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   1 /*
   2  * Copyright © 2011 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 #define _GNU_SOURCE
  20 #include <string.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <unistd.h>
  24 #include <getopt.h>
  25 #include "cc.h"
  26
  27 static const struct option options[] = {
  28         { .name = "crc", .has_arg = 0, .val = 'c' },
  29         { 0, 0, 0, 0},
  30 };
  31
  32 static void usage(char *program)
  33 {
  34         fprintf(stderr, "usage: %s [--crc] {flight.telem} ...\n",program);
  35         exit(1);
  36 }
  37
  38 #define bool(b) ((b) ? "true" : "false")
  39
  40 static int ignore_crc;
  41
  42 static void
  43 process(FILE *file)
  44 {
  45         char    line[1024];
  46         int c;
  47
  48         while (fgets(line, sizeof (line), file)) {
  49                 union ao_telemetry_all telem;
  50                 char call[AO_MAX_CALLSIGN+1];
  51                 char version[AO_MAX_VERSION+1];
  52
  53                 if (cc_telemetry_parse(line, &telem)) {
  54                         int rssi = (int8_t) telem.generic.rssi / 2 - 74;
  55
  56                         printf ("serial %5d rssi %d status %02x tick %5d type %3d ",
  57                                 telem.generic.serial, rssi, telem.generic.status,
  58                                 telem.generic.tick, telem.generic.type);
  59                         if (!ignore_crc && (telem.generic.status & (1 << 7)) == 0) {
  60                                 printf ("CRC error\n");
  61                                 continue;
  62                         }
  63                         switch (telem.generic.type) {
  64                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
  65                         case AO_TELEMETRY_SENSOR_TELEMINI:
  66                         case AO_TELEMETRY_SENSOR_TELENANO:
  67                                 printf ("state %1d accel %5d pres %5d ",
  68                                         telem.sensor.state, telem.sensor.accel, telem.sensor.pres);
  69                                 printf ("accel %6.2f speed %6.2f height %5d ",
  70                                         telem.sensor.acceleration / 16.0,
  71                                         telem.sensor.speed / 16.0,
  72                                         telem.sensor.height);
  73                                 printf ("ground_pres %5d ground_accel %5d accel_plus %5d accel_minus %5d\n",
  74                                         telem.sensor.ground_pres,
  75                                         telem.sensor.ground_accel,
  76                                         telem.sensor.accel_plus_g,
  77                                         telem.sensor.accel_minus_g);
  78                                 break;
  79                         case AO_TELEMETRY_CONFIGURATION:
  80                                 memcpy(call, telem.configuration.callsign, AO_MAX_CALLSIGN);
  81                                 memcpy(version, telem.configuration.version, AO_MAX_VERSION);
  82                                 call[AO_MAX_CALLSIGN] = '\0';
  83                                 version[AO_MAX_CALLSIGN] = '\0';
  84                                 printf ("device %3d flight %5d config %3d.%03d delay %2d main %4d log_max %5d",
  85                                         telem.configuration.device,
  86                                         telem.configuration.flight,
  87                                         telem.configuration.config_major,
  88                                         telem.configuration.config_minor,
  89                                         telem.configuration.apogee_delay,
  90                                         telem.configuration.main_deploy,
  91                                         telem.configuration.flight_log_max);
  92                                 printf (" call %8s version %8s\n", call, version);
  93                                 break;
  94                         case AO_TELEMETRY_LOCATION:
  95                                 printf ("sats %d flags %s%s%s%s",
  96                                         telem.location.flags & 0xf,
  97                                         (telem.location.flags & (1 << 4)) ? "valid" : "invalid",
  98                                         (telem.location.flags & (1 << 5)) ? ",running" : "",
  99                                         (telem.location.flags & (1 << 6)) ? ",date" : "",
 100                                         (telem.location.flags & (1 << 7)) ? ",course" : "");
 101                                 printf (" alt %5d lat %12.7f lon %12.7f",
 102                                         AO_TELEMETRY_LOCATION_ALTITUDE(&telem.location),
 103                                         telem.location.latitude / 1e7,
 104                                         telem.location.longitude / 1e7);
 105                                 if ((telem.location.flags & (1 << 6)) != 0) {
 106                                         printf (" year %2d month %2d day %2d",
 107                                                 telem.location.year,
 108                                                 telem.location.month,
 109                                                 telem.location.day);
 110                                         printf (" hour %2d minute %2d second %2d",
 111                                                 telem.location.hour,
 112                                                 telem.location.minute,
 113                                                 telem.location.second);
 114                                 }
 115                                 printf (" pdop %3.1f hdop %3.1f vdop %3.1f mode %d",
 116                                         telem.location.pdop / 5.0,
 117                                         telem.location.hdop / 5.0,
 118                                         telem.location.vdop / 5.0,
 119                                         telem.location.mode);
 120                                 if ((telem.location.flags & (1 << 7)) != 0)
 121                                         printf (" ground_speed %6.2f climb_rate %6.2f course %d",
 122                                                 telem.location.ground_speed / 100.0,
 123                                                 telem.location.climb_rate / 100.0,
 124                                                 telem.location.course * 2);
 125                                 printf ("\n");
 126                                 break;
 127                         case AO_TELEMETRY_SATELLITE:
 128                                 printf ("sats %d", telem.satellite.channels);
 129                                 for (c = 0; c < 12 && c < telem.satellite.channels; c++) {
 130                                         printf (" sat %d svid %d c_n_1 %d",
 131                                                 c,
 132                                                 telem.satellite.sats[c].svid,
 133                                                 telem.satellite.sats[c].c_n_1);
 134                                 }
 135                                 printf ("\n");
 136                                 break;
 137                         case AO_TELEMETRY_MEGA_SENSOR_MPU:
 138                         case AO_TELEMETRY_MEGA_SENSOR_BMX160:
 139                                 printf ("orient %3d accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
 140                                         telem.mega_sensor.orient,
 141                                         telem.mega_sensor.accel,
 142                                         telem.mega_sensor.pres,
 143                                         telem.mega_sensor.temp,
 144                                         telem.mega_sensor.accel_x,
 145                                         telem.mega_sensor.accel_y,
 146                                         telem.mega_sensor.accel_z,
 147                                         telem.mega_sensor.gyro_x,
 148                                         telem.mega_sensor.gyro_y,
 149                                         telem.mega_sensor.gyro_z,
 150                                         telem.mega_sensor.mag_x,
 151                                         telem.mega_sensor.mag_y,
 152                                         telem.mega_sensor.mag_z);
 153                                 break;
 154                         case AO_TELEMETRY_COMPANION:
 155                                 printf("board_id %3d update_period %3d channels %2d",
 156                                        telem.companion.board_id,
 157                                        telem.companion.update_period,
 158                                        telem.companion.channels);
 159                                 for (c = 0; c < telem.companion.channels; c++)
 160                                         printf(" %6d", telem.companion.companion_data[c]);
 161                                 printf("\n");
 162                                 break;
 163                         case AO_TELEMETRY_MEGA_DATA:
 164                                 printf ("state %1d v_batt %5d v_pyro %5d ",
 165                                         telem.mega_data.state,
 166                                         telem.mega_data.v_batt,
 167                                         telem.mega_data.v_pyro);
 168                                 for (c = 0; c < 6; c++)
 169                                         printf ("s%1d %5d ", c,
 170                                                 telem.mega_data.sense[c] |
 171                                                 (telem.mega_data.sense[c] << 8));
 172
 173                                 printf ("ground_pres %5d ground_accel %5d accel_plus %5d accel_minus %5d ",
 174                                         telem.mega_data.ground_pres,
 175                                         telem.mega_data.ground_accel,
 176                                         telem.mega_data.accel_plus_g,
 177                                         telem.mega_data.accel_minus_g);
 178
 179                                 printf ("accel %6.2f speed %6.2f height %5d\n",
 180                                         telem.mega_data.acceleration / 16.0,
 181                                         telem.mega_data.speed / 16.0,
 182                                         telem.mega_data.height);
 183
 184                                 break;
 185                         case AO_TELEMETRY_METRUM_SENSOR:
 186                                 printf ("state %1d accel %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d v_batt %5d sense_a %5d sense_m %5d\n",
 187                                         telem.metrum_sensor.state,
 188                                         telem.metrum_sensor.accel,
 189                                         telem.metrum_sensor.pres,
 190                                         telem.metrum_sensor.temp / 100.0,
 191                                         telem.metrum_sensor.acceleration / 16.0,
 192                                         telem.metrum_sensor.speed / 16.0,
 193                                         telem.metrum_sensor.height,
 194                                         telem.metrum_sensor.v_batt,
 195                                         telem.metrum_sensor.sense_a,
 196                                         telem.metrum_sensor.sense_m);
 197                                 break;
 198                         case AO_TELEMETRY_METRUM_DATA:
 199                                 printf ("ground_pres %9d ground_accel %5d accel_plus %5d accel_minus %5d\n",
 200                                         telem.metrum_data.ground_pres,
 201                                         telem.metrum_data.ground_accel,
 202                                         telem.metrum_data.accel_plus_g,
 203                                         telem.metrum_data.accel_minus_g);
 204                                 break;
 205                         case AO_TELEMETRY_MINI:
 206                                 printf ("state %1d v_batt %5d sense_a %5d sense_m %5d pres %9d temp %6.2f acceleration %6.2f speed %6.2f height %5d ground_pres %9d\n",
 207                                         telem.mini.state,
 208                                         telem.mini.v_batt,
 209                                         telem.mini.sense_a,
 210                                         telem.mini.sense_m,
 211                                         telem.mini.pres,
 212                                         telem.mini.temp / 100.0,
 213                                         telem.mini.acceleration / 16.0,
 214                                         telem.mini.speed / 16.0,
 215                                         telem.mini.height,
 216                                         telem.mini.ground_pres);
 217                                 break;
 218                         default:
 219                                 printf("\n");
 220                         }
 221                 }
 222         }
 223 }
 224
 225 int
 226 main (int argc, char **argv)
 227 {
 228         int c, i, ret = 0;
 229         FILE *file;
 230         while ((c = getopt_long(argc, argv, "c", options, NULL)) != -1) {
 231                 switch (c) {
 232                 case 'c':
 233                         ignore_crc = 1;
 234                         break;
 235                 default:
 236                         usage(argv[0]);
 237                         break;
 238                 }
 239         }
 240         if (optind < argc) {
 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                         process(file);
 249                         fclose (file);
 250
 251                 }
 252         } else
 253                 process(stdin);
 254         return ret;
 255 }