ao-telem: Add new program to convert telem data to ascii

This reads telem files and displays them in ascii form. It's not done,
and it's not documented, but it's a start.

Signed-off-by: Keith Packard <keithp@keithp.com>

9 files changed, 440 insertions, 1 deletions

diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 8144be1c..611bb7dc 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -1 +1 @@
-SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load
+SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list ao-load ao-telem
diff --git a/ao-tools/ao-telem/Makefile.am b/ao-tools/ao-telem/Makefile.am
new file mode 100644
index 00000000..3436443e
--- /dev/null
+++ b/ao-tools/ao-telem/Makefile.am
@@ -0,0 +1,12 @@
+bin_PROGRAMS=ao-telem
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+AO_POSTFLIGHT_LIBS=$(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_telem_DEPENDENCIES = $(AO_POSTFLIGHT_LIBS)
+
+ao_telem_LDADD=$(AO_POSTFLIGHT_LIBS) $(LIBUSB_LIBS)
+
+ao_telem_SOURCES = ao-telem.c
+
+man_MANS = ao-telem.1
diff --git a/ao-tools/ao-telem/ao-telem.1 b/ao-tools/ao-telem/ao-telem.1
new file mode 100644
index 00000000..8e6699d5
--- /dev/null
+++ b/ao-tools/ao-telem/ao-telem.1
@@ -0,0 +1,61 @@
+.\"
+.\" Copyright © 2009 Keith Packard <keithp@keithp.com>
+.\"
+.\" This program is free software; you can redistribute it and/or modify
+.\" it under the terms of the GNU General Public License as published by
+.\" the Free Software Foundation; either version 2 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" This program is distributed in the hope that it will be useful, but
+.\" WITHOUT ANY WARRANTY; without even the implied warranty of
+.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+.\" General Public License for more details.
+.\"
+.\" You should have received a copy of the GNU General Public License along
+.\" with this program; if not, write to the Free Software Foundation, Inc.,
+.\" 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+.\"
+.\"
+.TH AO-TELEM 1 "ao-telem" ""
+.SH NAME
+ao-telem \- Analyse a flight log (either telemetry or eeprom)
+.SH SYNOPSIS
+.B "ao-telem"
+[\-s <summary-file>]
+[\--summary=<summary-file>]
+[\-d <detail-file>]
+[\--detail=<detail-file>]
+[\-r <raw-file>]
+[\--raw=<raw-file>]
+[\-p <plot-file>]
+[\--plot=<plot-file>]
+[\-g <gps-file]
+[\--gps=<gps-file]
+[\-k <kml-file]
+[\--kml=<kml-file]
+{flight.eeprom|flight.telem}
+.SH DESCRIPTION
+.I ao-telem
+reads the specified flight log and produces several different kinds of
+output.
+.IP Summary
+By default, summary information is shown on stdout. With the --summary
+option, it can be redirected to a file.
+.IP Detail
+When requested with the --detail option, a filtered version of the
+flight position, speed and acceleration are written to the specified
+file.
+.IP Raw
+The --raw option writes the unfiltered, but converted acceleration
+and height data to the specified file.
+.IP Plot
+The --plot option writes plots of height, speed and acceleration to
+the specified file in .svg format
+.IP GPS
+The --gps option writes the recorded GPS data to the specified file in
+three columns.
+.IP KML
+The --kml option writes the recorded GPS data to the specified file in
+Keyhole Markup Language format, which can be displayed in Googleearth.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
new file mode 100644
index 00000000..0f671e1b
--- /dev/null
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -0,0 +1,112 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define _GNU_SOURCE
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <getopt.h>
+#include "cc.h"
+
+static const struct option options[] = {
+	{ 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+	fprintf(stderr, "usage: %s\n"
+		"\t{flight-log} ...\n", program);
+	exit(1);
+}
+
+int
+main (int argc, char **argv)
+{
+	char	line[80];
+	int c, i, ret;
+	char *s;
+	FILE *file;
+	int serial;
+	while ((c = getopt_long(argc, argv, "", options, NULL)) != -1) {
+		switch (c) {
+		default:
+			usage(argv[0]);
+			break;
+		}
+	}
+	for (i = optind; i < argc; i++) {
+		file = fopen(argv[i], "r");
+		if (!file) {
+			perror(argv[i]);
+			ret++;
+			continue;
+		}
+		s = strstr(argv[i], "-serial-");
+		if (s)
+			serial = atoi(s + 8);
+		else
+			serial = 0;
+		while (fgets(line, sizeof (line), file)) {
+			union ao_telemetry_all telem;
+			char call[AO_MAX_CALLSIGN+1];
+			char version[AO_MAX_VERSION+1];
+
+			if (cc_telemetry_parse(line, &telem)) {
+				printf ("serial %5d tick %5d type %3d ",
+					telem.generic.serial, telem.generic.tick, telem.generic.type);
+				switch (telem.generic.type) {
+				case AO_TELEMETRY_SENSOR_TELEMETRUM:
+				case AO_TELEMETRY_SENSOR_TELEMINI:
+				case AO_TELEMETRY_SENSOR_TELENANO:
+					printf ("state %1d accel %5d pres %5d ",
+						telem.sensor.state, telem.sensor.accel, telem.sensor.pres);
+					printf ("accel %5d speed %5d height %5d ",
+						telem.sensor.acceleration,
+						telem.sensor.speed,
+						telem.sensor.height);
+					printf ("ground_pres %5d ground_accel %5d accel_plus %5d accel_minus %5d\n",
+						telem.sensor.ground_pres,
+						telem.sensor.ground_accel,
+						telem.sensor.accel_plus_g,
+						telem.sensor.accel_minus_g);
+					break;
+				case AO_TELEMETRY_CONFIGURATION:
+					memcpy(call, telem.configuration.callsign, AO_MAX_CALLSIGN);
+					memcpy(version, telem.configuration.version, AO_MAX_VERSION);
+					call[AO_MAX_CALLSIGN] = '\0';
+					version[AO_MAX_CALLSIGN] = '\0';
+					printf ("device %3d flight %5d config %3d.%03d delay %2d main %4d",
+						telem.configuration.device,
+						telem.configuration.flight,
+						telem.configuration.config_major,
+						telem.configuration.config_minor,
+						telem.configuration.apogee_delay,
+						telem.configuration.main_deploy,
+						telem.configuration.flight_log_max);
+					printf (" call %8s version %8s\n", call, version);
+					break;
+				default:
+					printf("\n");
+				}
+			}
+		}
+		fclose (file);
+
+	}
+	return ret;
+}
diff --git a/ao-tools/lib/Makefile.am b/ao-tools/lib/Makefile.am
index da355db5..1f8f2e42 100644
--- a/ao-tools/lib/Makefile.am
+++ b/ao-tools/lib/Makefile.am
@@ -32,6 +32,8 @@ libao_tools_a_SOURCES = \
 	cc-bitbang.h \
 	cc-logfile.c \
 	cc-telem.c \
+	cc-telemetry.c \
+	cc-telemetry.h \
 	cp-usb-async.c \
 	cp-usb-async.h \
 	i0.c \
diff --git a/ao-tools/lib/cc-telemetry.c b/ao-tools/lib/cc-telemetry.c
new file mode 100644
index 00000000..2cdb9cac
--- /dev/null
+++ b/ao-tools/lib/cc-telemetry.c
@@ -0,0 +1,62 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "cc.h"
+#include <string.h>
+
+static int
+parse_byte(char *data, uint8_t *byte)
+{
+	char	d[3];
+	int x;
+	d[0] = data[0];
+	d[1] = data[1];
+	d[2] = '\0';
+
+	if (sscanf(d, "%x", &x) != 1)
+		return FALSE;
+	*byte = x;
+	return TRUE;
+}
+
+int
+cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry)
+{
+	uint8_t	*byte;
+	char *data;
+	uint8_t hex[35];
+	int i;
+
+	if (strncmp(input_line, "TELEM", 5) != 0)
+		return FALSE;
+
+	data = strchr (input_line, ' ');
+	if (!data)
+		return FALSE;
+	data++;
+	byte = hex;
+	for (i = 0; i < 35; i++) {
+		if (!parse_byte(data, byte))
+			return FALSE;
+		data += 2;
+		byte++;
+	}
+	if (hex[0] != 34)
+		return FALSE;
+	memcpy(telemetry, hex+1, 32);
+	return TRUE;
+}
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
new file mode 100644
index 00000000..5a66b971
--- /dev/null
+++ b/ao-tools/lib/cc-telemetry.h
@@ -0,0 +1,188 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _CC_TELEMETRY_H_
+#define _CC_TELEMETRY_H_
+/*
+ * ao_telemetry.c
+ */
+#define AO_MAX_CALLSIGN			8
+#define AO_MAX_VERSION			8
+#define AO_MAX_TELEMETRY		128
+
+struct ao_telemetry_generic {
+	uint16_t	serial;		/* 0 */
+	uint16_t	tick;		/* 2 */
+	uint8_t		type;		/* 4 */
+	uint8_t		payload[27];	/* 5 */
+	/* 32 */
+};
+
+#define AO_TELEMETRY_SENSOR_TELEMETRUM	0x01
+#define AO_TELEMETRY_SENSOR_TELEMINI	0x02
+#define AO_TELEMETRY_SENSOR_TELENANO	0x03
+
+struct ao_telemetry_sensor {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t         state;          /*  5 flight state */
+	int16_t		accel;		/*  6 accelerometer (TM only) */
+	int16_t		pres;		/*  8 pressure sensor */
+	int16_t		temp;		/* 10 temperature sensor */
+	int16_t		v_batt;		/* 12 battery voltage */
+	int16_t		sense_d;	/* 14 drogue continuity sense (TM/Tm) */
+	int16_t		sense_m;	/* 16 main continuity sense (TM/Tm) */
+
+	int16_t         acceleration;   /* 18 m/s² * 16 */
+	int16_t         speed;          /* 20 m/s * 16 */
+	int16_t         height;         /* 22 m */
+
+	int16_t		ground_pres;	/* 24 average pres on pad */
+	int16_t		ground_accel;	/* 26 average accel on pad */
+	int16_t		accel_plus_g;	/* 28 accel calibration at +1g */
+	int16_t		accel_minus_g;	/* 30 accel calibration at -1g */
+	/* 32 */
+};
+
+#define AO_TELEMETRY_CONFIGURATION	0x04
+
+struct ao_telemetry_configuration {
+	uint16_t	serial;				/*  0 */
+	uint16_t	tick;				/*  2 */
+	uint8_t		type;				/*  4 */
+
+	uint8_t         device;         		/*  5 device type */
+	uint16_t        flight;				/*  6 flight number */
+	uint8_t		config_major;			/*  8 Config major version */
+	uint8_t		config_minor;			/*  9 Config minor version */
+	uint16_t	apogee_delay;			/* 10 Apogee deploy delay in seconds */
+	uint16_t	main_deploy;			/* 12 Main deploy alt in meters */
+	uint16_t	flight_log_max;			/* 14 Maximum flight log size in kB */
+	char		callsign[AO_MAX_CALLSIGN];	/* 16 Radio operator identity */
+	char		version[AO_MAX_VERSION];	/* 24 Software version */
+	/* 32 */
+};
+
+#define AO_TELEMETRY_LOCATION		0x05
+
+#define AO_GPS_MODE_NOT_VALID		'N'
+#define AO_GPS_MODE_AUTONOMOUS		'A'
+#define AO_GPS_MODE_DIFFERENTIAL	'D'
+#define AO_GPS_MODE_ESTIMATED		'E'
+#define AO_GPS_MODE_MANUAL		'M'
+#define AO_GPS_MODE_SIMULATED		'S'
+
+struct ao_telemetry_location {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t         flags;		/*  5 Number of sats and other flags */
+	int16_t         altitude;	/*  6 GPS reported altitude (m) */
+	int32_t         latitude;	/*  8 latitude (degrees * 10⁷) */
+	int32_t         longitude;	/* 12 longitude (degrees * 10⁷) */
+	uint8_t         year;		/* 16 (- 2000) */
+	uint8_t         month;		/* 17 (1-12) */
+	uint8_t         day;		/* 18 (1-31) */
+	uint8_t         hour;		/* 19 (0-23) */
+	uint8_t         minute;		/* 20 (0-59) */
+	uint8_t         second;		/* 21 (0-59) */
+	uint8_t         pdop;		/* 22 (m * 5) */
+	uint8_t         hdop;		/* 23 (m * 5) */
+	uint8_t         vdop;		/* 24 (m * 5) */
+	uint8_t         mode;		/* 25 */
+	uint16_t	ground_speed;	/* 26 cm/s */
+	int16_t		climb_rate;	/* 28 cm/s */
+	uint8_t		course;		/* 30 degrees / 2 */
+	uint8_t		unused[1];	/* 31 */
+	/* 32 */
+};
+
+#define AO_TELEMETRY_SATELLITE		0x06
+
+struct ao_telemetry_satellite_info {
+	uint8_t		svid;
+	uint8_t		c_n_1;
+};
+
+struct ao_telemetry_satellite {
+	uint16_t				serial;		/*  0 */
+	uint16_t				tick;		/*  2 */
+	uint8_t					type;		/*  4 */
+	uint8_t					channels;	/*  5 number of reported sats */
+
+	struct ao_telemetry_satellite_info	sats[12];	/* 6 */
+	uint8_t					unused[2];	/* 30 */
+	/* 32 */
+};
+
+#define AO_TELEMETRY_COMPANION		0x07
+
+#define AO_COMPANION_MAX_CHANNELS	12
+
+struct ao_telemetry_companion {
+	uint16_t				serial;		/*  0 */
+	uint16_t				tick;		/*  2 */
+	uint8_t					type;		/*  4 */
+	uint8_t					board_id;	/*  5 */
+
+	uint8_t					update_period;	/*  6 */
+	uint8_t					channels;	/*  7 */
+	uint16_t				companion_data[AO_COMPANION_MAX_CHANNELS];	/*  8 */
+	/* 32 */
+};
+	
+/* #define AO_SEND_ALL_BARO */
+
+#define AO_TELEMETRY_BARO		0x80
+
+/*
+ * This packet allows the full sampling rate baro
+ * data to be captured over the RF link so that the
+ * flight software can be tested using 'real' data.
+ *
+ * Along with this telemetry packet, the flight
+ * code is modified to send full-rate telemetry all the time
+ * and never send an RDF tone; this ensure that the full radio
+ * link is available.
+ */
+struct ao_telemetry_baro {
+	uint16_t				serial;		/*  0 */
+	uint16_t				tick;		/*  2 */
+	uint8_t					type;		/*  4 */
+	uint8_t					samples;	/*  5 number samples */
+
+	int16_t					baro[12];	/* 6 samples */
+	/* 32 */
+};
+
+union ao_telemetry_all {
+	struct ao_telemetry_generic		generic;
+	struct ao_telemetry_sensor		sensor;
+	struct ao_telemetry_configuration	configuration;
+	struct ao_telemetry_location		location;
+	struct ao_telemetry_satellite		satellite;
+	struct ao_telemetry_companion		companion;
+	struct ao_telemetry_baro		baro;
+};
+
+int
+cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry);
+
+#endif
diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index ede46aa0..6257ee44 100644
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -20,6 +20,7 @@
 
 #include <stdio.h>
 #include <stdint.h>
+#include "cc-telemetry.h"
 
 char *
 cc_fullname (char *dir, char *file);
diff --git a/configure.ac b/configure.ac
index 9f1921b9..1a2cc813 100644
--- a/configure.ac
+++ b/configure.ac
@@ -122,6 +122,7 @@ ao-tools/ao-bitbang/Makefile
 ao-tools/ao-eeprom/Makefile
 ao-tools/ao-list/Makefile
 ao-tools/ao-load/Makefile
+ao-tools/ao-telem/Makefile
 ao-utils/Makefile
 src/Version
 ])