2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
24 #include <ao-eeprom-read.h>
25 #include <ao-atmosphere.h>
27 static const struct option options[] = {
28 { .name = "raw", .has_arg = 0, .val = 'r' },
29 { .name = "csum", .has_arg = 0, .val = 'c' },
30 { .name = "verbose", .has_arg = 0, .val = 'v' },
31 { .name = "len", .has_arg = 1, .val = 'l' },
35 static void usage(char *program)
37 fprintf(stderr, "usage: %s [--raw] [--csum] [--verbose] [--len <record-len>] {flight.eeprom} ...\n", program);
42 ao_csum_valid(uint8_t *d, int len)
46 for (i = 0; i < len; i++)
52 ao_ms5607(uint32_t pres, uint32_t temp, struct ao_eeprom *eeprom, bool is_ms5611)
54 struct ao_ms5607_sample ms5607_sample = { .pres = pres, .temp = temp };
55 struct ao_ms5607_value ms5607_value;
57 ao_ms5607_convert(&ms5607_sample, &ms5607_value,
58 &eeprom->ms5607_prom, is_ms5611);
59 printf(" pres %9u %7.3f kPa %7.1f m temp %9u %6.2f °C",
61 ms5607_value.pres / 1000.0,
62 ao_pressure_to_altitude(ms5607_value.pres),
64 ms5607_value.temp / 100.0);
67 #define GRAVITY 9.80665
70 ao_accel(int16_t accel, struct ao_eeprom *eeprom)
72 double accel_2g = eeprom->config.accel_minus_g - eeprom->config.accel_plus_g;
73 double accel_scale = GRAVITY * 2.0 / accel_2g;
74 printf(" accel %6d %7.2f m/s²",
75 accel, (eeprom->config.accel_plus_g - accel) * accel_scale);
78 static const char *state_names[] = {
91 #define NUM_STATE (sizeof state_names/sizeof state_names[0])
94 ao_state_name(uint16_t state)
96 if (state < NUM_STATE)
97 return state_names[state];
102 ao_state(uint16_t state, uint16_t reason)
104 printf(" state %5u %s reason %5u",
105 state, ao_state_name(state), reason);
109 ao_adc_to_volts(int16_t value, int16_t max_adc, double ref, double r1, double r2)
111 return ref * ((double) value / max_adc) * (r1 + r2) / r2;
115 ao_volts(const char *name, int16_t value, int16_t max_adc, double ref, double r1, double r2)
120 printf(" %6.3f V", ao_adc_to_volts(value, max_adc, ref, r1, r2));
123 static double lb_to_n(double lb)
125 return lb / 0.22480894;
128 static double psi_to_pa(double psi)
130 return psi * 6894.76;
134 ao_volts_to_newtons(double volts)
136 /* this is a total guess */
137 return lb_to_n(volts * 57.88645 * GRAVITY);
141 ao_thrust(int16_t value, int16_t max_adc, double ref, double r1, double r2)
143 printf(" thrust %5d", value);
144 if (r1 && r2 && ref) {
145 double volts = ao_adc_to_volts(value, max_adc, ref, r1, r2);
146 printf(" %6.3f V %8.1f N", volts, ao_volts_to_newtons(volts));
151 ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2)
153 printf(" pressure %5d", value);
154 if (r1 && r2 && ref) {
155 double volts = ao_adc_to_volts(value, max_adc, ref, r1, r2);
156 if (volts < 0.5) volts = 0.5;
157 if (volts > 4.5) volts = 4.5;
159 double psi = (volts - 0.5) / 4.0 * 2500.0;
160 double pa = psi_to_pa(psi);
161 printf(" %9.3f kPa", pa / 1000.0);
167 uint16(uint8_t *bytes, int off)
169 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
173 int16(uint8_t *bytes, int off)
175 return (int16_t) uint16(bytes, off);
179 uint32(uint8_t *bytes, int off)
181 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
182 (((uint32_t) bytes[off+2]) << 16) |
183 (((uint32_t) bytes[off+3]) << 24);
187 int32(uint8_t *bytes, int off)
189 return (int32_t) uint32(bytes, off);
194 uint24(uint8_t *bytes, int off)
196 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
197 (((uint32_t) bytes[off+2]) << 16);
201 int24(uint8_t *bytes, int off)
203 return (int32_t) uint24(bytes, off);
207 main (int argc, char **argv)
209 struct ao_eeprom *eeprom;
214 bool verbose = false;
220 while ((c = getopt_long(argc, argv, "rcvl:", options, NULL)) != -1) {
232 arg_len = strtol(optarg, &end, 0);
233 if (!*optarg || *end)
241 for (i = optind; i < argc; i++) {
242 file = fopen(argv[i], "r");
248 eeprom = ao_eeprom_read(file);
256 bool is_ms5611 = false;
258 int64_t current_tick = 0;
259 int64_t first_tick = 0x7fffffffffffffffLL;
261 double sense_r1 = 0.0, sense_r2 = 0.0;
262 double batt_r1 = 0.0, batt_r2 = 0.0;
263 double adc_ref = 0.0;
266 switch (eeprom->log_format) {
267 case AO_LOG_FORMAT_TELEMEGA_OLD:
270 case AO_LOG_FORMAT_EASYMINI1:
273 if (eeprom->serial_number < 1000)
277 batt_r1 = sense_r1 = 100e3;
278 batt_r2 = sense_r2 = 27e3;
280 case AO_LOG_FORMAT_TELEMETRUM:
289 case AO_LOG_FORMAT_TELEMINI2:
292 case AO_LOG_FORMAT_TELEGPS:
295 case AO_LOG_FORMAT_TELEMEGA:
304 case AO_LOG_FORMAT_DETHERM:
307 case AO_LOG_FORMAT_TELEMINI3:
316 case AO_LOG_FORMAT_TELEFIRETWO:
320 sense_r1 = batt_r1 = 5600;
321 sense_r2 = batt_r2 = 10000;
323 case AO_LOG_FORMAT_EASYMINI2:
327 batt_r1 = sense_r1 = 100e3;
328 batt_r2 = sense_r2 = 27e3;
330 case AO_LOG_FORMAT_TELEMEGA_3:
339 case AO_LOG_FORMAT_EASYMEGA_2:
348 case AO_LOG_FORMAT_TELESTATIC:
351 case AO_LOG_FORMAT_MICROPEAK2:
354 case AO_LOG_FORMAT_TELEMEGA_4:
363 case AO_LOG_FORMAT_EASYMOTOR:
376 printf("config major %d minor %d log format %d total %u len %d\n",
377 eeprom->config.major,
378 eeprom->config.minor,
384 for (pos = 0; pos < eeprom->len; pos += len) {
388 for (i = 0; i < len; i++)
389 printf(" %02x", eeprom->data[pos + i]);
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;
398 if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
400 printf("\tchecksum error at %d\n", pos);
404 struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
406 if (first_tick == 0x7fffffffffffffffLL) {
407 current_tick = first_tick = log_header->tick;
409 int16_t diff = (int16_t) (log_header->tick - (uint16_t) current_tick);
411 current_tick += diff;
413 printf("type %c tick %5u %6.2f S", log_header->type, log_header->tick, (current_tick - first_tick) / 100.0);
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) {
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);
439 ao_state(log_mega->u.state.state,
440 log_mega->u.state.reason);
443 ao_ms5607(log_mega->u.sensor.pres,
444 log_mega->u.sensor.temp,
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);
460 case AO_LOG_TEMP_VOLT:
462 log_mega->u.volt.v_batt,
467 log_mega->u.volt.v_pbatt,
471 printf(" n_sense %1d",
472 log_mega->u.volt.n_sense);
473 for (i = 0; i < log_mega->u.volt.n_sense; i++) {
475 sprintf(name, "sense%d", i);
477 log_mega->u.volt.sense[i],
482 printf(" pyro %04x", log_mega->u.volt.pyro);
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,
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);
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);
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) {
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);
531 ao_state(log_mini->u.state.state,
532 log_mini->u.state.reason);
535 ao_ms5607(int24(log_mini->u.sensor.pres, 0),
536 int24(log_mini->u.sensor.temp, 0),
539 log_mini->u.sensor.sense_a, max_adc,
540 adc_ref, sense_r1, sense_r2);
542 log_mini->u.sensor.sense_m, max_adc,
543 adc_ref, sense_r1, sense_r2);
545 log_mini->u.sensor.v_batt, max_adc,
546 adc_ref, batt_r1, batt_r2);
550 case AO_LOG_FORMAT_TELEMETRUM:
551 log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
552 switch (log_metrum->type) {
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);
562 ao_ms5607(log_metrum->u.sensor.pres,
563 log_metrum->u.sensor.temp,
565 ao_accel(log_metrum->u.sensor.accel, eeprom);
567 case AO_LOG_TEMP_VOLT:
569 log_metrum->u.volt.v_batt, max_adc,
570 adc_ref, batt_r1, batt_r2);
572 log_metrum->u.volt.sense_a, max_adc,
573 adc_ref, sense_r1, sense_r2);
575 log_metrum->u.volt.sense_m, max_adc,
576 adc_ref, sense_r1, sense_r2);
581 ao_state(log_metrum->u.state.state,
582 log_metrum->u.state.reason);
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);
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);
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)));
616 case AO_LOG_FORMAT_TELEFIRETWO:
617 log_firetwo = (struct ao_log_firetwo *) &eeprom->data[pos];
618 switch (log_firetwo->type) {
620 printf(" serial %5u flight %5u",
621 eeprom->serial_number,
622 log_firetwo->u.flight.flight);
625 ao_state(log_firetwo->u.state.state,
626 log_firetwo->u.state.reason);
629 ao_pressure(log_firetwo->u.sensor.pressure,
632 ao_thrust(log_firetwo->u.sensor.thrust,
635 for (i = 0; i < 4; i++) {
637 sprintf(name, "thermistor%d", i);
639 log_firetwo->u.sensor.thermistor[i],
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",
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,
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,
670 log_gps->u.gps.mode);
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);
686 case AO_LOG_FORMAT_EASYMOTOR:
687 log_motor = (struct ao_log_motor *) &eeprom->data[pos];
688 switch (log_motor->type) {
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,
704 ao_state(log_motor->u.state.state,
705 log_motor->u.state.reason);
709 log_motor->u.sensor.pressure,
713 log_motor->u.sensor.v_batt,
715 adc_ref, batt_r1, batt_r2);
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);
725 case AO_LOG_FORMAT_DETHERM: