ardupilot/libraries/AP_Param/tools/eedump_apparam.c

189 lines
5.2 KiB
C

/*
* Simple tool to dump the AP_Param contents from an EEPROM dump
* Andrew Tridgell February 2012
*
* Build Command (Assuming starting directory is ardupilot)
* gcc -o eedump_ap_param libraries/AP_Param/tools/eedump_apparam.c
* gcc -g -o eedump_ap_param libraries/AP_Param/tools/eedump_apparam.c // With Debugging symbols
*
* How to Use?
* ./eedump_ap_param eeprom.bin
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
uint8_t eeprom[0x1000];
struct EEPROM_header {
uint8_t magic[2];
uint8_t revision;
uint8_t spare;
};
static const uint16_t k_EEPROM_magic0 = 0x50;
static const uint16_t k_EEPROM_magic1 = 0x41;
static const uint16_t k_EEPROM_revision = 6;
enum ap_var_type {
AP_PARAM_NONE = 0,
AP_PARAM_INT8,
AP_PARAM_INT16,
AP_PARAM_INT32,
AP_PARAM_FLOAT,
AP_PARAM_VECTOR3F,
AP_PARAM_VECTOR6F,
AP_PARAM_MATRIX3F,
AP_PARAM_GROUP
};
static const char *type_names[8] = {
"NONE", "INT8", "INT16", "INT32", "FLOAT", "VECTOR3F", "MATRIX6F", "GROUP"
};
struct Param_header {
// to get 9 bits for key we needed to split it into two parts to keep binary compatibility
uint32_t key_low : 8;
uint32_t type : 5;
uint32_t key_high : 1;
uint32_t group_element : 18;
};
static const uint16_t _sentinal_key = 0x1FF;
static const uint8_t _sentinal_type = 0x1F;
static const uint8_t _sentinal_group = 0xFF;
static uint8_t type_size(enum ap_var_type type)
{
switch (type) {
case AP_PARAM_NONE:
case AP_PARAM_GROUP:
return 0;
case AP_PARAM_INT8:
return 1;
case AP_PARAM_INT16:
return 2;
case AP_PARAM_INT32:
return 4;
case AP_PARAM_FLOAT:
return 4;
case AP_PARAM_VECTOR3F:
return 3*4;
case AP_PARAM_VECTOR6F:
return 6*4;
case AP_PARAM_MATRIX3F:
return 3*3*4;
}
printf("unknown type %u\n", (unsigned int)type);
return 0;
}
static void
fail(const char *why)
{
fprintf(stderr, "ERROR: %s\n", why);
exit(1);
}
int
main(int argc, char *argv[])
{
FILE *fp;
struct EEPROM_header *header;
struct Param_header *var;
unsigned index;
unsigned i;
if (argc != 2) {
fail("missing EEPROM file name");
}
if (NULL == (fp = fopen(argv[1], "rb"))) {
fail("can't open EEPROM file");
}
if (1 != fread(eeprom, sizeof(eeprom), 1, fp)) {
fail("can't read EEPROM file");
}
fclose(fp);
header = (struct EEPROM_header *)&eeprom[0];
if (header->magic[0] != k_EEPROM_magic0 ||
header->magic[1] != k_EEPROM_magic1) {
fail("bad magic in EEPROM file");
}
if (header->revision != k_EEPROM_revision) {
fail("unsupported EEPROM format revision");
}
printf("Header OK\n");
index = sizeof(*header);
for (;; ) {
uint8_t size;
var = (struct Param_header *)&eeprom[index];
const uint16_t key = ((uint16_t)var->key_high)<<8 | var->key_low;
if (key == _sentinal_key ||
var->type == _sentinal_type) {
printf("end sentinel at %u\n", index);
break;
}
size = type_size(var->type);
printf("%04x: type %u (%s) key %u group_element %u size %d value ",
index, var->type, type_names[var->type], key, var->group_element, size);
index += sizeof(*var);
switch (var->type) {
case AP_PARAM_INT8:
printf("%d\n", (int)*(int8_t *)&eeprom[index]);
break;
case AP_PARAM_INT16:
printf("%d\n", (int)*(int16_t *)&eeprom[index]);
break;
case AP_PARAM_INT32:
printf("%d\n", (int)*(int32_t *)&eeprom[index]);
break;
case AP_PARAM_FLOAT:
printf("%f\n", *(float *)&eeprom[index]);
break;
case AP_PARAM_VECTOR3F:
printf("%f %f %f\n",
*(float *)&eeprom[index],
*(float *)&eeprom[index+4],
*(float *)&eeprom[index+8]);
break;
case AP_PARAM_VECTOR6F:
printf("%f %f %f %f %f %f\n",
*(float *)&eeprom[index],
*(float *)&eeprom[index+4],
*(float *)&eeprom[index+8],
*(float *)&eeprom[index+12],
*(float *)&eeprom[index+16],
*(float *)&eeprom[index+20]);
break;
case AP_PARAM_MATRIX3F:
printf("%f %f %f %f %f %f %f %f %f\n",
*(float *)&eeprom[index],
*(float *)&eeprom[index+4],
*(float *)&eeprom[index+8],
*(float *)&eeprom[index+12],
*(float *)&eeprom[index+16],
*(float *)&eeprom[index+20],
*(float *)&eeprom[index+24],
*(float *)&eeprom[index+28],
*(float *)&eeprom[index+32]);
break;
default:
printf("NONE\n");
break;
}
for (i = 0; i < size; i++) {
printf(" %02x", eeprom[index + i]);
}
printf("\n");
index += size;
if (index >= sizeof(eeprom)) {
fflush(stdout);
fail("missing end sentinel");
}
}
return 0;
}