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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-14 17:51:49 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-14 17:51:49 +0200 |
| commit | fb397c8dc473fdf7b9639b86c15535397515cef5 (patch) | |
| tree | c26eae562d819d589806192c11d1b2c69d9df68d /ROMFS | |
| parent | 595ec0113bc278996e7831053eaae1c8e2e08c8e (diff) | |
| download | px4-firmware-fb397c8dc473fdf7b9639b86c15535397515cef5.tar.gz px4-firmware-fb397c8dc473fdf7b9639b86c15535397515cef5.tar.bz2 px4-firmware-fb397c8dc473fdf7b9639b86c15535397515cef5.zip | |
Added log converter to ROMFS
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/Makefile | 3 | ||||
| -rwxr-xr-x | ROMFS/logging/sdcard_logconverter.m | 72 |
2 files changed, 74 insertions, 1 deletions
diff --git a/ROMFS/Makefile b/ROMFS/Makefile index 39d74d682..ba694b055 100644 --- a/ROMFS/Makefile +++ b/ROMFS/Makefile @@ -28,7 +28,8 @@ ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \ $(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \ $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \ $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \ - $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix + $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \ + $(SRCROOT)/logging/sdcard_logconverter.m~logging/sdcard_logconverter.m # # Add the PX4IO firmware to the spec if someone has dropped it into the diff --git a/ROMFS/logging/sdcard_logconverter.m b/ROMFS/logging/sdcard_logconverter.m new file mode 100755 index 000000000..09702494c --- /dev/null +++ b/ROMFS/logging/sdcard_logconverter.m @@ -0,0 +1,72 @@ +clear all +clc + +% Read actuators file +fileInfo = dir('sensors_combined.bin'); +fileSize = fileInfo.bytes; + +fid = fopen('actuator_outputs0.bin', 'r'); +elements = int64(fileSize/16*4+8) + +for i=1:(elements-2) + actuators(i, 2:18) = fread(fid, inf, 'float'); +end + +% Read sensor combined file +% Type definition: Firmware/apps/uORB/topics/sensor_combined.h +% Struct: sensor_combined_s +fileInfo = dir('sensors_combined.bin'); +fileSize = fileInfo.bytes; + +fid = fopen('sensors_combined.bin', 'r'); + +for i=1:elements-2 + % timestamp + sensors(i,1) = double(fread(fid, 1, '*uint64', 0, 'ieee-le.l64')); + % gyro raw + sensors(i,2:4) = fread(fid, 3, 'int16', 0, 'ieee-le'); + % gyro counter + sensors(i,5) = fread(fid, 1, 'uint16', 0, 'ieee-le'); + % gyro in rad/s + sensors(i,6:8) = fread(fid, 3, 'float', 0, 'ieee-le'); + + % accelerometer raw + sensors(i,9:11) = fread(fid, 3, 'int16', 0, 'ieee-le'); + % padding bytes + fread(fid, 1, 'int16', 0, 'ieee-le'); + % accelerometer counter + sensors(i,12) = fread(fid, 1, 'uint32', 0, 'ieee-le'); + % accel in m/s2 + sensors(i,13:15) = fread(fid, 3, 'float', 0, 'ieee-le'); + % accel mode + sensors(i,16) = fread(fid, 1, 'int32', 0, 'ieee-le'); + % accel range + sensors(i,17) = fread(fid, 1, 'float', 0, 'ieee-le'); + + % mag raw + sensors(i,18:20) = fread(fid, 3, 'int16', 0, 'ieee-le'); + % padding bytes + fread(fid, 1, 'int16', 0, 'ieee-le'); + % mag in Gauss + sensors(i,21:23) = fread(fid, 3, 'float', 0, 'ieee-le'); + % mag mode + sensors(i,24) = fread(fid, 1, 'int32', 0, 'ieee-le'); + % mag range + sensors(i,25) = fread(fid, 1, 'float', 0, 'ieee-le'); + % mag cuttoff freq + sensors(i,26) = fread(fid, 1, 'float', 0, 'ieee-le'); + % mag counter + sensors(i,27) = fread(fid, 1, 'int32', 0, 'ieee-le'); + + % baro pressure millibar + % baro alt meter + % baro temp celcius + % battery voltage + % adc voltage (3 channels) + sensors(i,28:34) = fread(fid, 7, 'float', 0, 'ieee-le'); + % baro counter and battery counter + sensors(i,35:36) = fread(fid, 2, 'uint32', 0, 'ieee-le'); + % battery voltage valid flag + sensors(i,37) = fread(fid, 1, 'uint32', 0, 'ieee-le'); + +end
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