diff options
author | tnaegeli <naegelit@student.ethz.ch> | 2012-10-10 09:52:37 +0200 |
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committer | tnaegeli <naegelit@student.ethz.ch> | 2012-10-10 09:52:37 +0200 |
commit | ec018e7b6468553eacb0e23af1fd7dac39749ef7 (patch) | |
tree | 56e8fc7269d03d1824457db9270efa83877f9392 | |
parent | 613e12fcac07a17e6b9d25b05f58c8a1b9587f5e (diff) | |
parent | 1e59a592a6a41a65e9e69814ae3d8cb62a061367 (diff) | |
download | px4-firmware-ec018e7b6468553eacb0e23af1fd7dac39749ef7.tar.gz px4-firmware-ec018e7b6468553eacb0e23af1fd7dac39749ef7.tar.bz2 px4-firmware-ec018e7b6468553eacb0e23af1fd7dac39749ef7.zip |
Merge branch 'master' of https://github.com/PX4/Firmware
Conflicts:
apps/commander/state_machine_helper.c
apps/multirotor_att_control/multirotor_att_control_main.c
apps/multirotor_att_control/multirotor_rate_control.c
solved
-rw-r--r-- | ROMFS/scripts/rc.FMU_quad_x | 2 | ||||
-rw-r--r-- | ROMFS/scripts/rc.PX4IOAR | 2 | ||||
-rw-r--r-- | ROMFS/scripts/rc.standalone | 10 | ||||
-rw-r--r-- | apps/drivers/bma180/bma180.cpp | 4 | ||||
-rw-r--r-- | apps/drivers/l3gd20/l3gd20.cpp | 4 | ||||
-rw-r--r-- | apps/gps/ubx.c | 2 | ||||
-rw-r--r-- | apps/sensors/sensors.cpp | 128 | ||||
-rw-r--r-- | apps/systemcmds/bl_update/bl_update.c | 38 | ||||
-rw-r--r-- | apps/systemcmds/eeprom/eeprom.c | 4 | ||||
-rw-r--r-- | apps/systemcmds/param/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/param/param.c | 185 | ||||
-rw-r--r-- | apps/systemlib/bson/tinybson.c | 4 | ||||
-rw-r--r-- | apps/systemlib/param/param.c | 58 | ||||
-rw-r--r-- | apps/systemlib/param/param.h | 17 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 1 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/nsh/defconfig | 4 |
16 files changed, 380 insertions, 125 deletions
diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x index 94ed2be18..e9f07b4a2 100644 --- a/ROMFS/scripts/rc.FMU_quad_x +++ b/ROMFS/scripts/rc.FMU_quad_x @@ -9,7 +9,7 @@ echo "[init] eeprom" eeprom start if [ -f /eeprom/parameters ] then - eeprom load_param /eeprom/parameters + param load fi echo "[init] sensors" diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR index 532dd6a25..382d8e25c 100644 --- a/ROMFS/scripts/rc.PX4IOAR +++ b/ROMFS/scripts/rc.PX4IOAR @@ -19,7 +19,7 @@ echo "[init] eeprom" eeprom start if [ -f /eeprom/parameters ] then - eeprom load_param /eeprom/parameters + param load fi # diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone index 7dfd98a16..8ccdb577b 100644 --- a/ROMFS/scripts/rc.standalone +++ b/ROMFS/scripts/rc.standalone @@ -11,6 +11,16 @@ echo "[init] doing standalone PX4FMU startup..." uorb start # +# Init the EEPROM +# +echo "[init] eeprom" +eeprom start +if [ -f /eeprom/parameters ] +then + param load +fi + +# # Start the sensors. # #sh /etc/init.d/rc.sensors diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp index 8cd7f6a7c..c554df9ae 100644 --- a/apps/drivers/bma180/bma180.cpp +++ b/apps/drivers/bma180/bma180.cpp @@ -410,8 +410,8 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: - /* XXX 500Hz is just a wild guess */ - return ioctl(filp, SENSORIOCSPOLLRATE, 500); + /* With internal low pass filters enabled, 250 Hz is sufficient */ + return ioctl(filp, SENSORIOCSPOLLRATE, 250); /* adjust to a legal polling interval in Hz */ default: { diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp index bfdabe273..9401fdd4a 100644 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ b/apps/drivers/l3gd20/l3gd20.cpp @@ -420,8 +420,8 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: - /* XXX 500Hz is just a wild guess */ - return ioctl(filp, SENSORIOCSPOLLRATE, 500); + /* With internal low pass filters enabled, 250 Hz is sufficient */ + return ioctl(filp, SENSORIOCSPOLLRATE, 250); /* adjust to a legal polling interval in Hz */ default: { diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index 8a658b623..b1655afd7 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -781,6 +781,8 @@ void *ubx_watchdog_loop(void *args) } else { /* gps healthy */ ubx_success_count++; + ubx_healthy = true; + ubx_fail_count = 0; if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) { //printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed); diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 7106edc6b..b84b58406 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -101,8 +101,6 @@ extern "C" { /* PPM Settings */ # define PPM_MIN 1000 # define PPM_MAX 2000 -/* Internal resolution is 10000 */ -# define PPM_SCALE 10000/((PPM_MAX-PPM_MIN)/2) # define PPM_MID (PPM_MIN+PPM_MAX)/2 #endif @@ -136,10 +134,6 @@ public: private: static const unsigned _rc_max_chan_count = 8; /**< maximum number of r/c channels we handle */ - /* legacy sensor descriptors */ - int _fd_bma180; /**< old accel driver */ - int _fd_gyro_l3gd20; /**< old gyro driver */ - #if CONFIG_HRT_PPM hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */ @@ -334,8 +328,6 @@ Sensors *g_sensors; } Sensors::Sensors() : - _fd_bma180(-1), - _fd_gyro_l3gd20(-1), _ppm_last_valid(0), _fd_adc(-1), @@ -562,19 +554,7 @@ Sensors::accel_init() fd = open(ACCEL_DEVICE_PATH, 0); if (fd < 0) { warn("%s", ACCEL_DEVICE_PATH); - - /* fall back to bma180 here (new driver would be better...) */ - _fd_bma180 = open("/dev/bma180", O_RDONLY); - if (_fd_bma180 < 0) { - warn("/dev/bma180"); - warn("FATAL: no accelerometer found"); - } - - /* discard first (junk) reading */ - int16_t junk_buf[3]; - read(_fd_bma180, junk_buf, sizeof(junk_buf)); - - warnx("using BMA180"); + errx(1, "FATAL: no accelerometer found"); } else { /* set the accel internal sampling rate up to at leat 500Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 500); @@ -595,19 +575,7 @@ Sensors::gyro_init() fd = open(GYRO_DEVICE_PATH, 0); if (fd < 0) { warn("%s", GYRO_DEVICE_PATH); - - /* fall back to bma180 here (new driver would be better...) */ - _fd_gyro_l3gd20 = open("/dev/l3gd20", O_RDONLY); - if (_fd_gyro_l3gd20 < 0) { - warn("/dev/l3gd20"); - warn("FATAL: no gyro found"); - } - - /* discard first (junk) reading */ - int16_t junk_buf[3]; - read(_fd_gyro_l3gd20, junk_buf, sizeof(junk_buf)); - - warn("using L3GD20"); + errx(1, "FATAL: no gyro found"); } else { /* set the gyro internal sampling rate up to at leat 500Hz */ ioctl(fd, GYROIOCSSAMPLERATE, 500); @@ -648,7 +616,7 @@ Sensors::baro_init() fd = open(BARO_DEVICE_PATH, 0); if (fd < 0) { warn("%s", BARO_DEVICE_PATH); - errx(1, "FATAL: no barometer found"); + warnx("No barometer found, ignoring"); } /* set the driver to poll at 150Hz */ @@ -671,67 +639,36 @@ Sensors::adc_init() void Sensors::accel_poll(struct sensor_combined_s &raw) { - struct accel_report accel_report; + bool accel_updated; + orb_check(_accel_sub, &accel_updated); - if (_fd_bma180 >= 0) { - /* do ORB emulation for BMA180 */ - int16_t buf[3]; + if (accel_updated) { + struct accel_report accel_report; - read(_fd_bma180, buf, sizeof(buf)); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - accel_report.timestamp = hrt_absolute_time(); + raw.accelerometer_m_s2[0] = accel_report.x; + raw.accelerometer_m_s2[1] = accel_report.y; + raw.accelerometer_m_s2[2] = accel_report.z; - accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1]; - accel_report.y_raw = buf[0]; - accel_report.z_raw = buf[2]; + raw.accelerometer_raw[0] = accel_report.x_raw; + raw.accelerometer_raw[1] = accel_report.y_raw; + raw.accelerometer_raw[2] = accel_report.z_raw; - const float range_g = 4.0f; - /* scale from 14 bit to m/s2 */ - accel_report.x = (((accel_report.x_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; - accel_report.y = (((accel_report.y_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; - accel_report.z = (((accel_report.z_raw - _parameters.accel_offset[0]) * range_g) / 8192.0f) / 9.81f; raw.accelerometer_counter++; - - } else { - bool accel_updated; - orb_check(_accel_sub, &accel_updated); - - if (accel_updated) { - orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - raw.accelerometer_counter++; - } } - - raw.accelerometer_m_s2[0] = accel_report.x; - raw.accelerometer_m_s2[1] = accel_report.y; - raw.accelerometer_m_s2[2] = accel_report.z; - - raw.accelerometer_raw[0] = accel_report.x_raw; - raw.accelerometer_raw[1] = accel_report.y_raw; - raw.accelerometer_raw[2] = accel_report.z_raw; } void Sensors::gyro_poll(struct sensor_combined_s &raw) { - struct gyro_report gyro_report; + bool gyro_updated; + orb_check(_gyro_sub, &gyro_updated); - if (_fd_gyro_l3gd20 >= 0) { - /* do ORB emulation for L3GD20 */ - int16_t buf[3]; + if (gyro_updated) { + struct gyro_report gyro_report; - read(_fd_gyro_l3gd20, buf, sizeof(buf)); - - gyro_report.timestamp = hrt_absolute_time(); - - gyro_report.x_raw = buf[1]; - gyro_report.y_raw = ((buf[0] == -32768) ? 32767 : -buf[0]); - gyro_report.z_raw = buf[2]; - - /* scaling calculated as: raw * (1/(32768*(500/180*PI))) */ - gyro_report.x = (gyro_report.x_raw - _parameters.gyro_offset[0]) * 0.000266316109f; - gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f; - gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f; + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); raw.gyro_rad_s[0] = gyro_report.x; raw.gyro_rad_s[1] = gyro_report.y; @@ -742,25 +679,6 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro_raw[2] = gyro_report.z_raw; raw.gyro_counter++; - - } else { - - bool gyro_updated; - orb_check(_gyro_sub, &gyro_updated); - - if (gyro_updated) { - orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); - - raw.gyro_rad_s[0] = gyro_report.x; - raw.gyro_rad_s[1] = gyro_report.y; - raw.gyro_rad_s[2] = gyro_report.z; - - raw.gyro_raw[0] = gyro_report.x_raw; - raw.gyro_raw[1] = gyro_report.y_raw; - raw.gyro_raw[2] = gyro_report.z_raw; - - raw.gyro_counter++; - } } } @@ -974,7 +892,13 @@ Sensors::ppm_poll() } /* reverse channel if required */ - _rc.chan[i].scaled *= _parameters.rev[i]; + if (i == _rc.function[THROTTLE]) { + if ((int)_parameters.rev[i] == -1) { + _rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled; + } + } else { + _rc.chan[i].scaled *= _parameters.rev[i]; + } /* handle any parameter-induced blowups */ if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled)) diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c index 8bfc29234..752c01986 100644 --- a/apps/systemcmds/bl_update/bl_update.c +++ b/apps/systemcmds/bl_update/bl_update.c @@ -51,16 +51,20 @@ #include <arch/board/board.h> #include "systemlib/systemlib.h" -#include "systemlib/param/param.h" #include "systemlib/err.h" __EXPORT int bl_update_main(int argc, char *argv[]); +static void setopt(void); + int bl_update_main(int argc, char *argv[]) { if (argc != 2) - errx(1, "missing firmware filename"); + errx(1, "missing firmware filename or command"); + + if (!strcmp(argv[1], "setopt")) + setopt(); int fd = open(argv[1], O_RDONLY); if (fd < 0) @@ -172,3 +176,33 @@ flash_end: free(buf); exit(0); } + +static void +setopt(void) +{ + volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14; + + const uint16_t opt_mask = (3 << 2); /* BOR_LEV bitmask */ + const uint16_t opt_bits = (0 << 2); /* BOR = 0, setting for 2.7-3.6V operation */ + + if ((*optcr & opt_mask) == opt_bits) + errx(0, "option bits are already set as required"); + + /* unlock the control register */ + volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08; + *optkeyr = 0x08192a3bU; + *optkeyr = 0x4c5d6e7fU; + + if (*optcr & 1) + errx(1, "option control register unlock failed"); + + /* program the new option value */ + *optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1); + + usleep(1000); + + if ((*optcr & opt_mask) == opt_bits) + errx(0, "option bits set"); + errx(1, "option bits setting failed; readback 0x%04x", *optcr); + +}
\ No newline at end of file diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c index a0b15f77b..fa88fa09e 100644 --- a/apps/systemcmds/eeprom/eeprom.c +++ b/apps/systemcmds/eeprom/eeprom.c @@ -193,6 +193,8 @@ eeprom_save(const char *name) if (!name) err(1, "missing argument for device name, try '/eeprom/parameters'"); + warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead"); + /* delete the file in case it exists */ unlink(name); @@ -222,6 +224,8 @@ eeprom_load(const char *name) if (!name) err(1, "missing argument for device name, try '/eeprom/parameters'"); + warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead"); + int fd = open(name, O_RDONLY); if (fd < 0) diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile new file mode 100644 index 000000000..603746a20 --- /dev/null +++ b/apps/systemcmds/param/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the parameters tool. +# + +APPNAME = param +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 4096 + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c new file mode 100644 index 000000000..199bffed5 --- /dev/null +++ b/apps/systemcmds/param/param.c @@ -0,0 +1,185 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file param.c + * + * Parameter tool. + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <fcntl.h> +#include <sys/stat.h> + +#include <arch/board/board.h> + +#include "systemlib/systemlib.h" +#include "systemlib/param/param.h" +#include "systemlib/err.h" + +__EXPORT int param_main(int argc, char *argv[]); + +static void do_save(void); +static void do_load(void); +static void do_import(void); +static void do_show(void); +static void do_show_print(void *arg, param_t param); + +static const char *param_file_name = "/eeprom/parameters"; + +int +param_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "save")) + do_save(); + if (!strcmp(argv[1], "load")) + do_load(); + if (!strcmp(argv[1], "import")) + do_import(); + if (!strcmp(argv[1], "show")) + do_show(); + } + + errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n"); +} + +static void +do_save(void) +{ + /* delete the parameter file in case it exists */ + unlink(param_file_name); + + /* create the file */ + int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL); + + if (fd < 0) + err(1, "opening '%s' failed", param_file_name); + + int result = param_export(fd, false); + close(fd); + + if (result < 0) { + unlink(param_file_name); + errx(1, "error exporting to '%s'", param_file_name); + } + + exit(0); +} + +static void +do_load(void) +{ + int fd = open(param_file_name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", param_file_name); + + int result = param_load(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", param_file_name); + + exit(0); +} + +static void +do_import(void) +{ + int fd = open(param_file_name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", param_file_name); + + int result = param_import(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", param_file_name); + + exit(0); +} + +static void +do_show(void) +{ + printf(" + = saved, * = unsaved (warning, floating-point values are often printed with the decimal point wrong)\n"); + param_foreach(do_show_print, NULL, false); + + exit(0); +} + +static void +do_show_print(void *arg, param_t param) +{ + int32_t i; + float f; + + printf("%c %s: ", + param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), + param_name(param)); + + /* + * This case can be expanded to handle printing common structure types. + */ + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + if (!param_get(param, &i)) { + printf("%d\n", i); + return; + } + break; + case PARAM_TYPE_FLOAT: + if (!param_get(param, &f)) { + printf("%4.4f\n", (double)f); + return; + } + break; + case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX: + printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param)); + return; + default: + printf("<unknown type %d>\n", 0 + param_type(param)); + return; + } + printf("<error fetching parameter %d>\n", param); +} diff --git a/apps/systemlib/bson/tinybson.c b/apps/systemlib/bson/tinybson.c index 46ced013d..10b736fd6 100644 --- a/apps/systemlib/bson/tinybson.c +++ b/apps/systemlib/bson/tinybson.c @@ -106,7 +106,9 @@ bson_decoder_next(bson_decoder_t decoder) /* if the nesting level is now zero, the top-level document is done */ if (decoder->nesting == 0) { - CODER_KILL(decoder, "nesting is zero, document is done"); + /* like kill but not an error */ + debug("nesting is zero, document is done"); + decoder->fd = -1; /* return end-of-file to the caller */ return 0; diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c index 0ab7c0ea3..9e886ea65 100644 --- a/apps/systemlib/param/param.c +++ b/apps/systemlib/param/param.c @@ -242,6 +242,25 @@ param_name(param_t param) return NULL; } +bool +param_value_is_default(param_t param) +{ + return param_find_changed(param) ? false : true; +} + +bool +param_value_unsaved(param_t param) +{ + static struct param_wbuf_s *s; + + s = param_find_changed(param); + + if (s && s->unsaved) + return true; + + return false; +} + enum param_type_e param_type(param_t param) { @@ -330,8 +349,8 @@ param_get(param_t param, void *val) return result; } -int -param_set(param_t param, const void *val) +static int +param_set_internal(param_t param, const void *val, bool mark_saved) { int result = -1; bool params_changed = false; @@ -394,7 +413,7 @@ param_set(param_t param, const void *val) goto out; } - s->unsaved = true; + s->unsaved = !mark_saved; params_changed = true; result = 0; } @@ -412,6 +431,12 @@ out: return result; } +int +param_set(param_t param, const void *val) +{ + return param_set_internal(param, val, false); +} + void param_reset(param_t param) { @@ -535,6 +560,11 @@ out: return result; } +struct param_import_state +{ + bool mark_saved; +}; + static int param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node) { @@ -542,13 +572,13 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node) int32_t i; void *v, *tmp = NULL; int result = -1; + struct param_import_state *state = (struct param_import_state *)private; /* * EOO means the end of the parameter object. (Currently not supporting * nested BSON objects). */ if (node->type == BSON_EOO) { - *(bool *)private = true; debug("end of parameters"); return 0; } @@ -621,7 +651,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node) goto out; } - if (param_set(param, v)) { + if (param_set_internal(param, v, state->mark_saved)) { debug("error setting value for '%s'", node->name); goto out; } @@ -642,19 +672,19 @@ out: return result; } -int -param_import(int fd) +static int +param_import_internal(int fd, bool mark_saved) { - bool done; struct bson_decoder_s decoder; int result = -1; + struct param_import_state state; - if (bson_decoder_init(&decoder, fd, param_import_callback, &done)) { + if (bson_decoder_init(&decoder, fd, param_import_callback, &state)) { debug("decoder init failed"); goto out; } - done = false; + state.mark_saved = mark_saved; do { result = bson_decoder_next(&decoder); @@ -669,10 +699,16 @@ out: } int +param_import(int fd) +{ + return param_import_internal(fd, false); +} + +int param_load(int fd) { param_reset_all(); - return param_import(fd); + return param_import_internal(fd, true); } void diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h index ffce07a4e..41e268db0 100644 --- a/apps/systemlib/param/param.h +++ b/apps/systemlib/param/param.h @@ -122,6 +122,20 @@ __EXPORT int param_get_index(param_t param); __EXPORT const char *param_name(param_t param); /** + * Test whether a parameter's value has changed from the default. + * + * @return If true, the parameter's value has not been changed from the default. + */ +__EXPORT bool param_value_is_default(param_t param); + +/** + * Test whether a parameter's value has been changed but not saved. + * + * @return If true, the parameter's value has not been saved. + */ +__EXPORT bool param_value_unsaved(param_t param); + +/** * Obtain the type of a parameter. * * @param param A handle returned by param_find or passed by param_foreach. @@ -160,7 +174,8 @@ __EXPORT int param_set(param_t param, const void *val); /** * Reset a parameter to its default value. * - * This function frees any storage used by struct parameters, but scalar parameters + * This function frees any storage used by struct parameters, and returns the parameter + * to its default value. * * @param param A handle returned by param_find or passed by param_foreach. */ diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index e76c4cf48..be0a3d1d7 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -53,6 +53,7 @@ CONFIGURED_APPS += systemcmds/boardinfo CONFIGURED_APPS += systemcmds/mixer CONFIGURED_APPS += systemcmds/eeprom CONFIGURED_APPS += systemcmds/led +CONFIGURED_APPS += systemcmds/param CONFIGURED_APPS += systemcmds/bl_update #CONFIGURED_APPS += systemcmds/calibration diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 45934e800..c2656217d 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256 CONFIG_SERIAL_TERMIOS=y CONFIG_SERIAL_CONSOLE_REINIT=y -CONFIG_USART1_SERIAL_CONSOLE=n +CONFIG_USART1_SERIAL_CONSOLE=y CONFIG_USART2_SERIAL_CONSOLE=n CONFIG_USART3_SERIAL_CONSOLE=n CONFIG_UART4_SERIAL_CONSOLE=n -CONFIG_UART5_SERIAL_CONSOLE=y +CONFIG_UART5_SERIAL_CONSOLE=n CONFIG_USART6_SERIAL_CONSOLE=n #Mavlink messages can be bigger than 128 |