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-rw-r--r--apps/commander/commander.c39
-rw-r--r--apps/mavlink/mavlink_parameters.c62
-rw-r--r--apps/systemcmds/param/param.c51
-rw-r--r--apps/systemlib/param/param.c78
-rw-r--r--apps/systemlib/param/param.h19
5 files changed, 141 insertions, 108 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index e00dc13d2..f2d92dc11 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -268,33 +268,6 @@ void tune_confirm() {
ioctl(buzzer, TONE_SET_ALARM, 3);
}
-static const char *parameter_file = "/eeprom/parameters";
-
-static int pm_save_eeprom(bool only_unsaved)
-{
- /* delete the file in case it exists */
- unlink(parameter_file);
-
- /* create the file */
- int fd = open(parameter_file, O_WRONLY | O_CREAT | O_EXCL);
-
- if (fd < 0) {
- warn("opening '%s' for writing failed", parameter_file);
- return -1;
- }
-
- int result = param_export(fd, only_unsaved);
- close(fd);
-
- if (result != 0) {
- unlink(parameter_file);
- warn("error exporting parameters to '%s'", parameter_file);
- return -2;
- }
-
- return 0;
-}
-
void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to mag calibration mode */
@@ -496,9 +469,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
}
/* auto-save to EEPROM */
- int save_ret = pm_save_eeprom(false);
+ int save_ret = param_save_default();
if(save_ret != 0) {
- warn("WARNING: auto-save of params to EEPROM failed");
+ warn("WARNING: auto-save of params to storage failed");
}
printf("[mag cal]\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
@@ -616,9 +589,9 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
close(fd);
/* auto-save to EEPROM */
- int save_ret = pm_save_eeprom(false);
+ int save_ret = param_save_default();
if(save_ret != 0) {
- warn("WARNING: auto-save of params to EEPROM failed");
+ warn("WARNING: auto-save of params to storage failed");
}
// char buf[50];
@@ -736,9 +709,9 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
close(fd);
/* auto-save to EEPROM */
- int save_ret = pm_save_eeprom(false);
+ int save_ret = param_save_default();
if(save_ret != 0) {
- warn("WARNING: auto-save of params to EEPROM failed");
+ warn("WARNING: auto-save of params to storage failed");
}
//char buf[50];
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c
index f41889535..6d434ed3d 100644
--- a/apps/mavlink/mavlink_parameters.c
+++ b/apps/mavlink/mavlink_parameters.c
@@ -172,64 +172,6 @@ int mavlink_pm_send_param(param_t param)
return ret;
}
-static const char *mavlink_parameter_file = "/eeprom/parameters";
-
-/**
- * @return 0 on success, -1 if device open failed, -2 if writing parameters failed
- */
-static int mavlink_pm_save_eeprom()
-{
- /* delete the file in case it exists */
- unlink(mavlink_parameter_file);
-
- /* create the file */
- int fd = open(mavlink_parameter_file, O_WRONLY | O_CREAT | O_EXCL);
-
- if (fd < 0) {
- warn("opening '%s' for writing failed", mavlink_parameter_file);
- return -1;
- }
-
- int result = param_export(fd, false);
- close(fd);
-
- if (result != 0) {
- unlink(mavlink_parameter_file);
- warn("error exporting parameters to '%s'", mavlink_parameter_file);
- return -2;
- }
-
- return 0;
-}
-
-/**
- * @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
- */
-static int
-mavlink_pm_load_eeprom()
-{
- int fd = open(mavlink_parameter_file, O_RDONLY);
-
- if (fd < 0) {
- /* no parameter file is OK, otherwise this is an error */
- if (errno != ENOENT) {
- warn("open '%s' for reading failed", mavlink_parameter_file);
- return -1;
- }
- return 1;
- }
-
- int result = param_load(fd);
- close(fd);
-
- if (result != 0) {
- warn("error reading parameters from '%s'", mavlink_parameter_file);
- return -2;
- }
-
- return 0;
-}
-
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
{
switch (msg->msgid) {
@@ -307,7 +249,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
if (((int)(cmd_mavlink.param1)) == 0) {
/* read all parameters from EEPROM to RAM */
- int read_ret = mavlink_pm_load_eeprom();
+ int read_ret = param_load_default();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
@@ -327,7 +269,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
} else if (((int)(cmd_mavlink.param1)) == 1) {
/* write all parameters from RAM to EEPROM */
- int write_ret = mavlink_pm_save_eeprom();
+ int write_ret = param_save_default();
if (write_ret == OK) {
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
index 68dbd822e..77f47b95d 100644
--- a/apps/systemcmds/param/param.c
+++ b/apps/systemcmds/param/param.c
@@ -56,36 +56,53 @@
__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_save(const char* param_file_name);
+static void do_load(const char* param_file_name);
+static void do_import(const char* param_file_name);
static void do_show(void);
static void do_show_print(void *arg, param_t param);
-static const char *param_file_name = "/eeprom/parameters";
+static const char *param_file_name_default = "/fs/microsd/parameters";
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
- if (!strcmp(argv[1], "save"))
- do_save();
+ if (!strcmp(argv[1], "save")) {
+ if (argc >= 3) {
+ do_save(argv[2]);
+ } else {
+ do_save(param_file_name_default);
+ }
+ }
- if (!strcmp(argv[1], "load"))
- do_load();
+ if (!strcmp(argv[1], "load")) {
+ if (argc >= 3) {
+ do_load(argv[2]);
+ } else {
+ do_load(param_file_name_default);
+ }
+ }
- if (!strcmp(argv[1], "import"))
- do_import();
+ if (!strcmp(argv[1], "import")) {
+ if (argc >= 3) {
+ do_import(argv[2]);
+ } else {
+ do_import(param_file_name_default);
+ }
+ }
- if (!strcmp(argv[1], "show"))
+ if (!strcmp(argv[1], "show")) {
do_show();
+ }
+
}
errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
}
static void
-do_save(void)
+do_save(const char* param_file_name)
{
/* delete the parameter file in case it exists */
unlink(param_file_name);
@@ -108,7 +125,7 @@ do_save(void)
}
static void
-do_load(void)
+do_load(const char* param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
@@ -118,14 +135,18 @@ do_load(void)
int result = param_load(fd);
close(fd);
- if (result < 0)
+ if (result < 0) {
errx(1, "error importing from '%s'", param_file_name);
+ } else {
+ /* set default file name for next storage operation */
+ param_set_default_file(param_file_name);
+ }
exit(0);
}
static void
-do_import(void)
+do_import(const char* param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index 365bd3d19..c63e7ca8d 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -47,6 +47,7 @@
#include <fcntl.h>
#include <unistd.h>
#include <err.h>
+#include <errno.h>
#include <sys/stat.h>
@@ -480,6 +481,83 @@ param_reset_all(void)
param_notify_changes();
}
+static char param_default_file_name[50] = "/eeprom/parameters";
+
+int
+param_set_default_file(const char* filename)
+{
+ if (filename) {
+ if (strlen(filename) < sizeof(param_default_file_name))
+ {
+ strcpy(param_default_file_name, filename);
+ } else {
+ warnx("param file name too long");
+ return 1;
+ }
+ return 0;
+ } else {
+ warnx("no valid param file name");
+ return 1;
+ }
+ return 0;
+}
+
+int
+param_save_default(void)
+{
+ /* delete the file in case it exists */
+ unlink(param_default_file_name);
+
+ /* create the file */
+ int fd = open(param_default_file_name, O_WRONLY | O_CREAT | O_EXCL);
+
+ if (fd < 0) {
+ warn("opening '%s' for writing failed", param_default_file_name);
+ return -1;
+ }
+
+ int result = param_export(fd, false);
+ /* should not be necessary, over-careful here */
+ fsync(fd);
+ close(fd);
+
+ if (result != 0) {
+ unlink(param_default_file_name);
+ warn("error exporting parameters to '%s'", param_default_file_name);
+ return -2;
+ }
+
+ return 0;
+}
+
+/**
+ * @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
+ */
+int
+param_load_default(void)
+{
+ int fd = open(param_default_file_name, O_RDONLY);
+
+ if (fd < 0) {
+ /* no parameter file is OK, otherwise this is an error */
+ if (errno != ENOENT) {
+ warn("open '%s' for reading failed", param_default_file_name);
+ return -1;
+ }
+ return 1;
+ }
+
+ int result = param_load(fd);
+ close(fd);
+
+ if (result != 0) {
+ warn("error reading parameters from '%s'", param_default_file_name);
+ return -2;
+ }
+
+ return 0;
+}
+
int
param_export(int fd, bool only_unsaved)
{
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h
index 41e268db0..64bb77834 100644
--- a/apps/systemlib/param/param.h
+++ b/apps/systemlib/param/param.h
@@ -234,6 +234,25 @@ __EXPORT int param_load(int fd);
*/
__EXPORT void param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed);
+/**
+ * Export parameters to the default file name.
+ *
+ *
+ * @param
+ */
+__EXPORT int param_save_default(void);
+
+/**
+ * Set the default parameter file name.
+ */
+__EXPORT int param_set_default_file(const char* filename);
+
+/**
+ * Import parameters from the default file name.
+ */
+__EXPORT int param_load_default(void);
+
+
/*
* Macros creating static parameter definitions.
*
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-29 16:32:26 +0000