#include <stdio.h>
#include <stdlib.h>
+#include <stdbool.h>
#include <unistd.h>
#include <getopt.h>
-#include "cc-usb.h"
-
-#define NUM_BLOCK 512
+#include <ao-eeprom-read.h>
+#include <ao-atmosphere.h>
static const struct option options[] = {
- { .name = "tty", .has_arg = 1, .val = 'T' },
+ { .name = "raw", .has_arg = 0, .val = 'r' },
+ { .name = "csum", .has_arg = 0, .val = 'c' },
+ { .name = "verbose", .has_arg = 0, .val = 'v' },
+ { .name = "len", .has_arg = 1, .val = 'l' },
{ 0, 0, 0, 0},
};
static void usage(char *program)
{
- fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
+ fprintf(stderr, "usage: %s [--raw] [--csum] [--verbose] [--len <record-len>] {flight.eeprom} ...\n", program);
exit(1);
}
+static bool
+ao_csum_valid(uint8_t *d, int len)
+{
+ uint8_t sum = 0x5a;
+ int i;
+ for (i = 0; i < len; i++)
+ sum += d[i];
+ return sum == 0;
+}
+
+static void
+ao_ms5607(uint32_t pres, uint32_t temp, struct ao_eeprom *eeprom, bool is_ms5611)
+{
+ struct ao_ms5607_sample ms5607_sample = { .pres = pres, .temp = temp };
+ struct ao_ms5607_value ms5607_value;
+
+ ao_ms5607_convert(&ms5607_sample, &ms5607_value,
+ &eeprom->ms5607_prom, is_ms5611);
+ printf(" pres %9u %7.3f kPa %7.1f m temp %9u %6.2f °C",
+ pres,
+ ms5607_value.pres / 1000.0,
+ ao_pressure_to_altitude(ms5607_value.pres),
+ temp,
+ ms5607_value.temp / 100.0);
+}
+
+#define GRAVITY 9.80665
+
+static void
+ao_accel(int16_t accel, struct ao_eeprom *eeprom)
+{
+ double accel_2g = eeprom->config.accel_minus_g - eeprom->config.accel_plus_g;
+ double accel_scale = GRAVITY * 2.0 / accel_2g;
+ printf(" accel %6d %7.2f m/s²",
+ accel, (eeprom->config.accel_plus_g - accel) * accel_scale);
+}
+
+static const char *state_names[] = {
+ "startup",
+ "idle",
+ "pad",
+ "boost",
+ "fast",
+ "coast",
+ "drogue",
+ "main",
+ "landed",
+ "invalid"
+};
+
+#define NUM_STATE (sizeof state_names/sizeof state_names[0])
+
+static const char *
+ao_state_name(uint16_t state)
+{
+ if (state < NUM_STATE)
+ return state_names[state];
+ return "UNKNOWN";
+}
+
+static void
+ao_state(uint16_t state, uint16_t reason)
+{
+ printf(" state %5u %s reason %5u",
+ state, ao_state_name(state), reason);
+}
+
+static double
+ao_adc_to_volts(int16_t value, int16_t max_adc, double ref, double r1, double r2)
+{
+ return ref * ((double) value / max_adc) * (r1 + r2) / r2;
+}
+
+static void
+ao_volts(const char *name, int16_t value, int16_t max_adc, double ref, double r1, double r2)
+{
+ printf(" %s %5d",
+ name, value);
+ if (r1 && r2 && ref)
+ printf(" %6.3f V", ao_adc_to_volts(value, max_adc, ref, r1, r2));
+}
+
+static double lb_to_n(double lb)
+{
+ return lb / 0.22480894;
+}
+
+static double psi_to_pa(double psi)
+{
+ return psi * 6894.76;
+}
+
+static double
+ao_volts_to_newtons(double volts)
+{
+ /* this is a total guess */
+ return lb_to_n(volts * 57.88645 * GRAVITY);
+}
+
+static void
+ao_thrust(int16_t value, int16_t max_adc, double ref, double r1, double r2)
+{
+ printf(" thrust %5d", value);
+ if (r1 && r2 && ref) {
+ double volts = ao_adc_to_volts(value, max_adc, ref, r1, r2);
+ printf(" %6.3f V %8.1f N", volts, ao_volts_to_newtons(volts));
+ }
+}
+
+static void
+ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2)
+{
+ printf(" pressure %5d", value);
+ if (r1 && r2 && ref) {
+ double volts = ao_adc_to_volts(value, max_adc, ref, r1, r2);
+ if (volts < 0.5) volts = 0.5;
+ if (volts > 4.5) volts = 4.5;
+
+ double psi = (volts - 0.5) / 4.0 * 2500.0;
+ double pa = psi_to_pa(psi);
+ printf(" %9.3f kPa", pa / 1000.0);
+ }
+}
+
+#if 0
+static uint16_t
+uint16(uint8_t *bytes, int off)
+{
+ return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
+}
+
+static int16_t
+int16(uint8_t *bytes, int off)
+{
+ return (int16_t) uint16(bytes, off);
+}
+
+static uint32_t
+uint32(uint8_t *bytes, int off)
+{
+ return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+ (((uint32_t) bytes[off+2]) << 16) |
+ (((uint32_t) bytes[off+3]) << 24);
+}
+
+static int32_t
+int32(uint8_t *bytes, int off)
+{
+ return (int32_t) uint32(bytes, off);
+}
+#endif
+
+static uint32_t
+uint24(uint8_t *bytes, int off)
+{
+ return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+ (((uint32_t) bytes[off+2]) << 16);
+}
+
+static int32_t
+int24(uint8_t *bytes, int off)
+{
+ return (int32_t) uint24(bytes, off);
+}
+
int
main (int argc, char **argv)
{
- struct cc_usb *cc;
- int block;
- uint8_t bytes[32 * (2 + 8)];
- uint8_t *b;
- int i, j;
- uint32_t addr;
- char *tty = NULL;
- int c;
+ struct ao_eeprom *eeprom;
+ FILE *file;
+ int c;
+ bool raw = false;
+ bool csum = false;
+ bool verbose = false;
+ int arg_len = 0;
+ char *end;
+ int ret = 0;
+ int i;
- while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "rcvl:", options, NULL)) != -1) {
switch (c) {
- case 'T':
- tty = optarg;
+ case 'r':
+ raw = true;
+ break;
+ case 'c':
+ csum = true;
+ break;
+ case 'v':
+ verbose = true;
+ break;
+ case 'l':
+ arg_len = strtol(optarg, &end, 0);
+ if (!*optarg || *end)
+ usage(argv[0]);
break;
default:
usage(argv[0]);
break;
}
}
- if (!tty)
- tty = getenv("ALTOS_TTY");
- if (!tty)
- tty="/dev/ttyACM0";
- cc = cc_usb_open(tty);
- if (!cc)
- exit(1);
- for (block = 0; block < NUM_BLOCK; block++) {
- cc_queue_read(cc, bytes, sizeof (bytes));
- cc_usb_printf(cc, "e %x\n", block);
- cc_usb_sync(cc);
- for (i = 0; i < 32; i++) {
- b = bytes + (i * 10);
- addr = block * 256 + i * 8;
- printf ("%06x", addr);
- for (j = 0; j < 8; j++) {
- printf (" %02x", b[j+2]);
+ for (i = optind; i < argc; i++) {
+ file = fopen(argv[i], "r");
+ if (!file) {
+ perror(argv[i]);
+ ret++;
+ continue;
+ }
+ eeprom = ao_eeprom_read(file);
+ fclose(file);
+ if (!eeprom) {
+ perror(argv[i]);
+ ret++;
+ continue;
+ }
+ int len = 0;
+ bool is_ms5611 = false;
+
+ int64_t current_tick = 0;
+ int64_t first_tick = 0x7fffffffffffffffLL;
+
+ double sense_r1 = 0.0, sense_r2 = 0.0;
+ double batt_r1 = 0.0, batt_r2 = 0.0;
+ double adc_ref = 0.0;
+ int16_t max_adc = 0;
+
+ switch (eeprom->log_format) {
+ case AO_LOG_FORMAT_TELEMEGA_OLD:
+ len = 32;
+ break;
+ case AO_LOG_FORMAT_EASYMINI1:
+ len = 16;
+ max_adc = 32767;
+ if (eeprom->serial_number < 1000)
+ adc_ref = 3.0;
+ else
+ adc_ref = 3.3;
+ batt_r1 = sense_r1 = 100e3;
+ batt_r2 = sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_TELEMETRUM:
+ len = 16;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ batt_r1 = 5600;
+ batt_r2 = 10000;
+ sense_r1 = 100e3;
+ sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_TELEMINI2:
+ len = 16;
+ break;
+ case AO_LOG_FORMAT_TELEGPS:
+ len = 32;
+ break;
+ case AO_LOG_FORMAT_TELEMEGA:
+ len = 32;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ batt_r1 = 5600;
+ batt_r2 = 10000;
+ sense_r1 = 100e3;
+ sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_DETHERM:
+ len = 16;
+ break;
+ case AO_LOG_FORMAT_TELEMINI3:
+ len = 16;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ batt_r1 = 5600;
+ batt_r2 = 10000;
+ sense_r1 = 100e3;
+ sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_TELEFIRETWO:
+ len = 32;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ sense_r1 = batt_r1 = 5600;
+ sense_r2 = batt_r2 = 10000;
+ break;
+ case AO_LOG_FORMAT_EASYMINI2:
+ len = 16;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ batt_r1 = sense_r1 = 100e3;
+ batt_r2 = sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_TELEMEGA_3:
+ len = 32;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ batt_r1 = 5600;
+ batt_r2 = 10000;
+ sense_r1 = 100e3;
+ sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_EASYMEGA_2:
+ len = 32;
+ max_adc = 4095;
+ adc_ref = 3.3;
+ batt_r1 = 5600;
+ batt_r2 = 10000;
+ sense_r1 = 100e3;
+ sense_r2 = 27e3;
+ break;
+ case AO_LOG_FORMAT_TELESTATIC:
+ len = 32;
+ break;
+ case AO_LOG_FORMAT_MICROPEAK2:
+ len = 2;
+ break;
+ }
+ if (arg_len)
+ len = arg_len;
+ if (verbose)
+ printf("config major %d minor %d log format %d total %u len %d\n",
+ eeprom->config.major,
+ eeprom->config.minor,
+ eeprom->log_format,
+ eeprom->len,
+ len);
+
+ uint32_t pos;
+ for (pos = 0; pos < eeprom->len; pos += len) {
+ int i;
+ if (raw) {
+ printf("%9u", pos);
+ for (i = 0; i < len; i++)
+ printf(" %02x", eeprom->data[pos + i]);
+ } else {
+ struct ao_log_mega *log_mega;
+ struct ao_log_mini *log_mini;
+ struct ao_log_metrum *log_metrum;
+ struct ao_log_gps *log_gps;
+ struct ao_log_firetwo *log_firetwo;
+
+ if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
+ if (verbose)
+ printf("\tchecksum error at %d\n", pos);
+ continue;
+ }
+
+ struct ao_log_header *log_header = (struct ao_log_header *) &eeprom->data[pos];
+
+ if (first_tick == 0x7fffffffffffffffLL) {
+ current_tick = first_tick = log_header->tick;
+ } else {
+ int16_t diff = (int16_t) (log_header->tick - (uint16_t) current_tick);
+
+ current_tick += diff;
+ }
+ printf("type %c tick %5u %6.2f S", log_header->type, log_header->tick, (current_tick - first_tick) / 100.0);
+
+ switch (eeprom->log_format) {
+ case AO_LOG_FORMAT_TELEMEGA_OLD:
+ case AO_LOG_FORMAT_TELEMEGA:
+ case AO_LOG_FORMAT_TELEMEGA_3:
+ case AO_LOG_FORMAT_EASYMEGA_2:
+ log_mega = (struct ao_log_mega *) &eeprom->data[pos];
+ switch (log_mega->type) {
+ case AO_LOG_FLIGHT:
+ printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u",
+ eeprom->serial_number,
+ log_mega->u.flight.flight,
+ log_mega->u.flight.ground_accel,
+ log_mega->u.flight.ground_pres);
+ printf(" along %6d aross %6d through %6d",
+ log_mega->u.flight.ground_accel_along,
+ log_mega->u.flight.ground_accel_across,
+ log_mega->u.flight.ground_accel_through);
+ printf(" roll %6d pitch %6d yaw %6d",
+ log_mega->u.flight.ground_roll,
+ log_mega->u.flight.ground_pitch,
+ log_mega->u.flight.ground_yaw);
+ break;
+ case AO_LOG_STATE:
+ ao_state(log_mega->u.state.state,
+ log_mega->u.state.reason);
+ break;
+ case AO_LOG_SENSOR:
+ ao_ms5607(log_mega->u.sensor.pres,
+ log_mega->u.sensor.temp,
+ eeprom, is_ms5611);
+ printf(" accel_x %6d accel_y %6d accel_z %6d",
+ log_mega->u.sensor.accel_x,
+ log_mega->u.sensor.accel_y,
+ log_mega->u.sensor.accel_z);
+ printf (" gyro_x %6d gyro_y %6d gyro_z %6d",
+ log_mega->u.sensor.gyro_x,
+ log_mega->u.sensor.gyro_y,
+ log_mega->u.sensor.gyro_z);
+ printf (" mag_x %6d mag_y %6d mag_z %6d",
+ log_mega->u.sensor.mag_x,
+ log_mega->u.sensor.mag_y,
+ log_mega->u.sensor.mag_z);
+ ao_accel(log_mega->u.sensor.accel, eeprom);
+ break;
+ case AO_LOG_TEMP_VOLT:
+ ao_volts("v_batt",
+ log_mega->u.volt.v_batt,
+ max_adc,
+ adc_ref,
+ batt_r1, batt_r2);
+ ao_volts("v_pbatt",
+ log_mega->u.volt.v_pbatt,
+ max_adc,
+ adc_ref,
+ sense_r1, sense_r2);
+ printf(" n_sense %1d",
+ log_mega->u.volt.n_sense);
+ for (i = 0; i < log_mega->u.volt.n_sense; i++) {
+ char name[10];
+ sprintf(name, "sense%d", i);
+ ao_volts(name,
+ log_mega->u.volt.sense[i],
+ max_adc,
+ adc_ref,
+ sense_r1, sense_r2);
+ }
+ printf(" pyro %04x", log_mega->u.volt.pyro);
+ break;
+ case AO_LOG_GPS_TIME:
+ printf(" lat %10.7f ° lon %10.7f ° alt %8d m",
+ log_mega->u.gps.latitude / 10000000.0,
+ log_mega->u.gps.longitude/ 10000000.0,
+ (int32_t) (log_mega->u.gps.altitude_low |
+ (log_mega->u.gps.altitude_high << 16)));
+ printf(" time %02d:%02d:%02d %04d-%02d-%02d flags %02x",
+ log_mega->u.gps.hour,
+ log_mega->u.gps.minute,
+ log_mega->u.gps.second,
+ log_mega->u.gps.year + 2000,
+ log_mega->u.gps.month,
+ log_mega->u.gps.day,
+ log_mega->u.gps.flags);
+ printf(" course %3d ground_speed %5u climb_rate %6d pdop %3d hdop %3d vdop %3d mode %3d",
+ log_mega->u.gps.course,
+ log_mega->u.gps.ground_speed,
+ log_mega->u.gps.climb_rate,
+ log_mega->u.gps.pdop,
+ log_mega->u.gps.hdop,
+ log_mega->u.gps.vdop,
+ log_mega->u.gps.mode);
+ break;
+ case AO_LOG_GPS_SAT:
+ printf(" channels %2d",
+ log_mega->u.gps_sat.channels);
+ for (i = 0; i < 12; i++) {
+ printf(" svid %3d c_n %2d",
+ log_mega->u.gps_sat.sats[i].svid,
+ log_mega->u.gps_sat.sats[i].c_n);
+ }
+ break;
+ }
+ break;
+ case AO_LOG_FORMAT_EASYMINI1:
+ case AO_LOG_FORMAT_EASYMINI2:
+ case AO_LOG_FORMAT_TELEMINI2:
+ case AO_LOG_FORMAT_TELEMINI3:
+ log_mini = (struct ao_log_mini *) &eeprom->data[pos];
+ switch (log_mini->type) {
+ case AO_LOG_FLIGHT:
+ printf(" serial %5u flight %5u ground_pres %9u",
+ eeprom->serial_number,
+ log_mini->u.flight.flight,
+ log_mini->u.flight.ground_pres);
+ break;
+ case AO_LOG_STATE:
+ ao_state(log_mini->u.state.state,
+ log_mini->u.state.reason);
+ break;
+ case AO_LOG_SENSOR:
+ ao_ms5607(int24(log_mini->u.sensor.pres, 0),
+ int24(log_mini->u.sensor.temp, 0),
+ eeprom, is_ms5611);
+ ao_volts("sense_a",
+ log_mini->u.sensor.sense_a, max_adc,
+ adc_ref, sense_r1, sense_r2);
+ ao_volts("sense_m",
+ log_mini->u.sensor.sense_m, max_adc,
+ adc_ref, sense_r1, sense_r2);
+ ao_volts("v_batt",
+ log_mini->u.sensor.v_batt, max_adc,
+ adc_ref, batt_r1, batt_r2);
+ break;
+ } /* */
+ break;
+ case AO_LOG_FORMAT_TELEMETRUM:
+ log_metrum = (struct ao_log_metrum *) &eeprom->data[pos];
+ switch (log_metrum->type) {
+ case AO_LOG_FLIGHT:
+ printf(" serial %5u flight %5u ground_accel %6d ground_pres %9u ground_temp %9u",
+ eeprom->serial_number,
+ log_metrum->u.flight.flight,
+ log_metrum->u.flight.ground_accel,
+ log_metrum->u.flight.ground_pres,
+ log_metrum->u.flight.ground_temp);
+ break;
+ case AO_LOG_SENSOR:
+ ao_ms5607(log_metrum->u.sensor.pres,
+ log_metrum->u.sensor.temp,
+ eeprom, is_ms5611);
+ ao_accel(log_metrum->u.sensor.accel, eeprom);
+ break;
+ case AO_LOG_TEMP_VOLT:
+ ao_volts("v_batt",
+ log_metrum->u.volt.v_batt, max_adc,
+ adc_ref, batt_r1, batt_r2);
+ ao_volts("sense_a",
+ log_metrum->u.volt.sense_a, max_adc,
+ adc_ref, sense_r1, sense_r2);
+ ao_volts("sense_m",
+ log_metrum->u.volt.sense_m, max_adc,
+ adc_ref, sense_r1, sense_r2);
+ break;
+ case AO_LOG_DEPLOY:
+ break;
+ case AO_LOG_STATE:
+ ao_state(log_metrum->u.state.state,
+ log_metrum->u.state.reason);
+ break;
+ case AO_LOG_GPS_TIME:
+ printf(" time %02d:%02d:%02d 20%02d-%02d-%02d flags %02x pdop %3u",
+ log_metrum->u.gps_time.hour,
+ log_metrum->u.gps_time.minute,
+ log_metrum->u.gps_time.second,
+ log_metrum->u.gps_time.year,
+ log_metrum->u.gps_time.month,
+ log_metrum->u.gps_time.day,
+ log_metrum->u.gps_time.flags,
+ log_metrum->u.gps_time.pdop);
+ break;
+ case AO_LOG_GPS_SAT:
+ printf(" channels %2d more %1d",
+ log_metrum->u.gps_sat.channels,
+ log_metrum->u.gps_sat.more);
+ for (i = 0; i < 4; i++) {
+ printf(" svid %3d c_n %2d",
+ log_metrum->u.gps_sat.sats[i].svid,
+ log_metrum->u.gps_sat.sats[i].c_n);
+ }
+ break;
+ case AO_LOG_GPS_POS:
+ printf(" lat %10.7f° lon %10.7f° alt %8d m",
+ log_metrum->u.gps.latitude / 10000000.0,
+ log_metrum->u.gps.longitude/ 10000000.0,
+ (int32_t) (log_metrum->u.gps.altitude_low |
+ (log_metrum->u.gps.altitude_high << 16)));
+ break;
+ default:
+ printf(" unknown");
+ }
+ break;
+ case AO_LOG_FORMAT_TELEFIRETWO:
+ log_firetwo = (struct ao_log_firetwo *) &eeprom->data[pos];
+ switch (log_firetwo->type) {
+ case AO_LOG_FLIGHT:
+ printf(" serial %5u flight %5u",
+ eeprom->serial_number,
+ log_firetwo->u.flight.flight);
+ break;
+ case AO_LOG_STATE:
+ ao_state(log_firetwo->u.state.state,
+ log_firetwo->u.state.reason);
+ break;
+ case AO_LOG_SENSOR:
+ ao_pressure(log_firetwo->u.sensor.pressure,
+ max_adc, adc_ref,
+ sense_r1, sense_r2);
+ ao_thrust(log_firetwo->u.sensor.thrust,
+ max_adc, adc_ref,
+ sense_r1, sense_r2);
+ for (i = 0; i < 4; i++) {
+ char name[20];
+ sprintf(name, "thermistor%d", i);
+ ao_volts(name,
+ log_firetwo->u.sensor.thermistor[i],
+ max_adc, adc_ref,
+ sense_r1, sense_r2);
+ }
+ break;
+ }
+ break;
+ case AO_LOG_FORMAT_TELEGPS:
+ log_gps = (struct ao_log_gps *) &eeprom->data[pos];
+ (void) log_gps;
+ break;
+ case AO_LOG_FORMAT_DETHERM:
+ break;
+ }
}
- printf ("\n");
+ printf("\n");
}
}
- cc_usb_close(cc);
- exit (0);
+ return ret;
}
projects / fw / altos / blobdiff