568 lines
16 KiB
C
568 lines
16 KiB
C
/*
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* Copyright © 2017 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*/
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#ifndef _AO_EEPROM_READ_H_
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#define _AO_EEPROM_READ_H_
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#include <stdint.h>
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#include <stdio.h>
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#include <ao-ms5607.h>
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#define AO_MAX_CALLSIGN 8
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#define AO_AES_LEN 16
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#define AO_PYRO_NUM 8
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/* required functions from the underlying log system */
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#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
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#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
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#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
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#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
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#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
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#define AO_LOG_FORMAT_TELEMEGA_OLD 5 /* 32 byte typed telemega records */
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#define AO_LOG_FORMAT_EASYMINI1 6 /* 16-byte MS5607 baro only, 3.0V supply */
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#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
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#define AO_LOG_FORMAT_TELEMINI2 8 /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
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#define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */
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#define AO_LOG_FORMAT_TELEMEGA 10 /* 32 byte typed telemega records with 32 bit gyro cal */
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#define AO_LOG_FORMAT_DETHERM 11 /* 16-byte MS5607 baro only, no ADC */
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#define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
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#define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */
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#define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
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#define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
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#define AO_LOG_FORMAT_EASYMEGA_2 16 /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
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#define AO_LOG_FORMAT_TELESTATIC 17 /* 32 byte typed telestatic records */
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#define AO_LOG_FORMAT_MICROPEAK2 18 /* 2-byte baro values with header */
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#define AO_LOG_FORMAT_TELEMEGA_4 19 /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
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#define AO_LOG_FORMAT_EASYMOTOR 20 /* 16 byte typed easymotor records with pressure sensor and adxl375 */
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#define AO_LOG_FORMAT_TELEMEGA_5 21 /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
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#define AO_LOG_FORMAT_TELEMEGA_6 22 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */
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#define AO_LOG_FORMAT_NONE 127 /* No log at all */
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enum ao_pyro_flag {
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ao_pyro_none = 0x00000000,
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ao_pyro_accel_less = 0x00000001,
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ao_pyro_accel_greater = 0x00000002,
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ao_pyro_speed_less = 0x00000004,
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ao_pyro_speed_greater = 0x00000008,
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ao_pyro_height_less = 0x00000010,
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ao_pyro_height_greater = 0x00000020,
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ao_pyro_orient_less = 0x00000040,
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ao_pyro_orient_greater = 0x00000080,
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ao_pyro_time_less = 0x00000100,
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ao_pyro_time_greater = 0x00000200,
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ao_pyro_ascending = 0x00000400,
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ao_pyro_descending = 0x00000800,
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ao_pyro_after_motor = 0x00001000,
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ao_pyro_delay = 0x00002000,
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ao_pyro_state_less = 0x00004000,
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ao_pyro_state_greater_or_equal = 0x00008000,
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};
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struct ao_pyro {
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enum ao_pyro_flag flags;
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int16_t accel_less, accel_greater;
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int16_t speed_less, speed_greater;
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int16_t height_less, height_greater;
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int16_t orient_less, orient_greater;
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int16_t time_less, time_greater;
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int16_t delay;
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uint8_t state_less, state_greater_or_equal;
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int16_t motor;
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uint16_t delay_done;
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uint8_t _unused; /* was 'fired' */
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};
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struct ao_config {
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uint8_t major;
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uint8_t minor;
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uint16_t main_deploy;
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int16_t accel_plus_g; /* changed for minor version 2 */
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uint8_t _legacy_radio_channel;
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char callsign[AO_MAX_CALLSIGN + 1];
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uint8_t apogee_delay; /* minor version 1 */
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int16_t accel_minus_g; /* minor version 2 */
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uint32_t radio_cal; /* minor version 3 */
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uint32_t flight_log_max; /* minor version 4 */
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uint8_t ignite_mode; /* minor version 5 */
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uint8_t pad_orientation; /* minor version 6 */
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uint32_t radio_setting; /* minor version 7 */
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uint8_t radio_enable; /* minor version 8 */
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uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
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uint32_t frequency; /* minor version 10 */
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uint16_t apogee_lockout; /* minor version 11 */
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struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
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uint16_t aprs_interval; /* minor version 13 */
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uint8_t radio_power; /* minor version 14 */
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uint8_t radio_amp; /* minor version 14 */
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int16_t accel_zero_along; /* minor version 15 */
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int16_t accel_zero_across; /* minor version 15 */
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int16_t accel_zero_through; /* minor version 15 */
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uint8_t mid_beep; /* minor version 16 */
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uint16_t tracker_motion; /* minor version 17 */
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uint8_t tracker_interval; /* minor version 17 */
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uint16_t pyro_time; /* minor version 18 */
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uint8_t aprs_ssid; /* minor version 19 */
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uint8_t radio_rate; /* minor version 20 */
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uint32_t send_frequency; /* minor version 21 */
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uint8_t aprs_format; /* minor version 22 */
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uint8_t pad_box; /* minor version 22 */
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uint8_t pad_idle; /* minor version 23 */
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};
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/*
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* ao_log_big.c
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*/
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/*
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* The data log is recorded in the eeprom as a sequence
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* of data packets.
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*
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* Each packet starts with a 4-byte header that has the
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* packet type, the packet checksum and the tick count. Then
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* they all contain 2 16 bit values which hold packet-specific
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* data.
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*
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* For each flight, the first packet
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* is FLIGHT packet, indicating the serial number of the
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* device and a unique number marking the number of flights
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* recorded by this device.
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*
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* During flight, data from the accelerometer and barometer
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* are recorded in SENSOR packets, using the raw 16-bit values
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* read from the A/D converter.
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*
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* Also during flight, but at a lower rate, the deployment
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* sensors are recorded in DEPLOY packets. The goal here is to
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* detect failure in the deployment circuits.
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*
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* STATE packets hold state transitions as the flight computer
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* transitions through different stages of the flight.
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*/
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#define AO_LOG_FLIGHT 'F'
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#define AO_LOG_SENSOR 'A'
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#define AO_LOG_TEMP_VOLT 'T'
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#define AO_LOG_DEPLOY 'D'
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#define AO_LOG_STATE 'S'
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#define AO_LOG_GPS_TIME 'G'
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#define AO_LOG_GPS_LAT 'N'
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#define AO_LOG_GPS_LON 'W'
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#define AO_LOG_GPS_ALT 'H'
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#define AO_LOG_GPS_SAT 'V'
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#define AO_LOG_GPS_DATE 'Y'
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#define AO_LOG_GPS_POS 'P'
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#define AO_LOG_POS_NONE (~0UL)
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/* Common header in all log formats */
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struct ao_log_header {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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};
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struct ao_log_record {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union {
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struct {
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int16_t ground_accel; /* 4 */
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uint16_t flight; /* 6 */
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} flight;
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struct {
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int16_t accel; /* 4 */
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int16_t pres; /* 6 */
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} sensor;
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struct {
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int16_t temp;
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int16_t v_batt;
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} temp_volt;
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struct {
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int16_t drogue;
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int16_t main;
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} deploy;
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struct {
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uint16_t state;
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uint16_t reason;
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} state;
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struct {
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uint8_t hour;
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uint8_t minute;
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uint8_t second;
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uint8_t flags;
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} gps_time;
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int32_t gps_latitude;
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int32_t gps_longitude;
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struct {
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uint16_t altitude_low;
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int16_t altitude_high;
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} gps_altitude;
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struct {
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uint16_t svid;
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uint8_t unused;
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uint8_t c_n;
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} gps_sat;
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struct {
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uint8_t year;
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uint8_t month;
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uint8_t day;
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uint8_t extra;
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} gps_date;
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struct {
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uint16_t d0;
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uint16_t d1;
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} anon;
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} u;
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};
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struct ao_log_mega {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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int16_t ground_accel; /* 6 */
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uint32_t ground_pres; /* 8 */
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int16_t ground_accel_along; /* 12 */
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int16_t ground_accel_across; /* 14 */
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int16_t ground_accel_through; /* 16 */
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int16_t pad_18; /* 18 */
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int32_t ground_roll; /* 20 */
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int32_t ground_pitch; /* 24 */
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int32_t ground_yaw; /* 28 */
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} flight; /* 32 */
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struct {
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uint16_t flight; /* 4 */
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int16_t ground_accel; /* 6 */
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uint32_t ground_pres; /* 8 */
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int16_t ground_accel_along; /* 12 */
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int16_t ground_accel_across; /* 14 */
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int16_t ground_accel_through; /* 16 */
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int16_t ground_roll; /* 18 */
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int16_t ground_pitch; /* 20 */
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int16_t ground_yaw; /* 22 */
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} flight_old; /* 24 */
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/* AO_LOG_STATE */
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struct {
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uint16_t state;
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uint16_t reason;
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} state;
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/* AO_LOG_SENSOR */
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struct {
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uint32_t pres; /* 4 */
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uint32_t temp; /* 8 */
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int16_t accel_x; /* 12 */
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int16_t accel_y; /* 14 */
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int16_t accel_z; /* 16 */
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int16_t gyro_x; /* 18 */
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int16_t gyro_y; /* 20 */
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int16_t gyro_z; /* 22 */
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int16_t mag_x; /* 24 */
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int16_t mag_z; /* 26 */
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int16_t mag_y; /* 28 */
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int16_t accel; /* 30 */
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} sensor; /* 32 */
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/* AO_LOG_TEMP_VOLT */
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struct {
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int16_t v_batt; /* 4 */
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int16_t v_pbatt; /* 6 */
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int16_t n_sense; /* 8 */
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int16_t sense[10]; /* 10 */
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uint16_t pyro; /* 30 */
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} volt; /* 32 */
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/* AO_LOG_GPS_TIME */
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struct {
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int32_t latitude; /* 4 */
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int32_t longitude; /* 8 */
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uint16_t altitude_low; /* 12 */
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uint8_t hour; /* 14 */
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uint8_t minute; /* 15 */
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uint8_t second; /* 16 */
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uint8_t flags; /* 17 */
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uint8_t year; /* 18 */
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uint8_t month; /* 19 */
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uint8_t day; /* 20 */
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uint8_t course; /* 21 */
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uint16_t ground_speed; /* 22 */
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int16_t climb_rate; /* 24 */
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uint8_t pdop; /* 26 */
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uint8_t hdop; /* 27 */
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uint8_t vdop; /* 28 */
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uint8_t mode; /* 29 */
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int16_t altitude_high; /* 30 */
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} gps; /* 32 */
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/* AO_LOG_GPS_SAT */
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struct {
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uint16_t channels; /* 4 */
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struct {
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uint8_t svid;
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uint8_t c_n;
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} sats[12]; /* 6 */
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} gps_sat; /* 30 */
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} u;
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};
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#define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
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#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
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((l)->u.gps.altitude_high = (a) >> 16), \
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(l)->u.gps.altitude_low = (a))
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struct ao_log_firetwo {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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} flight; /* 6 */
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/* AO_LOG_STATE */
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struct {
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uint16_t state; /* 4 */
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uint16_t reason; /* 6 */
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} state; /* 8 */
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/* AO_LOG_SENSOR */
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struct {
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uint16_t pressure; /* 4 */
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uint16_t thrust; /* 6 */
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uint16_t thermistor[4]; /* 8 */
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} sensor; /* 24 */
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uint8_t align[28]; /* 4 */
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} u; /* 32 */
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};
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struct ao_log_telestatic {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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} flight; /* 6 */
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/* AO_LOG_STATE */
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struct {
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uint16_t state; /* 4 */
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uint16_t reason; /* 6 */
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} state; /* 8 */
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/* AO_LOG_SENSOR */
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struct {
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uint32_t pressure; /* 4 */
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uint32_t pressure2; /* 8 */
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uint32_t thrust; /* 12 */
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uint32_t mass; /* 16 */
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uint16_t t_low; /* 20 */
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uint16_t t_high[4]; /* 22 */
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} sensor; /* 30 */
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uint8_t align[28]; /* 4 */
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} u; /* 32 */
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};
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struct ao_log_metrum {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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int16_t ground_accel; /* 6 */
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uint32_t ground_pres; /* 8 */
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uint32_t ground_temp; /* 12 */
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} flight; /* 16 */
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/* AO_LOG_STATE */
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struct {
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uint16_t state; /* 4 */
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uint16_t reason; /* 6 */
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} state; /* 8 */
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/* AO_LOG_SENSOR */
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struct {
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uint32_t pres; /* 4 */
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uint32_t temp; /* 8 */
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int16_t accel; /* 12 */
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} sensor; /* 14 */
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/* AO_LOG_TEMP_VOLT */
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struct {
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int16_t v_batt; /* 4 */
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int16_t sense_a; /* 6 */
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int16_t sense_m; /* 8 */
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} volt; /* 10 */
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/* AO_LOG_GPS_POS */
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struct {
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int32_t latitude; /* 4 */
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int32_t longitude; /* 8 */
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uint16_t altitude_low; /* 12 */
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int16_t altitude_high; /* 14 */
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} gps; /* 16 */
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/* AO_LOG_GPS_TIME */
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struct {
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uint8_t hour; /* 4 */
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uint8_t minute; /* 5 */
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uint8_t second; /* 6 */
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uint8_t flags; /* 7 */
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uint8_t year; /* 8 */
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uint8_t month; /* 9 */
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uint8_t day; /* 10 */
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uint8_t pdop; /* 11 */
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} gps_time; /* 12 */
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/* AO_LOG_GPS_SAT (up to three packets) */
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struct {
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uint8_t channels; /* 4 */
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uint8_t more; /* 5 */
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struct {
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uint8_t svid;
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uint8_t c_n;
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} sats[4]; /* 6 */
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} gps_sat; /* 14 */
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uint8_t raw[12]; /* 4 */
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} u; /* 16 */
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};
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struct ao_log_mini {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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uint16_t r6;
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uint32_t ground_pres; /* 8 */
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} flight;
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/* AO_LOG_STATE */
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struct {
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uint16_t state; /* 4 */
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uint16_t reason; /* 6 */
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} state;
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/* AO_LOG_SENSOR */
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struct {
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uint8_t pres[3]; /* 4 */
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uint8_t temp[3]; /* 7 */
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int16_t sense_a; /* 10 */
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int16_t sense_m; /* 12 */
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int16_t v_batt; /* 14 */
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} sensor; /* 16 */
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} u; /* 16 */
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}; /* 16 */
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#define ao_log_pack24(dst,value) do { \
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(dst)[0] = (value); \
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(dst)[1] = (value) >> 8; \
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(dst)[2] = (value) >> 16; \
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} while (0)
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|
|
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struct ao_log_gps {
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|
char type; /* 0 */
|
|
uint8_t csum; /* 1 */
|
|
uint16_t tick; /* 2 */
|
|
union { /* 4 */
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|
/* AO_LOG_FLIGHT */
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|
struct {
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|
uint16_t flight; /* 4 */
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|
int16_t start_altitude; /* 6 */
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|
int32_t start_latitude; /* 8 */
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|
int32_t start_longitude; /* 12 */
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|
} flight; /* 16 */
|
|
/* AO_LOG_GPS_TIME */
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|
struct {
|
|
int32_t latitude; /* 4 */
|
|
int32_t longitude; /* 8 */
|
|
uint16_t altitude_low; /* 12 */
|
|
uint8_t hour; /* 14 */
|
|
uint8_t minute; /* 15 */
|
|
uint8_t second; /* 16 */
|
|
uint8_t flags; /* 17 */
|
|
uint8_t year; /* 18 */
|
|
uint8_t month; /* 19 */
|
|
uint8_t day; /* 20 */
|
|
uint8_t course; /* 21 */
|
|
uint16_t ground_speed; /* 22 */
|
|
int16_t climb_rate; /* 24 */
|
|
uint8_t pdop; /* 26 */
|
|
uint8_t hdop; /* 27 */
|
|
uint8_t vdop; /* 28 */
|
|
uint8_t mode; /* 29 */
|
|
int16_t altitude_high; /* 30 */
|
|
} gps; /* 31 */
|
|
/* AO_LOG_GPS_SAT */
|
|
struct {
|
|
uint16_t channels; /* 4 */
|
|
struct {
|
|
uint8_t svid;
|
|
uint8_t c_n;
|
|
} sats[12]; /* 6 */
|
|
} gps_sat; /* 30 */
|
|
} u;
|
|
};
|
|
|
|
struct ao_log_motor {
|
|
char type; /* 0 */
|
|
uint8_t csum; /* 1 */
|
|
uint16_t tick; /* 2 */
|
|
union { /* 4 */
|
|
/* AO_LOG_FLIGHT */
|
|
struct {
|
|
uint16_t flight; /* 4 */
|
|
int16_t ground_accel; /* 6 */
|
|
int16_t ground_accel_along; /* 8 */
|
|
int16_t ground_accel_across; /* 10 */
|
|
int16_t ground_accel_through; /* 12 */
|
|
int16_t ground_motor_pressure; /* 14 */
|
|
} flight; /* 16 */
|
|
/* AO_LOG_STATE */
|
|
struct {
|
|
uint16_t state; /* 4 */
|
|
uint16_t reason; /* 6 */
|
|
} state;
|
|
/* AO_LOG_SENSOR */
|
|
struct {
|
|
uint16_t pressure; /* 4 */
|
|
uint16_t v_batt; /* 6 */
|
|
int16_t accel; /* 8 */
|
|
int16_t accel_across; /* 10 */
|
|
int16_t accel_along; /* 12 */
|
|
int16_t accel_through; /* 14 */
|
|
} sensor; /* 16 */
|
|
} u;
|
|
};
|
|
|
|
struct ao_eeprom {
|
|
struct ao_config config;
|
|
struct ao_ms5607_prom ms5607_prom;
|
|
int log_format;
|
|
uint16_t serial_number;
|
|
uint8_t *data;
|
|
uint32_t len;
|
|
};
|
|
|
|
struct ao_eeprom *ao_eeprom_read(FILE *file);
|
|
|
|
struct ao_eeprom *ao_eeprom_read_old(FILE *file);
|
|
|
|
void ao_eeprom_free_data(struct ao_eeprom *ao_eeprom);
|
|
|
|
#endif /* _AO_EEPROM_READ_H_ */
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