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Elphel
elphel-apps-gps
Commits
d1088b1b
Commit
d1088b1b
authored
Oct 24, 2016
by
Andrey Filippov
Browse files
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added event log parser
parent
ed26a679
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read_imu_log.php
src/read_imu_log.php
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src/read_imu_log.php
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d1088b1b
<?php
if
(
!
isset
(
$_GET
[
'file'
])){
echo
"<pre>
\n
"
;
echo
"?file=log_file_name&record=record_number&nrecords=number_of_records&filter=filter"
;
echo
"</pre>
\n
"
;
exit
(
0
);
}
$timeShift
=
21600
;
$file
=
$_GET
[
'file'
];
$numRecordsInFile
=
filesize
(
$file
)
/
64
;
$record
=
0
;
$nRecords
=
1
;
/*
1 - NMEA sentence 0 $GPRMC (log type 1)
2 - NMEA sentence 1 $GPGGA (log type 1)
4 - NMEA sentence 2 $GPGSA (log type 1)
8 - NMEA sentence 3 $GPVTG (log type 1)
16 - IMU (type 0)
32 - SYNC (type 2)
64 - ODOMETER (type 3)
*/
$filter
=
0x7f
;
$type
=-
1
;
$gpsType
=-
1
;
if
(
isset
(
$_GET
[
'record'
]))
$record
=
$_GET
[
'record'
]
+
0
;
if
(
isset
(
$_GET
[
'nrecords'
]))
$nRecords
=
$_GET
[
'nrecords'
]
+
0
;
if
(
isset
(
$_GET
[
'filter'
]))
$filter
=
$_GET
[
'filter'
]
+
0
;
if
(
$record
>
(
$numRecordsInFile
-
1
))
$record
=
$numRecordsInFile
-
1
;
if
(
$nRecords
>
(
$numRecordsInFile
-
$record
))
$nRecords
=
$numRecordsInFile
-
$record
;
echo
"<pre>
\n
"
;
echo
"Number of samples in file=
$numRecordsInFile
\n
"
;
echo
"</pre>
\n
"
;
$log_file
=
fopen
(
$file
,
'r'
);
$averageIMU
=
array
(
"number"
=>
0
,
"gyroX"
=>
0
,
"gyroY"
=>
0
,
"gyroZ"
=>
0
,
"accelX"
=>
0
,
"accelY"
=>
0
,
"accelZ"
=>
0
,
"angleX"
=>
0
,
"angleY"
=>
0
,
"angleZ"
=>
0
,
"velocityX"
=>
0
,
"velocityY"
=>
0
,
"velocityZ"
=>
0
,
"temperature"
=>
0
);
imuLogParse
(
$log_file
,
$record
,
$nRecords
,
$filter
);
exit
(
0
);
function
imuLogParse
(
$handle
,
$record
,
$nSamples
,
$filter
,
$tryNumber
=
10000
){
global
$timeShift
;
global
$averageIMU
;
$showAll
=
(
$nSamples
<=
10000
);
$gpsFilter
=
$filter
&
0xf
;
$typeFilter
=
((
$gpsFilter
!=
0
)
?
2
:
0
)
|
(((
$filter
&
0x10
)
!=
0
)
?
1
:
0
)
|
(((
$filter
&
0x20
)
!=
0
)
?
4
:
0
)
|
(((
$filter
&
0x20
)
!=
0
)
?
8
:
0
);
fseek
(
$handle
,
64
*
$record
,
SEEK_SET
);
echo
"<pre>
\n
"
;
// echo "filter=$filter, gpsFilter=$gpsFilter, typeFilter=$typeFilter, record=$record, nSamples=$nSamples\n";
for
(
$nSample
=
0
;
$nSample
<
$nSamples
;
$nSample
++
)
{
$sample
=
fread
(
$handle
,
64
);
$arr32
=
unpack
(
'L*'
,
$sample
);
$type
=
$arr32
[
1
]
>>
24
;
$gps
=
(
$type
==
1
)
?
(
$arr32
[
3
]
&
0x3
)
:
0xf
;
// any if it is not GPS sample
if
((((
1
<<
$type
)
&
$typeFilter
)
!=
0
)
&&
((
$type
!=
1
)
||
(((
1
<<
$gps
)
&
$gpsFilter
)
!=
0
)))
{
//$arr8=unpack('C*',$sample);
$time
=
((
$arr32
[
1
]
&
0xfffff
)
/
1000000
)
+
$arr32
[
2
];
if
(
$showAll
)
printf
(
"%8d %f: "
,(
$record
+
$nSample
),
$time
);
switch
(
$type
)
{
// IMU record
case
0
:
// print_r($arr32);
// if ($showAll) {
// for ($i=2;$i<16;$i++) {
// printf(" %9d",$arr32[$i+1]);
// }
// echo "\n";
// printf("%8d %f: ",($record+$nSample),$time);
// for ($i=2;$i<16;$i++) {
// printf(" %9x",0xffffffff&$arr32[$i+1]);
// }
// echo "\n";
// }
$imuSample
=
parseIMU
(
$arr32
);
//if ($showAll) print_r($imuSample);
if
(
$showAll
)
echo
" [angleX]=>"
.
$imuSample
[
"angleX"
]
.
" [angleY]=>"
.
$imuSample
[
"angleY"
]
.
" [angleZ]=>"
.
$imuSample
[
"angleZ"
]
.
" [gyroX] =>"
.
$imuSample
[
"gyroX"
]
.
" [gyroY]=>"
.
$imuSample
[
"gyroY"
]
.
" [gyroZ]=>"
.
$imuSample
[
"gyroZ"
]
.
" [accelX] =>"
.
$imuSample
[
"accelX"
]
.
" [accelY]=>"
.
$imuSample
[
"accelY"
]
.
" [accelZ]=>"
.
$imuSample
[
"accelZ"
]
.
" [velocityX] =>"
.
$imuSample
[
"velocityX"
]
.
" [velocityY]=>"
.
$imuSample
[
"velocityY"
]
.
" [velocityZ]=>"
.
$imuSample
[
"velocityZ"
]
.
" [temperature]=>"
.
$imuSample
[
"temperature"
]
.
"
\n
"
;
$averageIMU
[
"number"
]
++
;
foreach
(
$imuSample
as
$key
=>
$value
)
$averageIMU
[
$key
]
+=
$value
;
$avg_x
=
$averageIMU
[
"angleX"
]
/
$averageIMU
[
"number"
];
$avg_y
=
$averageIMU
[
"angleY"
]
/
$averageIMU
[
"number"
];
$avg_z
=
$averageIMU
[
"angleZ"
]
/
$averageIMU
[
"number"
];
//echo $avg_x." ".$avg_y." ".$avg_z."\n";
break
;
// GPS record
case
1
:
$nmeaArray
=
parseGPS
(
$sample
);
$nmeaString
=
'$'
;
for
(
$i
=
0
;
$i
<
count
(
$nmeaArray
);
$i
++
)
{
$nmeaString
.=
$nmeaArray
[
$i
];
if
(
$i
<
(
count
(
$nmeaArray
)
-
1
))
$nmeaString
.=
','
;
}
echo
"GPS (NMEA): "
.
$nmeaString
.
"
\n
"
;
break
;
// Master (Sync) record
case
2
:
$masterTime
=
((
$arr32
[
3
]
&
0xfffff
)
/
1000000
)
+
$arr32
[
4
];
echo
"MasterTimeStamp: <b>"
.
(
$masterTime
+
$timeShift
)
.
"</b> TimeStamp: <b>"
.
(
$time
+
$timeShift
)
.
"</b> MasterTimeStamp(precise): 0x"
.
dechex
(
$arr32
[
4
])
.
"+"
.
dechex
(
$arr32
[
3
])
.
" TimeStamp(precise): 0x"
.
dechex
(
$arr32
[
2
])
.
"+"
.
dechex
(
$arr32
[
1
])
.
"
$masterTime
- "
.
gmdate
(
DATE_RFC850
,
$masterTime
)
.
" [local timestamp - "
.
gmdate
(
DATE_RFC850
,
$time
)
.
"]
\n
"
;
break
;
// Show hex data
case
3
:
print_r
(
$arr32
);
break
;
}
}
}
foreach
(
$averageIMU
as
$key
=>
$value
)
if
(
$key
!=
'number'
)
$averageIMU
[
$key
]
/=
$averageIMU
[
'number'
];
print_r
(
$averageIMU
);
echo
"</pre>
\n
"
;
echo
"<table>
\n
"
;
foreach
(
$averageIMU
as
$key
=>
$value
)
echo
"<tr><td>
$key
</td><td>
$value
</td></tr>
\n
"
;
echo
"</table>
\n
"
;
}
function
parseGPS
(
$sample
){
$sentences
=
array
(
0
=>
"GPRMC"
,
1
=>
"GPGGA"
,
2
=>
"GPGSA"
,
3
=>
"GPVTG"
);
$formats
=
array
(
0
=>
str_split
(
'nbnbnbnnnnb'
),
1
=>
str_split
(
'nnbnbnnnnbnbbb'
),
2
=>
str_split
(
'bnnnnnnnnnnnnnnnn'
),
3
=>
str_split
(
'nbnbnbnb'
)
);
//print_r($formats);
/*
'R','M','C','n','b','n','b','n','b','n','n','n','n','b', 0, 0, 0, 0, 0, 0, 0,0,0,0, 0,0,0,0, 0,0,0,0,
'G','G','A','n','n','b','n','b','n','n','n','n','b','n','b','b','b', 0, 0, 0, 0,0,0,0, 0,0,0,0, 0,0,0,0,
'G','S','A','b','n','n','n','n','n','n','n','n','n','n','n','n','n','n','n','n', 0,0,0,0, 0,0,0,0, 0,0,0,0,
'V','T','G','n','b','n','b','n','b','n','b', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,0,0,0, 0,0,0,0, 0,0,0,0,
*/
$arr8
=
unpack
(
'C*'
,
$sample
);
$type
=
$arr8
[
4
];
$nibbleNumber
=
16
;
// starting with 0;
$gps
=
getNibble
(
$nibbleNumber
++
,
$arr8
);
//echo "gps=$gps\n";
$rslt
=
array
(
0
=>
$sentences
[
$gps
]);
for
(
$i
=
0
;
$i
<
count
(
$formats
[
$gps
]);
$i
++
){
$rslt
[
$i
+
1
]
=
''
;
if
(
$formats
[
$gps
][
$i
]
==
'n'
){
//nibbles
while
(
true
)
{
$nibble
=
getNibble
(
$nibbleNumber
++
,
$arr8
);
if
(
$nibble
==
0xf
)
break
;
$rslt
[
$i
+
1
]
.=
chr
(
$nibble
+
((
$nibble
>
9
)
?
0x20
:
0x30
));
}
}
else
{
// bytes
do
{
$byte
=
getNibble
(
$nibbleNumber
++
,
$arr8
);
$byte
+=
(
getNibble
(
$nibbleNumber
++
,
$arr8
)
<<
4
);
if
((
$byte
&
0x7f
)
!=
0x7f
)
$rslt
[
$i
+
1
]
.=
chr
(
$byte
&
0x7f
);
}
while
((
$byte
&
0x80
)
==
0
);
}
}
return
$rslt
;
}
function
getNibble
(
$n
,
$arr8
){
return
(
$arr8
[(
$n
>>
1
)
+
1
]
>>
((
$n
&
1
)
?
4
:
0
))
&
0xf
;
}
function
parseNMEA
(
$sent
,
$data
){
/*
eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
1 = UTC of position fix
2 = Data status (V=navigation receiver warning)
3 = Latitude of fix
4 = N or S
5 = Longitude of fix
6 = E or W
7 = Speed over ground in knots
8 = Track made good in degrees True
9 = UT date
10 = Magnetic variation degrees (Easterly var. subtracts from true course)
11 = E or W
12 = Checksum
eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
1 = UTC of Position
2 = Latitude
3 = N or S
4 = Longitude
5 = E or W
6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
7 = Number of satellites in use [not those in view]
8 = Horizontal dilution of position
9 = Antenna altitude above/below mean sea level (geoid)
10 = Meters (Antenna height unit)
11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and
mean sea level. -=geoid is below WGS-84 ellipsoid)
12 = Meters (Units of geoidal separation)
13 = Age in seconds since last update from diff. reference station
14 = Diff. reference station ID#
15 = Checksum
GPS Satellites in view
eg. $GPGSV,3,1,11,03,03,111,00,04,15,270,00,06,01,010,00,13,06,292,00*74
$GPGSV,3,2,11,14,25,170,00,16,57,208,39,18,67,296,40,19,40,246,00*74
$GPGSV,3,3,11,22,42,067,42,24,14,311,43,27,05,244,00,,,,*4D
$GPGSV,1,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
1 = Total number of messages of this type in this cycle
2 = Message number
3 = Total number of SVs in view
4 = SV PRN number
5 = Elevation in degrees, 90 maximum
6 = Azimuth, degrees from true north, 000 to 359
7 = SNR, 00-99 dB (null when not tracking)
8-11 = Information about second SV, same as field 4-7
12-15= Information about third SV, same as field 4-7
16-19= Information about fourth SV, same as field 4-7
eg3. $GPVTG,t,T,,,s.ss,N,s.ss,K*hh
1 = Track made good
2 = Fixed text 'T' indicates that track made good is relative to true north
3 = not used
4 = not used
5 = Speed over ground in knots
6 = Fixed text 'N' indicates that speed over ground in in knots
7 = Speed over ground in kilometers/hour
8 = Fixed text 'K' indicates that speed over ground is in kilometers/hour
9 = Checksum
// IMU logged data:
0x10, // x gyro low
0x12, // x gyro high 0.013108 deg/sec
0x14, // y gyro low
0x16, // y gyro high 0.013108 deg/sec
0x18, // z gyro low
0x1a, // z gyro high 0.013108 deg/sec
0x1c, // x accel low
0x1e, // x accel high 0.8192 mg
0x20, // y accel low
0x22, // y accel high
0x24, // z accel low
0x26, // z accel high
0x40, // x delta angle low
0x42, // x delta angle high +/-179.9891, LSB=0.005493 degree
0x44, // y delta angle low
0x46, // y delta angle high +/-179.9891, LSB=0.005493 degree
0x48, // z delta angle low
0x4a, // z delta angle high +/-179.9891, LSB=0.005493 degree
0x4c, // x delta velocity low
0x4e, // x delta velocity high +/-99.998 m/sec, LSB=3.0518mm/sec
0x50, // y delta velocity low
0x52, // y delta velocity high +/-99.998 m/sec, LSB=3.0518mm/sec
0x54, // z delta velocity low
0x56, // z delta velocity high +/-99.998 m/sec, LSB=3.0518mm/sec
0x0e, // temperature 25C+ 0.00565C/LSB
0x70, // time m/s [13:8] - minutes, [5:0] seconds
0x72, // time d/h [12:8] - day [5:0] - hours
0x74,// time y/m [14:8] year (from 2000), [3:0] - month
*/
}
function
parseIMU
(
$arr32
){
$gyroScale
=
0.013108
/
65536
;
// deg/sec
$accelScale
=
0.8192
/
65536
;
// mg
$angleScale
=
0.005493
/
65536
;
//degrees
$velocityScale
=
0.0030518
/
65536
;
//m/sec
// $angleScale= 0.005493; //degrees
// $velocityScale=0.0030518; //m/sec
$temperatureScale
=
0.00565
;
// C/LSB
$t
=
(
$arr32
[
15
]
&
0xffff
);
if
(
$t
>=
32768
)
$t
-=
65536
;
for
(
$i
=
3
;
$i
<
15
;
$i
++
)
if
((
$arr32
[
$i
]
&
0x80000000
)
!=
0
)
$arr32
[
$i
]
-=
0x100000000
;
return
array
(
"gyroX"
=>
$arr32
[
3
]
*
$gyroScale
,
"gyroY"
=>
$arr32
[
4
]
*
$gyroScale
,
"gyroZ"
=>
$arr32
[
5
]
*
$gyroScale
,
"accelX"
=>
$arr32
[
6
]
*
$accelScale
,
"accelY"
=>
$arr32
[
7
]
*
$accelScale
,
"accelZ"
=>
$arr32
[
8
]
*
$accelScale
,
"angleX"
=>
$arr32
[
9
]
*
$angleScale
,
"angleY"
=>
$arr32
[
10
]
*
$angleScale
,
"angleZ"
=>
$arr32
[
11
]
*
$angleScale
,
"velocityX"
=>
$arr32
[
12
]
*
$velocityScale
,
"velocityY"
=>
$arr32
[
13
]
*
$velocityScale
,
"velocityZ"
=>
$arr32
[
14
]
*
$velocityScale
,
"temperature"
=>
$t
*
$temperatureScale
+
25
// "temperature"=>$t
// date/time
);
}
?>
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