Sh3d/WII5Firmware
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Initial public release of WII5 Buoy firmware

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Firmware for an autonomous wave-measurement buoy (ATmega2560-based
WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU,
samples GPS and battery state, and reports back over Iridium SBD
satellite telemetry. Originally developed 2012-2024.

This is the first public release. Code, documentation, and field-tested
operating modes (Capture, Sleep, Position, ManualTest, SelfTest,
LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE.

See README.md for an overview and build instructions, CONTRIBUTING.md
for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
This commit is contained in:
Scott Penrose
2026-05-07 16:00:21 +10:00
commit 295abb37ee
122 changed files with 38142 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/PROCESSED.txt
+448
View File
@@ -0,0 +1,448 @@
New reordered array
process1.part1float
0..3 hz_max
4..7 hcm_max
8..11 htm_max
12..15 tz_mean
16 tp
17 hmod
18..72 psd
process2.parse2float
0..7 moment
8..16 ...
// 4
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hz_max[i]);
// 4
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hcm_max[i]);
// 4
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->htm_max[i]);
// 4 16
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->tz_mean[i]);
// 1
fprintf(ido_o,"%LF\n",return_data->tp);
// 1 18
fprintf(ido_o,"%LF\n",return_data->hmod);
// n_psd = 55 73
for (i=0;i<n_psd;i++) fprintf(ido_o,"%LF\n",return_data->psd[i]);
// n_mom = 7
for (i=0;i<n_mom;i++) fprintf(ido_o,"%LF\n",return_data->moment[i]);
// 8
fprintf(ido_o,"%d\n",return_data->qflg_open_water);
fprintf(ido_o,"%d\n",return_data->qflg_kist);
fprintf(ido_o,"%d\n",return_data->qflg_imu);
fprintf(ido_o,"%d\n",return_data->qflg_pkist);
fprintf(ido_o,"%d\n",return_data->qflg_accel);
fprintf(ido_o,"%d\n",return_data->qflg_gyro);
fprintf(ido_o,"%d\n",return_data->qflg_magno);
fprintf(ido_o,"%d\n",return_data->qflg_head);
// 54 62
155 lines
On average these are all floats - 4 Bytes
620 bytes - which does not fit into one block
OR:
101 * 4
54 * 2
= 512 - exactly the block size!
psd 55 = 220
Normal output from WII3/4
* All 4 byte float unless specified here
* direction - 54 * Int (2 byte) - total 108
* psd - 55 * float (4 byte) - total 220
hz_max: [1, 4], // Maximum wave height (trough - crest) in a 10 min segment
Double
4 * 4
= 16
hcm_max: [5, 8], // Maximum height of a crest above mean water level in a 10 min segment
Double
4 * 4
= 16
htm_max: [9, 12], // Maximum depth of a trough below mean water level in a 10 min segment
Double
4 * 4
= 16
tz_max: [13, 16], // Mean wave period in a 10 min segment
Double
4 * 4
= 16
tp: 17, // Peak period from the full (non averaged) spectra
Double
4
= 4
hmo: 18, // 4*standard deviation of elevation
Double
4
= 4
psd: [19, 73], // Using 1/f_avg = frequency
Double
55 * 4
= 220
moments: [74, 80], // Spectral moments
Double
7 * 4
= 28
theta: 81, // Mean wave direction
Double
4
= 4
dp: 82, // Peak wave direction
Double
4
= 4
s: 83, // Wave spread
Double
4
= 4
r: 84, // Ratio term to evaluate quality of wave direction approximation
Double
4
= 4
hs_dir:85, // Hs calculated using direction analysis
Double
4
= 4
a: 86, // Noise slope
Double
4
= 4
b: 87, // Noise intercept
Double
4
= 4
nstd: 88, // Noise standard deviation
Double
4
= 4
f2: 89, // Frequency cut-off
Double
4
= 4
qf_mvar: 90, // Quality flag: Mean vertical acceleration removed
Double
4
= 4
qf_kist: 91, // Quality flat: Kistler passed (0), Kistler failed (1)
Int
2
= 2
qf_imu: 92, // Quality flat: IMU passed (0), IMU failed (1)
Int
2
= 2
qf_p_kist: 93, // Quality flag: Percentage of flagged Kistler samples
Int
2
= 2
qf_p_accel: 94, // Quality flag: Percentage of flagged acceleration samples (averaged across 3 axis)
Int
2
= 2
qf_p_gyro: 95, // Quality flag: Percentage of flagged gyro samples (averaged across 3 axis)
Int
2
= 2
qf_p_mag: 96, // Quality flag: Percentage of flagged magno samples (averaged across 3 axis)
Int
2
= 2
qf_head: 97, // Quality flag: GPS heading passed (0), GPS heading failed (1)
Int
2
= 2
power_diff: 98, // Difference between power in the time domain and frequency domain
Double
4
= 4
yaw_std: 99, // Yaw standard deviation
Double
4
= 4
open_water: 100, // Open Water flag
Int
2
= 2
direction: [101, 154], // direction data
Int
54 * 2
= 108
492 bytes
11.787015
9.582090
12.528253
14.153369
7.735189
5.657926
4.293090
5.485378
-7.106659
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-8.348605
-8.667991
29.714286
28.750000
28.055556
30.400000
32.000000
10.224887
11.823206
46.393283
50.172329
45.776413
96.298192
69.859577
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0.091317
0.122532
0.145382
0.038717
0.057687
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0.035344
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0.007770
0.006380
0.004311
0.002205
0.001864
5740.408809
186.498311
6.548624
0.253406
0.011854
0.000831
0.000111
55.514691
14.862172
75.469394
32.156745
3.584171
-4.368659
-10.127936
410.341584
0.031250
10.716096
1
0
99
1
99
0
2
4.583661
11165.160686
1
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214
149
245
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687
659
204
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253
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550
430
490
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550
728
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863
795
567
674
482
884
429
787
299
619
787
328
742
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712
798
130
650
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336
680
547
434
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hz_max[i]);
4 Float
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->hcm_max[i]);
4 Float
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->htm_max[i]);
4 Float
for (i=0;i<2*k;i++) fprintf(ido_o,"%LF\n",return_data->tz_mean[i]);
4 Float
fprintf(ido_o,"%LF\n",return_data->tp);
1 Float
fprintf(ido_o,"%LF\n",return_data->hmod);
1 Float
for (i=0;i<n_psd;i++) fprintf(ido_o,"%LF\n",return_data->psd[i]);
55 Float
for (i=0;i<n_mom;i++) fprintf(ido_o,"%LF\n",return_data->moment[i]);
7 Float
fprintf(ido_o,"%LF\n",return_data->direction*180.0/pi);
1 Float
fprintf(ido_o,"%LF\n",return_data->peak_direction*180.0/pi);
1 Float
fprintf(ido_o,"%LF\n",return_data->spread*180.0/pi);
1 Float
fprintf(ido_o,"%LF\n",return_data->ratio);
1 Float
fprintf(ido_o,"%LF\n",return_data->hs_dir);
1 Float
fprintf(ido_o,"%LF\n",return_data->a);
1 Float
fprintf(ido_o,"%LF\n",return_data->b);
1 Float
fprintf(ido_o,"%LF\n",return_data->nstd);
1 Float
fprintf(ido_o,"%LF\n",return_data->f2);
1 Float
fprintf(ido_o,"%LF\n",return_data->qflg_mean_removed_imu);
1 Float
fprintf(ido_o,"%d\n",return_data->qflg_kist);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_imu);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_pkist);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_accel);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_gyro);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_magno);
1 Int
fprintf(ido_o,"%d\n",return_data->qflg_head);
1 Int
fprintf(ido_o,"%LF\n",return_data->qflg_tot_pow_imu);
1 Float
fprintf(ido_o,"%LF\n",return_data->std_yaw*180.0/pi);
1 Float
fprintf(ido_o,"%d\n",return_data->qflg_open_water);
1 Int
fprintf(ido_o,"%LF\n",return_data->hz_mean[0]);
1 Float
direction
54 Int
4 Float
4 Float
4 Float
4 Float
1 Float
1 Float
55 Float
73
= 292 Bytes
7 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
1 Float
17
= 68 bytes
1 Int
1 Int
1 Int
1 Int
1 Int
1 Int
1 Int
7
= 14 bytes
1 Float
1 Float
= 8 bytes
1 Int
= 2 bytes
1 Float
= 4 bytres
54 Int
= 108
= 204 total