mirror of https://github.com/ArduPilot/ardupilot
138 lines
2.9 KiB
C
138 lines
2.9 KiB
C
/*
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* Simple tool to dump the AP_Param contents from an EEPROM dump
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* Andrew Tridgell February 2012
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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uint8_t eeprom[0x1000];
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#pragma pack(1)
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struct EEPROM_header {
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uint8_t magic[2];
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uint8_t revision;
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uint8_t spare;
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};
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static const uint16_t k_EEPROM_magic0 = 0x50;
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static const uint16_t k_EEPROM_magic1 = 0x41;
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static const uint16_t k_EEPROM_revision = 5;
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enum ap_var_type {
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AP_PARAM_NONE = 0,
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AP_PARAM_INT8,
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AP_PARAM_INT16,
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AP_PARAM_INT32,
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AP_PARAM_FLOAT,
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AP_PARAM_VECTOR3F,
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AP_PARAM_VECTOR6F,
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AP_PARAM_MATRIX3F,
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AP_PARAM_GROUP
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};
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static const char *type_names[8] = {
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"NONE", "INT8", "INT16", "INT32", "FLOAT", "VECTOR3F", "MATRIX6F", "GROUP"
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};
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struct Param_header {
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uint8_t key;
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uint8_t group_element;
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uint8_t type;
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};
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static const uint8_t _sentinal_key = 0xFF;
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static const uint8_t _sentinal_type = 0xFF;
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static const uint8_t _sentinal_group = 0xFF;
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static uint8_t type_size(enum ap_var_type type)
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{
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switch (type) {
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case AP_PARAM_NONE:
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case AP_PARAM_GROUP:
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return 0;
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case AP_PARAM_INT8:
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return 1;
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case AP_PARAM_INT16:
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return 2;
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case AP_PARAM_INT32:
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return 4;
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case AP_PARAM_FLOAT:
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return 4;
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case AP_PARAM_VECTOR3F:
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return 3*4;
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case AP_PARAM_VECTOR6F:
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return 6*4;
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case AP_PARAM_MATRIX3F:
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return 3*3*4;
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}
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printf("unknown type %u\n", type);
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return 0;
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}
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static void
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fail(const char *why)
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{
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fprintf(stderr, "ERROR: %s\n", why);
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exit(1);
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}
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int
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main(int argc, char *argv[])
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{
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FILE *fp;
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struct EEPROM_header *header;
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struct Param_header *var;
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unsigned index;
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unsigned i;
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if (argc != 2) {
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fail("missing EEPROM file name");
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}
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if (NULL == (fp = fopen(argv[1], "rb"))) {
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fail("can't open EEPROM file");
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}
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if (1 != fread(eeprom, sizeof(eeprom), 1, fp)) {
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fail("can't read EEPROM file");
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}
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fclose(fp);
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header = (struct EEPROM_header *)&eeprom[0];
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if (header->magic[0] != k_EEPROM_magic0 ||
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header->magic[1] != k_EEPROM_magic1) {
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fail("bad magic in EEPROM file");
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}
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if (header->revision != k_EEPROM_revision) {
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fail("unsupported EEPROM format revision");
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}
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printf("Header OK\n");
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index = sizeof(*header);
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for (;;) {
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uint8_t size;
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var = (struct Param_header *)&eeprom[index];
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if (var->key == _sentinal_key ||
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var->group_element == _sentinal_group ||
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var->type == _sentinal_type) {
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printf("end sentinel at %u\n", index);
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break;
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}
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size = type_size(var->type);
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printf("%04x: type %u (%s) key %u size %d\n ",
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index, var->type, type_names[var->type], var->key, size);
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index += sizeof(*var);
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for (i = 0; i <= size; i++) {
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printf(" %02x", eeprom[index + i]);
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}
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printf("\n");
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index += size;
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if (index >= sizeof(eeprom)) {
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fflush(stdout);
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fail("missing end sentinel");
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}
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}
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return 0;
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}
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