Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Param: fixed desktop build

This commit is contained in:
Andrew Tridgell 2012-02-12 20:18:10 +11:00
parent c195be594a
commit 244d2055ff
1 changed files with 50 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

95
libraries/AP_Common/AP_Param.cpp
View File

@ -27,6 +27,11 @@
# define serialDebug(fmt, args...)
#endif
// some useful progmem macros
#define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)
#define PGM_UINT16(addr) pgm_read_word((const uint16_t *)addr)
#define PGM_POINTER(addr) pgm_read_pointer((const void *)addr)
// Static member variables for AP_Param.
//
@ -90,11 +95,11 @@ bool AP_Param::check_group_info(const struct AP_Param::GroupInfo *group_info,
{
uint8_t type;
for (uint8_t i=0;
(type=pgm_read_byte(&group_info[i].type)) != AP_PARAM_NONE;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = (const struct GroupInfo *)pgm_read_pointer(&group_info[i].group_info);
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
if (group_shift + _group_level_shift >= _group_bits) {
// double nesting of groups is not allowed
return false;
@ -129,13 +134,13 @@ bool AP_Param::check_var_info(void)
uint16_t total_size = sizeof(struct EEPROM_header);
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = pgm_read_byte(&_var_info[i].type);
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
if (i == 0) {
// first element can't be a group, for first() call
return false;
}
const struct GroupInfo *group_info = (const struct GroupInfo *)pgm_read_pointer(&_var_info[i].group_info);
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
if (group_info == NULL ||
!check_group_info(group_info, &total_size, 0)) {
return false;
@ -198,7 +203,7 @@ const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header
{
uint8_t type;
for (uint8_t i=0;
(type=pgm_read_byte(&group_info[i].type)) != AP_PARAM_NONE;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
// a nested group
@ -207,7 +212,7 @@ const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header
// setup() !
return NULL;
}
const struct GroupInfo *ginfo = (const struct GroupInfo *)pgm_read_pointer(&group_info[i].group_info);
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
const struct AP_Param::Info *ret = find_by_header_group(phdr, ptr, vindex, ginfo,
GROUP_OFFSET(group_base, i, group_shift),
group_shift + _group_level_shift);
@ -221,7 +226,7 @@ const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header
}
if (GROUP_OFFSET(group_base, i, group_shift) == phdr.group_element) {
// found a group element
*ptr = (void*)(pgm_read_pointer(&_var_info[vindex].ptr) + pgm_read_word(&group_info[i].offset));
*ptr = (void*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
return &_var_info[vindex];
}
}
@ -234,19 +239,19 @@ const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr,
{
// loop over all named variables
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = pgm_read_byte(&_var_info[i].type);
uint16_t key = pgm_read_word(&_var_info[i].key);
uint8_t type = PGM_UINT8(&_var_info[i].type);
uint16_t key = PGM_UINT16(&_var_info[i].key);
if (key != phdr.key) {
// not the right key
continue;
}
if (type != AP_PARAM_GROUP) {
// if its not a group then we are done
*ptr = (void*)pgm_read_pointer(&_var_info[i].ptr);
*ptr = (void*)PGM_POINTER(&_var_info[i].ptr);
return &_var_info[i];
}
const struct GroupInfo *group_info = (const struct GroupInfo *)pgm_read_pointer(&_var_info[i].group_info);
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
return find_by_header_group(phdr, ptr, i, group_info, 0, 0);
}
return NULL;
@ -260,13 +265,13 @@ const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInf
uint8_t *group_element,
const struct GroupInfo **group_ret)
{
uintptr_t base = pgm_read_pointer(&_var_info[vindex].ptr);
uintptr_t base = PGM_POINTER(&_var_info[vindex].ptr);
uint8_t type;
for (uint8_t i=0;
(type=pgm_read_byte(&group_info[i].type)) != AP_PARAM_NONE;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *ginfo = (const struct GroupInfo *)pgm_read_pointer(&group_info[i].group_info);
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
// too deeply nested - this should have been caught by
@ -282,7 +287,7 @@ const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInf
if (info != NULL) {
return info;
}
} else if ((uintptr_t)this == base + pgm_read_pointer(&group_info[i].offset)) {
} else if ((uintptr_t)this == base + PGM_POINTER(&group_info[i].offset)) {
*group_element = GROUP_OFFSET(group_base, i, group_shift);
*group_ret = &group_info[i];
return &_var_info[vindex];
@ -296,10 +301,10 @@ const struct AP_Param::Info *AP_Param::find_var_info(uint8_t *group_element,
const struct GroupInfo **group_ret)
{
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = pgm_read_byte(&_var_info[i].type);
uintptr_t base = pgm_read_pointer(&_var_info[i].ptr);
uint8_t type = PGM_UINT8(&_var_info[i].type);
uintptr_t base = PGM_POINTER(&_var_info[i].ptr);
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = (const struct GroupInfo *)pgm_read_pointer(&_var_info[i].group_info);
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, group_element, group_ret);
if (info != NULL) {
@ -350,7 +355,7 @@ bool AP_Param::scan(const AP_Param::Param_header *target, uint16_t *pofs)
struct Param_header phdr;
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
while (ofs < _eeprom_size) {
eeprom_read_block(&phdr, (const void *)ofs, sizeof(phdr));
eeprom_read_block(&phdr, (void *)ofs, sizeof(phdr));
if (phdr.type == target->type &&
phdr.key == target->key &&
phdr.group_element == target->group_element) {
@ -400,18 +405,18 @@ AP_Param::find_group(const char *name, uint8_t vindex, const struct GroupInfo *g
{
uint8_t type;
for (uint8_t i=0;
(type=pgm_read_byte(&group_info[i].type)) != AP_PARAM_NONE;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *ginfo = (const struct GroupInfo *)pgm_read_pointer(&group_info[i].group_info);
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
AP_Param *ap = find_group(name, vindex, ginfo, ptype);
if (ap != NULL) {
return ap;
}
} else if (strcasecmp_P(name, group_info[i].name) == 0) {
uintptr_t p = pgm_read_pointer(&_var_info[vindex].ptr);
uintptr_t p = PGM_POINTER(&_var_info[vindex].ptr);
*ptype = (enum ap_var_type)type;
return (AP_Param *)(p + pgm_read_pointer(&group_info[i].offset));
return (AP_Param *)(p + PGM_POINTER(&group_info[i].offset));
}
}
return NULL;
@ -424,17 +429,17 @@ AP_Param *
AP_Param::find(const char *name, enum ap_var_type *ptype)
{
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = pgm_read_byte(&_var_info[i].type);
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
uint8_t len = strnlen_P(_var_info[i].name, AP_MAX_NAME_SIZE);
if (strncmp_P(name, _var_info[i].name, len) != 0) {
continue;
}
const struct GroupInfo *group_info = (const struct GroupInfo *)pgm_read_pointer(&_var_info[i].group_info);
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
return find_group(name + len, i, group_info, ptype);
} else if (strcasecmp_P(name, _var_info[i].name) == 0) {
*ptype = (enum ap_var_type)type;
return (AP_Param *)pgm_read_pointer(&_var_info[i].ptr);
return (AP_Param *)PGM_POINTER(&_var_info[i].ptr);
}
}
return NULL;
@ -457,12 +462,12 @@ bool AP_Param::save(void)
// create the header we will use to store the variable
if (ginfo != NULL) {
phdr.type = pgm_read_byte(&ginfo->type);
phdr.key = pgm_read_word(&info->key);
phdr.type = PGM_UINT8(&ginfo->type);
phdr.key = PGM_UINT16(&info->key);
phdr.group_element = group_element;
} else {
phdr.type = pgm_read_byte(&info->type);
phdr.key = pgm_read_word(&info->key);
phdr.type = PGM_UINT8(&info->type);
phdr.key = PGM_UINT16(&info->key);
phdr.group_element = 0;
}
@ -500,12 +505,12 @@ bool AP_Param::load(void)
// create the header we will use to match the variable
if (ginfo != NULL) {
phdr.type = pgm_read_byte(&ginfo->type);
phdr.key = pgm_read_word(&info->key);
phdr.type = PGM_UINT8(&ginfo->type);
phdr.key = PGM_UINT16(&info->key);
phdr.group_element = group_element;
} else {
phdr.type = pgm_read_byte(&info->type);
phdr.key = pgm_read_word(&info->key);
phdr.type = PGM_UINT8(&info->type);
phdr.key = PGM_UINT16(&info->key);
phdr.group_element = 0;
}
@ -527,7 +532,7 @@ bool AP_Param::load_all(void)
struct Param_header phdr;
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
while (ofs < _eeprom_size) {
eeprom_read_block(&phdr, (const void *)ofs, sizeof(phdr));
eeprom_read_block(&phdr, (void *)ofs, sizeof(phdr));
if (phdr.type == AP_PARAM_NONE &&
phdr.key == 0) {
// we've reached the sentinal
@ -559,9 +564,9 @@ AP_Param *AP_Param::first(uint32_t *token, enum ap_var_type *ptype)
return NULL;
}
if (ptype != NULL) {
*ptype = (enum ap_var_type)pgm_read_byte(&_var_info[0].type);
*ptype = (enum ap_var_type)PGM_UINT8(&_var_info[0].type);
}
return (AP_Param *)(pgm_read_pointer(&_var_info[0].ptr));
return (AP_Param *)(PGM_POINTER(&_var_info[0].ptr));
}
/// Returns the next variable in a group, recursing into groups
@ -575,11 +580,11 @@ AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_inf
{
uint8_t type;
for (uint8_t i=0;
(type=pgm_read_byte(&group_info[i].type)) != AP_PARAM_NONE;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = (const struct GroupInfo *)pgm_read_pointer(&group_info[i].group_info);
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
AP_Param *ap;
ap = next_group(vindex, ginfo, found_current, GROUP_OFFSET(group_base, i, group_shift),
group_shift + _group_level_shift, token, ptype);
@ -593,9 +598,9 @@ AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_inf
if (ptype != NULL) {
*ptype = (enum ap_var_type)type;
}
return (AP_Param*)(pgm_read_pointer(&_var_info[vindex].ptr) + pgm_read_word(&group_info[i].offset));
return (AP_Param*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
}
if (GROUP_OFFSET(group_base, i, group_shift) == (*token)>>16) {
if (GROUP_OFFSET(group_base, i, group_shift) == (uint16_t)((*token)>>16)) {
*found_current = true;
}
}
@ -613,15 +618,15 @@ AP_Param *AP_Param::next(uint32_t *token, enum ap_var_type *ptype)
// illegal token
return NULL;
}
uint8_t type = pgm_read_byte(&_var_info[i].type);
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type != AP_PARAM_GROUP) {
i++;
found_current = true;
}
for (; i<_num_vars; i++) {
type = pgm_read_byte(&_var_info[i].type);
type = PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = (const struct GroupInfo *)pgm_read_pointer(&_var_info[i].group_info);
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
AP_Param *ap = next_group(i, group_info, &found_current, 0, 0, token, ptype);
if (ap != NULL) {
return ap;
@ -632,7 +637,7 @@ AP_Param *AP_Param::next(uint32_t *token, enum ap_var_type *ptype)
if (ptype != NULL) {
*ptype = (enum ap_var_type)type;
}
return (AP_Param *)(pgm_read_pointer(&_var_info[i].ptr));
return (AP_Param *)(PGM_POINTER(&_var_info[i].ptr));
}
}
return NULL;