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author | px4dev <px4@purgatory.org> | 2012-10-09 22:45:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-10-09 22:45:36 -0700 |
commit | 1e59a592a6a41a65e9e69814ae3d8cb62a061367 (patch) | |
tree | 5d17bc01ecdd597b7d6c86c18e2ca827050abb51 /apps/systemcmds/param | |
parent | bd3f3b10317f58d20f635f4a3e6aee8fca8d9d2b (diff) | |
download | px4-firmware-1e59a592a6a41a65e9e69814ae3d8cb62a061367.tar.gz px4-firmware-1e59a592a6a41a65e9e69814ae3d8cb62a061367.tar.bz2 px4-firmware-1e59a592a6a41a65e9e69814ae3d8cb62a061367.zip |
Split the parameter load/save commands out of the 'eeprom' command, since that's not really the obvious place for them. Add parameter printing functionality (though, it's a mess due to %f being busted)
Update the script examples to use the new command.
Diffstat (limited to 'apps/systemcmds/param')
-rw-r--r-- | apps/systemcmds/param/Makefile | 42 | ||||
-rw-r--r-- | apps/systemcmds/param/param.c | 185 |
2 files changed, 227 insertions, 0 deletions
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); +} |