From fb397c8dc473fdf7b9639b86c15535397515cef5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 14 Sep 2012 17:51:49 +0200
Subject: Added log converter to ROMFS

---
 ROMFS/logging/sdcard_logconverter.m | 72 +++++++++++++++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100755 ROMFS/logging/sdcard_logconverter.m

(limited to 'ROMFS/logging')

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
\ No newline at end of file
-- 
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