ardupilot/libraries/AP_Param/tools/eedump_apparam.pl

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1.6 KiB
Perl
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#!/usr/bin/perl
$file = $ARGV[0];
open(IN,$file) || die print "Failed to open file: $file : $!";
read(IN,$buffer,1);
read(IN,$buffer2,1);
if (ord($buffer2) != 0x41 && ord($buffer) != 0x50) {
print "bad header ". $buffer ." ".$buffer2. "\n";
exit;
}
read(IN,$buffer,1);
if (ord($buffer) != 6) {
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print "bad version";
exit;
}
# spare
read(IN,$buffer,1);
$a = 0;
while (read(IN,$buffer,1)) {
$pos = (tell(IN) - 1);
my $key = ord($buffer);
if ($key == 0xff) {
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printf("end sentinel at %u\n", $pos);
last;
}
read(IN,$buffer2,1);
read(IN,$buffer3,1);
read(IN,$buffer4,1);
my $itype = ord($buffer2)&0x3F;
my $group_element = (ord($buffer2)>>6) | (ord($buffer3)<<8) | (ord($buffer4)<<16);
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if ($itype == 0) { #none
$size = 0;
$type = "NONE";
} elsif ($itype == 1) { #int8
$size = 1;
$type = "INT8";
} elsif ($itype == 2) { #int16
$size = 2;
$type = "INT16";
} elsif ($itype == 3) { #int32
$size = 4;
$type = "INT32";
} elsif ($itype == 4) { #float
$size = 4;
$type = "FLOAT";
} elsif ($itype == 5) { #vector 3
$size = 3*4;
$type = "VECTOR3F";
} elsif ($itype == 6) { #vector6
$size = 6*4;
$type = "VECTOR6F";
} elsif ($itype == 7) { #matrix
$size = 3*3*4;
$type = "MATRIX6F";
} elsif ($itype == 8) { #group
$size = 0;
$type = "GROUP";
} else {
print "Unknown type\n";
$size = 0;
}
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printf("%04x: type %u ($type) key %u group_element %u size %d\n ", $pos, $itype, $key, $group_element, $size);
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for ($i = 0; $i < ($size); $i++) {
read(IN,$buffer,1);
printf(" %02x", ord($buffer));
}
print "\n";
}
close IN;