From b0d13c9556d3dd059c30e14ff04fd437bc1b6ba8 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 19 Aug 2012 22:15:51 -0700
Subject: wrapper commands for saving and loading parameters

---
 apps/systemcmds/eeprom/Makefile |  2 +-
 apps/systemcmds/eeprom/eeprom.c | 84 +++++++++++++++++++++++++++++++++++++++--
 2 files changed, 82 insertions(+), 4 deletions(-)

(limited to 'apps/systemcmds')

diff --git a/apps/systemcmds/eeprom/Makefile b/apps/systemcmds/eeprom/Makefile
index 63f28c349..2f3db0fdc 100644
--- a/apps/systemcmds/eeprom/Makefile
+++ b/apps/systemcmds/eeprom/Makefile
@@ -37,6 +37,6 @@
 
 APPNAME		 = eeprom
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c
index fd99cc9a3..c4b7e5870 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/apps/systemcmds/eeprom/eeprom.c
@@ -41,18 +41,23 @@
 #include <nuttx/config.h>
 
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 #include <stdbool.h>
-
+#include <unistd.h>
+#include <fcntl.h>
 #include <sys/mount.h>
+#include <sys/ioctl.h>
 
 #include <nuttx/i2c.h>
 #include <nuttx/mtd.h>
 #include <nuttx/fs/nxffs.h>
+#include <nuttx/fs/ioctl.h>
 
 #include <arch/board/board.h>
 
 #include "systemlib/systemlib.h"
+#include "systemlib/param/param.h"
 #include "systemlib/err.h"
 
 #ifndef PX4_I2C_BUS_ONBOARD
@@ -65,13 +70,30 @@
 __EXPORT int eeprom_main(int argc, char *argv[]);
 
 static void	eeprom_start(void);
-
+static void	eeprom_ioctl(unsigned operation);
+static void	eeprom_save(const char *name);
+static void	eeprom_load(const char *name);
 
 int eeprom_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
 		if (!strcmp(argv[1], "start"))
 			eeprom_start();
+
+		if (!strcmp(argv[1], "save_param"))
+			eeprom_save(argv[2]);
+
+		if (!strcmp(argv[1], "load_param"))
+			eeprom_load(argv[2]);
+
+		if (0) {	/* these actually require a file on the filesystem... */
+
+			if (!strcmp(argv[1], "reformat"))
+				eeprom_ioctl(FIOC_REFORMAT);
+
+			if (!strcmp(argv[1], "repack"))
+				eeprom_ioctl(FIOC_OPTIMIZE);
+		}
 	}
 
 	errx(1, "expected a command, try 'start'");
@@ -88,24 +110,80 @@ eeprom_start(void)
 		errx(1, "EEPROM service already started");
 
 	/* find the right I2C */
-	struct i2c_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
+	struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
+
 	if (i2c == NULL)
 		errx(1, "failed to locate I2C bus");
 
 	/* start the MTD driver */
 	struct mtd_dev_s *mtd = at24c_initialize(i2c);
+
 	if (mtd == NULL)
 		errx(1, "failed to initialize EEPROM driver");
 
 	/* start NXFFS */
 	ret = nxffs_initialize(mtd);
+
 	if (ret < 0)
 		err(1, "failed to initialize NXFFS");
 
 	/* mount the EEPROM */
 	ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
+
 	if (ret < 0)
 		err(1, "failed to mount EEPROM");
 
 	errx(0, "mounted EEPROM at /eeprom");
 }
+
+static void
+eeprom_ioctl(unsigned operation)
+{
+	int fd;
+
+	fd = open("/eeprom/.", 0);
+
+	if (fd < 0)
+		err(1, "open /eeprom");
+
+	if (ioctl(fd, operation, 0) < 0)
+		err(1, "ioctl");
+
+	exit(0);
+}
+
+static void
+eeprom_save(const char *name)
+{
+	int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0)
+		err(1, "create '%s'", name);
+
+	int result = param_export(fd, false);
+	close(fd);
+
+	if (result < 0) {
+		unlink(name);
+		errx(1, "error exporting to '%s'", name);
+	}
+
+	exit(0);
+}
+
+static void
+eeprom_load(const char *name)
+{
+	int fd = open(name, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "open '%s'", name);
+
+	int result = param_import(fd);
+	close(fd);
+
+	if (result < 0)
+		unlink(name);
+
+	exit(0);
+}
-- 
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