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