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Diffstat (limited to 'apps/mavlink/mavlink_parameters.c')
| -rw-r--r-- | apps/mavlink/mavlink_parameters.c | 189 |
1 files changed, 189 insertions, 0 deletions
diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c new file mode 100644 index 000000000..a064fc167 --- /dev/null +++ b/apps/mavlink/mavlink_parameters.c @@ -0,0 +1,189 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @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 mavlink_parameters.c + * MAVLink parameter protocol implementation (BSD-relicensed). + */ + +#include "mavlink_parameters.h" +#include <uORB/uORB.h> +#include "math.h" /* isinf / isnan checks */ +#include <assert.h> +#include <stdio.h> +#include <fcntl.h> +#include <stdbool.h> +#include <string.h> + +extern mavlink_system_t mavlink_system; + +extern void mavlink_missionlib_send_message(mavlink_message_t *msg); +extern void mavlink_missionlib_send_gcs_string(const char *string); + +/* send one parameter, assume lock on global_data_parameter_storage */ +void mavlink_pm_send_one_parameter(uint16_t next_param) +{ + if (next_param < global_data_parameter_storage->pm.size) { + static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; + mavlink_message_t tx_msg; + + strncpy((char *)name_buf, global_data_parameter_storage->pm.param_names[next_param], MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + name_buf, + global_data_parameter_storage->pm.param_values[next_param], + MAVLINK_TYPE_FLOAT, + global_data_parameter_storage->pm.size, + next_param); + mavlink_missionlib_send_message(&tx_msg); + + + // mavlink_msg_param_value_send(MAVLINK_COMM_0, + // name_buf, + // global_data_parameter_storage->pm.param_values[next_param], + // MAVLINK_TYPE_FLOAT, + // global_data_parameter_storage->pm.size, + // next_param); + } +} + +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { + /* Start sending parameters */ + global_data_parameter_storage->pm.next_param = 0; + mavlink_missionlib_send_gcs_string("[pm] sending list"); + } break; + + case MAVLINK_MSG_ID_PARAM_SET: { + + /* Handle parameter setting */ + + if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { + mavlink_param_set_t mavlink_param_set; + mavlink_msg_param_set_decode(msg, &mavlink_param_set); + + if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { + + uint16_t i; //parameters + uint16_t j; //chars + bool match; + + for (i = 0; i < PARAM_MAX_COUNT; i++) { + match = true; + + for (j = 0; j < MAX_PARAM_NAME_LEN; j++) { + /* Compare char by char */ + if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_set.param_id[j]) { + match = false; + } + + /* End matching if null termination is reached */ + if (global_data_parameter_storage->pm.param_names[i][j] == '\0') { + break; + } + } + + /* Check if matched */ + if (match) { + // XXX handle param type as well, assuming float here + global_data_parameter_storage->pm.param_values[i] = mavlink_param_set.param_value; + mavlink_pm_send_one_parameter(i); + } + } + } + } + } break; + + case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { + mavlink_param_request_read_t mavlink_param_request_read; + mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); + + if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { + /* when no index is given, loop through string ids and compare them */ + if (mavlink_param_request_read.param_index == -1) { + + uint16_t i; //parameters + uint16_t j; //chars + bool match; + + for (i = 0; i < PARAM_MAX_COUNT; i++) { + match = true; + + for (j = 0; j < MAX_PARAM_NAME_LEN; j++) { + /* Compare char by char */ + if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_request_read.param_id[j]) { + match = false; + } + + /* End matching if null termination is reached */ + if (global_data_parameter_storage->pm.param_names[i][j] == '\0') { + break; + } + } + + /* Check if matched */ + if (match) { + mavlink_pm_send_one_parameter(i); + } + } + + } else { + /* when index is >= 0, send this parameter again */ + mavlink_pm_send_one_parameter(mavlink_param_request_read.param_index); + } + } + + } break; + } +} + + +/** + * Send low-priority messages at a maximum rate of xx Hertz. + * + * This function sends messages at a lower rate to not exceed the wireless + * bandwidth. It sends one message each time it is called until the buffer is empty. + * Call this function with xx Hertz to increase/decrease the bandwidth. + */ +void mavlink_pm_queued_send(void) +{ + //send parameters one by one: + mavlink_pm_send_one_parameter(global_data_parameter_storage->pm.next_param); + global_data_parameter_storage->pm.next_param++; +} |