362                         break;
 363                 case AO_LOG_FORMAT_EASYMOTOR:
 364                         len = 16;
 365                         max_adc = 32767;
 366                         adc_ref = 3.3;
 367                         batt_r1 = 5600;
 368                         batt_r2 = 10000;
 369                         sense_r1 = 5600;
 370                         sense_r2 = 10000;
 371                         break;
 372                 }
 373                 if (arg_len)
 374                         len = arg_len;
 375                 if (verbose)
 376                         printf("config major %d minor %d log format %d total %u len %d\n",
 377                                eeprom->config.major,
 378                                eeprom->config.minor,
 379                                eeprom->log_format,
 380                                eeprom->len,
 381                                len);
 382
 383                 uint32_t        pos;
 384                 for (pos = 0; pos < eeprom->len; pos += len) {
 385                         int i;
 386                         if (raw) {
 387                                 printf("%9u", pos);
 388                                 for (i = 0; i < len; i++)
 389                                         printf(" %02x", eeprom->data[pos + i]);
 390                         } else {
 391                                 struct ao_log_mega *log_mega;
 392                                 struct ao_log_mini *log_mini;
 393                                 struct ao_log_metrum *log_metrum;
 394                                 struct ao_log_gps *log_gps;
 395                                 struct ao_log_firetwo *log_firetwo;
 396                                 struct ao_log_motor *log_motor;
 397
 398                                 if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
 399                                         if (verbose)
 400                                                 printf("\tchecksum error at %d\n", pos);
 401                                         continue;
 402                                 }
 403
 404                                 struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
 405
 406                                 if (first_tick == 0x7fffffffffffffffLL) {
 407                                         current_tick = first_tick = log_header->tick;
 408                                 } else {
 409                                         int16_t diff = (int16_t) (log_header->tick - (uint16_t) current_tick);
 410
 411                                         current_tick += diff;
 412                                 }
 413                                 printf("type %c tick %5u %6.2f S", log_header->type, log_header->tick, (current_tick - first_tick) / 100.0);
 414
 415                                 switch (eeprom->log_format) {
 416                                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 417                                 case AO_LOG_FORMAT_TELEMEGA:
 418                                 case AO_LOG_FORMAT_TELEMEGA_3:
 419                                 case AO_LOG_FORMAT_EASYMEGA_2:
 420                                 case AO_LOG_FORMAT_TELEMEGA_4:
 421                                         log_mega = (struct ao_log_mega *) &eeprom->data[pos];
 422                                         switch (log_mega->type) {
 423                                         case AO_LOG_FLIGHT:
 424                                                 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u",
 425                                                        eeprom->serial_number,
 426                                                        log_mega->u.flight.flight,
 427                                                        log_mega->u.flight.ground_accel,
 428                                                        log_mega->u.flight.ground_pres);
 429                                                 printf(" along %6d aross %6d through %6d",
 430                                                        log_mega->u.flight.ground_accel_along,
 431                                                        log_mega->u.flight.ground_accel_across,
 432                                                        log_mega->u.flight.ground_accel_through);
 433                                                 printf(" roll %6d pitch %6d yaw %6d",
 434                                                        log_mega->u.flight.ground_roll,
 435                                                        log_mega->u.flight.ground_pitch,
 436                                                        log_mega->u.flight.ground_yaw);
 437                                                 break;
 438                                         case AO_LOG_STATE:
 439                                                 ao_state(log_mega->u.state.state,
 440                                                          log_mega->u.state.reason);
 441                                                 break;
 442                                         case AO_LOG_SENSOR:
 443                                                 ao_ms5607(log_mega->u.sensor.pres,
 444                                                           log_mega->u.sensor.temp,
 445                                                           eeprom, is_ms5611);
 446                                                 printf(" accel_x %6d accel_y %6d accel_z %6d",
 447                                                        log_mega->u.sensor.accel_x,
 448                                                        log_mega->u.sensor.accel_y,
 449                                                        log_mega->u.sensor.accel_z);
 450                                                 printf (" gyro_x %6d gyro_y %6d gyro_z %6d",
 451                                                        log_mega->u.sensor.gyro_x,
 452                                                        log_mega->u.sensor.gyro_y,
 453                                                        log_mega->u.sensor.gyro_z);
 454                                                 printf (" mag_x %6d mag_y %6d mag_z %6d",
 455                                                        log_mega->u.sensor.mag_x,
 456                                                        log_mega->u.sensor.mag_y,
 457                                                        log_mega->u.sensor.mag_z);
 458                                                 ao_accel(log_mega->u.sensor.accel, eeprom);
 459                                                 break;
 460                                         case AO_LOG_TEMP_VOLT:
 461                                                 ao_volts("v_batt",
 462                                                          log_mega->u.volt.v_batt,
 463                                                          max_adc,
 464                                                          adc_ref,
 465                                                          batt_r1, batt_r2);
 466                                                 ao_volts("v_pbatt",
 467                                                          log_mega->u.volt.v_pbatt,
 468                                                          max_adc,
 469                                                          adc_ref,
 470                                                          sense_r1, sense_r2);
 471                                                 printf(" n_sense %1d",
 472                                                        log_mega->u.volt.n_sense);
 473                                                 for (i = 0; i < log_mega->u.volt.n_sense; i++) {
 474                                                         char name[10];
 475                                                         sprintf(name, "sense%d", i);
 476                                                         ao_volts(name,
 477                                                                  log_mega->u.volt.sense[i],
 478                                                                  max_adc,
 479                                                                  adc_ref,
 480                                                                  sense_r1, sense_r2);
 481                                                 }
 482                                                 printf(" pyro %04x", log_mega->u.volt.pyro);
 483                                                 break;
 484                                         case AO_LOG_GPS_TIME:
 485                                                 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
 486                                                        log_mega->u.gps.latitude / 10000000.0,
 487                                                        log_mega->u.gps.longitude/ 10000000.0,
 488                                                        (int32_t) (log_mega->u.gps.altitude_low |
 489                                                                   (log_mega->u.gps.altitude_high << 16)));
 490                                                 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
 491                                                        log_mega->u.gps.hour,
 492                                                        log_mega->u.gps.minute,
 493                                                        log_mega->u.gps.second,
 494                                                        log_mega->u.gps.year + 2000,
 495                                                        log_mega->u.gps.month,
 496                                                        log_mega->u.gps.day,
 497                                                        log_mega->u.gps.flags);
 498                                                 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
 499                                                        log_mega->u.gps.course,
 500                                                        log_mega->u.gps.ground_speed,
 501                                                        log_mega->u.gps.climb_rate,
 502                                                        log_mega->u.gps.pdop,
 503                                                        log_mega->u.gps.hdop,
 504                                                        log_mega->u.gps.vdop,
 505                                                        log_mega->u.gps.mode);
 506                                                 break;
 507                                         case AO_LOG_GPS_SAT:
 508                                                 printf(" channels %2d",
 509                                                        log_mega->u.gps_sat.channels);
 510                                                 for (i = 0; i < 12; i++) {
 511                                                         printf(" svid %3d c_n %2d",
 512                                                                log_mega->u.gps_sat.sats[i].svid,
 513                                                                log_mega->u.gps_sat.sats[i].c_n);
 514                                                 }
 515                                                 break;
 516                                         }
 517                                         break;
 518                                 case AO_LOG_FORMAT_EASYMINI1:
 519                                 case AO_LOG_FORMAT_EASYMINI2:
 520                                 case AO_LOG_FORMAT_TELEMINI2:
 521                                 case AO_LOG_FORMAT_TELEMINI3:
 522                                         log_mini = (struct ao_log_mini *) &eeprom->data[pos];
 523                                         switch (log_mini->type) {
 524                                         case AO_LOG_FLIGHT:
 525                                                 printf(" serial %5u flight %5u ground_pres %9u",
 526                                                        eeprom->serial_number,
 527                                                        log_mini->u.flight.flight,
 528                                                        log_mini->u.flight.ground_pres);
 529                                                 break;
 530                                         case AO_LOG_STATE:
 531                                                 ao_state(log_mini->u.state.state,
 532                                                          log_mini->u.state.reason);
 533                                                 break;
 534                                         case AO_LOG_SENSOR:
 535                                                 ao_ms5607(int24(log_mini->u.sensor.pres, 0),
 536                                                           int24(log_mini->u.sensor.temp, 0),
 537                                                           eeprom, is_ms5611);
 538                                                 ao_volts("sense_a",
 539                                                          log_mini->u.sensor.sense_a, max_adc,
 540                                                          adc_ref, sense_r1, sense_r2);
 541                                                 ao_volts("sense_m",
 542                                                          log_mini->u.sensor.sense_m, max_adc,
 543                                                          adc_ref, sense_r1, sense_r2);
 544                                                 ao_volts("v_batt",
 545                                                          log_mini->u.sensor.v_batt, max_adc,
 546                                                          adc_ref, batt_r1, batt_r2);
 547                                                 break;
 548                                         } /*  */
 549                                         break;
 550                                 case AO_LOG_FORMAT_TELEMETRUM:
 551                                         log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
 552                                         switch (log_metrum->type) {
 553                                         case AO_LOG_FLIGHT:
 554                                                 printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u ground_temp %9u",
 555                                                        eeprom->serial_number,
 556                                                        log_metrum->u.flight.flight,
 557                                                        log_metrum->u.flight.ground_accel,
 558                                                        log_metrum->u.flight.ground_pres,
 559                                                        log_metrum->u.flight.ground_temp);
 560                                                 break;
 561                                         case AO_LOG_SENSOR:
 562                                                 ao_ms5607(log_metrum->u.sensor.pres,
 563                                                           log_metrum->u.sensor.temp,
 564                                                           eeprom, is_ms5611);
 565                                                 ao_accel(log_metrum->u.sensor.accel, eeprom);
 566                                                 break;
 567                                         case AO_LOG_TEMP_VOLT:
 568                                                 ao_volts("v_batt",
 569                                                          log_metrum->u.volt.v_batt, max_adc,
 570                                                          adc_ref, batt_r1, batt_r2);
 571                                                 ao_volts("sense_a",
 572                                                          log_metrum->u.volt.sense_a, max_adc,
 573                                                          adc_ref, sense_r1, sense_r2);
 574                                                 ao_volts("sense_m",
 575                                                          log_metrum->u.volt.sense_m, max_adc,
 576                                                          adc_ref, sense_r1, sense_r2);
 577                                                 break;
 578                                         case AO_LOG_DEPLOY:
 579                                                 break;
 580                                         case AO_LOG_STATE:
 581                                                 ao_state(log_metrum->u.state.state,
 582                                                          log_metrum->u.state.reason);
 583                                                 break;
 584                                         case AO_LOG_GPS_TIME:
 585                                                 printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x pdop %3u",
 586                                                        log_metrum->u.gps_time.hour,
 587                                                        log_metrum->u.gps_time.minute,
 588                                                        log_metrum->u.gps_time.second,
 589                                                        log_metrum->u.gps_time.year,
 590                                                        log_metrum->u.gps_time.month,
 591                                                        log_metrum->u.gps_time.day,
 592                                                        log_metrum->u.gps_time.flags,
 593                                                        log_metrum->u.gps_time.pdop);
 594                                                 break;
 595                                         case AO_LOG_GPS_SAT:
 596                                                 printf(" channels %2d more %1d",
 597                                                        log_metrum->u.gps_sat.channels,
 598                                                        log_metrum->u.gps_sat.more);
 599                                                 for (i = 0; i < 4; i++) {
 600                                                         printf(" svid %3d c_n %2d",
 601                                                                log_metrum->u.gps_sat.sats[i].svid,
 602                                                                log_metrum->u.gps_sat.sats[i].c_n);
 603                                                 }
 604                                                 break;
 605                                         case AO_LOG_GPS_POS:
 606                                                 printf(" lat %10.7f° lon %10.7f° alt %8d m",
 607                                                        log_metrum->u.gps.latitude / 10000000.0,
 608                                                        log_metrum->u.gps.longitude/ 10000000.0,
 609                                                        (int32_t) (log_metrum->u.gps.altitude_low |
 610                                                                   (log_metrum->u.gps.altitude_high << 16)));
 611                                                 break;
 612                                         default:
 613                                                 printf(" unknown");
 614                                         }
 615                                         break;
 616                                 case AO_LOG_FORMAT_TELEFIRETWO:
 617                                         log_firetwo = (struct ao_log_firetwo *) &eeprom->data[pos];
 618                                         switch (log_firetwo->type) {
 619                                         case AO_LOG_FLIGHT:
 620                                                 printf(" serial %5u flight %5u",
 621                                                        eeprom->serial_number,
 622                                                        log_firetwo->u.flight.flight);
 623                                                 break;
 624                                         case AO_LOG_STATE:
 625                                                 ao_state(log_firetwo->u.state.state,
 626                                                          log_firetwo->u.state.reason);
 627                                                 break;
 628                                         case AO_LOG_SENSOR:
 629                                                 ao_pressure(log_firetwo->u.sensor.pressure,
 630                                                             max_adc, adc_ref,
 631                                                             sense_r1, sense_r2);
 632                                                 ao_thrust(log_firetwo->u.sensor.thrust,
 633                                                           max_adc, adc_ref,
 634                                                           sense_r1, sense_r2);
 635                                                 for (i = 0; i < 4; i++) {
 636                                                         char name[20];
 637                                                         sprintf(name, "thermistor%d", i);
 638                                                         ao_volts(name,
 639                                                                  log_firetwo->u.sensor.thermistor[i],
 640                                                                  max_adc, adc_ref,
 641                                                                  sense_r1, sense_r2);
 642                                                 }
 643                                                 break;
 644                                         }
 645                                         break;
 646                                 case AO_LOG_FORMAT_TELEGPS:
 647                                         log_gps = (struct ao_log_gps *) &eeprom->data[pos];
 648                                         switch (log_gps->type) {
 649                                         case AO_LOG_GPS_TIME:
 650                                                 printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
 651                                                        log_gps->u.gps.latitude / 10000000.0,
 652                                                        log_gps->u.gps.longitude/ 10000000.0,
 653                                                        (int32_t) (log_gps->u.gps.altitude_low |
 654                                                                   (log_gps->u.gps.altitude_high << 16)));
 655                                                 printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
 656                                                        log_gps->u.gps.hour,
 657                                                        log_gps->u.gps.minute,
 658                                                        log_gps->u.gps.second,
 659                                                        log_gps->u.gps.year + 2000,
 660                                                        log_gps->u.gps.month,
 661                                                        log_gps->u.gps.day,
 662                                                        log_gps->u.gps.flags);
 663                                                 printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
 664                                                        log_gps->u.gps.course,
 665                                                        log_gps->u.gps.ground_speed,
 666                                                        log_gps->u.gps.climb_rate,
 667                                                        log_gps->u.gps.pdop,
 668                                                        log_gps->u.gps.hdop,
 669                                                        log_gps->u.gps.vdop,
 670                                                        log_gps->u.gps.mode);
 671                                                 break;
 672                                         case AO_LOG_GPS_SAT:
 673                                                 printf(" channels %2d",
 674                                                        log_gps->u.gps_sat.channels);
 675                                                 for (i = 0; i < 12; i++) {
 676                                                         printf(" svid %3d c_n %2d",
 677                                                                log_gps->u.gps_sat.sats[i].svid,
 678                                                                log_gps->u.gps_sat.sats[i].c_n);
 679                                                 }
 680                                                 break;
 681                                         default:
 682                                                 printf (" unknown");
 683                                                 break;
 684                                         }
 685                                         break;
 686                                 case AO_LOG_FORMAT_EASYMOTOR:
 687                                         log_motor = (struct ao_log_motor *) &eeprom->data[pos];
 688                                         switch (log_motor->type) {
 689                                         case AO_LOG_FLIGHT:
 690                                                 printf(" serial %5u flight %5u ground_accel %6d",
 691                                                        eeprom->serial_number,
 692                                                        log_motor->u.flight.flight,
 693                                                        log_motor->u.flight.ground_accel);
 694                                                 printf(" along %6d aross %6d through %6d",
 695                                                        log_motor->u.flight.ground_accel_along,
 696                                                        log_motor->u.flight.ground_accel_across,
 697                                                        log_motor->u.flight.ground_accel_through);
 698                                                 ao_volts("ground pressure",
 699                                                          log_motor->u.flight.ground_motor_pressure,
 700                                                          max_adc, adc_ref,
 701                                                          sense_r1, sense_r2);
 702                                                 break;
 703                                         case AO_LOG_STATE:
 704                                                 ao_state(log_motor->u.state.state,
 705                                                          log_motor->u.state.reason);
 706                                                 break;
 707                                         case AO_LOG_SENSOR:
 708                                                 ao_volts("pressure",
 709                                                          log_motor->u.sensor.pressure,
 710                                                          max_adc, adc_ref,
 711                                                          sense_r1, sense_r2);
 712                                                 ao_volts("v_batt",
 713                                                          log_motor->u.sensor.v_batt,
 714                                                          max_adc,
 715                                                          adc_ref, batt_r1, batt_r2);
 716                                                 printf(" accel %6d",
 717                                                        log_motor->u.sensor.accel);
 718                                                 printf(" along %6d aross %6d through %6d",
 719                                                        log_motor->u.sensor.accel_along,
 720                                                        log_motor->u.sensor.accel_across,
 721                                                        log_motor->u.sensor.accel_through);
 722                                                 break;
 723                                         }
 724                                         break;
 725                                 case AO_LOG_FORMAT_DETHERM:
 726                                         break;
 727                                 }
 728                         }
 729                         printf("\n");
 730                 }
 731         }
 732         return ret;
 733 }