mirror of https://github.com/ArduPilot/ardupilot
AP_Param: major update to use default values in var_info table
this stores the default value for all scalar variables in the var_info table, which makes it possible to avoid storing default values in eeprom. That allows us to oversubscribe the eeprom space with a much lower risk of overrun.
This commit is contained in:
Andrew Tridgell
parent
73c682faf6
commit
45c7c9b8d1
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@ -31,6 +31,7 @@
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// some useful progmem macros
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#define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)
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#define PGM_UINT16(addr) pgm_read_word((const uint16_t *)addr)
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#define PGM_FLOAT(addr) pgm_read_float((const float *)addr)
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#define PGM_POINTER(addr) pgm_read_pointer((const void *)addr)
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// the 'GROUP_ID' of a element of a group is the 8 bit identifier used
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@ -197,29 +198,32 @@ bool AP_Param::check_var_info(void)
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return false;
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}
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}
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if (total_size > _eeprom_size) {
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serialDebug("total_size %u exceeds _eeprom_size %u",
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total_size, _eeprom_size);
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return false;
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}
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// we no longer check if total_size is larger than _eeprom_size,
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// as we allow for more variables than could fit, relying on not
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// saving default values
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return true;
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}
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// setup the _var_info[] table
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bool AP_Param::setup(const AP_Param::Info *info, uint8_t num_vars, uint16_t eeprom_size)
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bool AP_Param::setup(const struct AP_Param::Info *info, uint16_t eeprom_size)
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{
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struct EEPROM_header hdr;
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uint8_t i;
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_eeprom_size = eeprom_size;
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_var_info = info;
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_num_vars = num_vars;
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for (i=0; PGM_UINT8(&info[i].type) != AP_PARAM_NONE; i++) ;
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_num_vars = i;
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if (!check_var_info()) {
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return false;
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}
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serialDebug("setup %u vars", (unsigned)num_vars);
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serialDebug("setup %u vars", (unsigned)_num_vars);
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// check the header
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eeprom_read_block(&hdr, 0, sizeof(hdr));
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@ -621,6 +625,17 @@ bool AP_Param::save(void)
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return false;
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}
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// if the value is the default value then don't save
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if (phdr.type <= AP_PARAM_FLOAT &&
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cast_to_float((enum ap_var_type)phdr.type) == PGM_FLOAT(&info->def_value)) {
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return true;
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}
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if (ofs+type_size((enum ap_var_type)phdr.type)+2*sizeof(phdr) >= _eeprom_size) {
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// we are out of room for saving variables
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return false;
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}
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// write a new sentinal, then the data, then the header
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write_sentinal(ofs + sizeof(phdr) + type_size((enum ap_var_type)phdr.type));
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eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
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@ -655,6 +670,14 @@ bool AP_Param::load(void)
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// scan EEPROM to find the right location
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uint16_t ofs;
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if (!scan(&phdr, &ofs)) {
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// if the value isn't stored in EEPROM then set the default value
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if (ginfo != NULL) {
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uintptr_t base = PGM_POINTER(&info->ptr);
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set_value((enum ap_var_type)phdr.type, (void*)(base + PGM_UINT16(&ginfo->offset)),
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PGM_FLOAT(&ginfo->def_value));
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} else {
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set_value((enum ap_var_type)phdr.type, (void*)PGM_POINTER(&info->ptr), PGM_FLOAT(&info->def_value));
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}
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return false;
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}
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@ -674,12 +697,69 @@ bool AP_Param::load(void)
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return true;
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}
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// set a AP_Param variable to a specified value
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void AP_Param::set_value(enum ap_var_type type, void *ptr, float def_value)
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{
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switch (type) {
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case AP_PARAM_INT8:
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((AP_Int8 *)ptr)->set(def_value);
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break;
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case AP_PARAM_INT16:
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((AP_Int16 *)ptr)->set(def_value);
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break;
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case AP_PARAM_INT32:
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((AP_Int32 *)ptr)->set(def_value);
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break;
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case AP_PARAM_FLOAT:
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((AP_Float *)ptr)->set(def_value);
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break;
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default:
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break;
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}
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}
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// load default values for scalars in a group
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void AP_Param::load_defaults_group(const struct GroupInfo *group_info, uintptr_t base)
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{
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uint8_t type;
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for (uint8_t i=0;
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(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
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i++) {
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if (type == AP_PARAM_GROUP) {
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const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
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load_defaults_group(ginfo, base);
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} else if (type <= AP_PARAM_FLOAT) {
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void *ptr = (void *)(base + PGM_UINT16(&group_info[i].offset));
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set_value((enum ap_var_type)type, ptr, PGM_FLOAT(&group_info[i].def_value));
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}
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}
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}
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// load default values for all scalars
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void AP_Param::load_defaults(void)
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{
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for (uint8_t i=0; i<_num_vars; i++) {
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uint8_t type = PGM_UINT8(&_var_info[i].type);
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if (type == AP_PARAM_GROUP) {
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const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
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uintptr_t base = PGM_POINTER(&_var_info[i].ptr);
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load_defaults_group(group_info, base);
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} else if (type <= AP_PARAM_FLOAT) {
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void *ptr = (void*)PGM_POINTER(&_var_info[i].ptr);
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set_value((enum ap_var_type)type, ptr, PGM_FLOAT(&_var_info[i].def_value));
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}
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}
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}
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// Load all variables from EEPROM
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//
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bool AP_Param::load_all(void)
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{
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struct Param_header phdr;
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uint16_t ofs = sizeof(AP_Param::EEPROM_header);
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while (ofs < _eeprom_size) {
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eeprom_read_block(&phdr, (void *)ofs, sizeof(phdr));
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// note that this is an || not an && for robustness
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@ -31,14 +31,15 @@
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#define AP_CLASSTYPE(class, element) (((const class *)1)->element.vtype)
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// declare a group var_info line
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#define AP_GROUPINFO(name, idx, class, element) { AP_CLASSTYPE(class, element), idx, name, AP_VAROFFSET(class, element) }
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#define AP_GROUPINFO(name, idx, class, element, def) { AP_CLASSTYPE(class, element), idx, name, AP_VAROFFSET(class, element), {def_value:def} }
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// declare a nested group entry in a group var_info
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#ifdef AP_NESTED_GROUPS_ENABLED
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#define AP_NESTEDGROUPINFO(class, idx) { AP_PARAM_GROUP, idx, "", 0, class::var_info }
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#define AP_NESTEDGROUPINFO(class, idx) { AP_PARAM_GROUP, idx, "", 0, { group_info: class::var_info } }
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#endif
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#define AP_GROUPEND { AP_PARAM_NONE, 0xFF, "" }
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#define AP_GROUPEND { AP_PARAM_NONE, 0xFF, "", 0, { group_info : NULL } }
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#define AP_VAREND { AP_PARAM_NONE, "", 0, NULL, { group_info : NULL } }
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enum ap_var_type {
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AP_PARAM_NONE = 0,
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@ -67,27 +68,42 @@ public:
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uint8_t idx; // identifier within the group
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const char name[AP_MAX_NAME_SIZE];
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uintptr_t offset; // offset within the object
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const struct GroupInfo *group_info;
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union {
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const struct GroupInfo *group_info;
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const float def_value;
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};
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};
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struct Info {
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uint8_t type; // AP_PARAM_*
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const char name[AP_MAX_NAME_SIZE];
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uint8_t key; // k_param_*
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void *ptr; // pointer to the variable in memory
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const struct GroupInfo *group_info;
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union {
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const struct GroupInfo *group_info;
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const float def_value;
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};
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};
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// a token used for first()/next() state
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typedef struct {
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uint8_t key;
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uint8_t group_element;
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uint8_t idx; // offset into array types
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} ParamToken;
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// called once at startup to setup the _var_info[] table. This
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// will also check the EEPROM header and re-initialise it if the
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// wrong version is found
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static bool setup(const struct Info *info, uint8_t num_vars, uint16_t eeprom_size);
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static bool setup(const struct Info *info, uint16_t eeprom_size);
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// constructor to load default values and setup var_info table
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AP_Param(const struct Info *info, uint16_t eeprom_size) {
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setup(info, eeprom_size);
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load_defaults();
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}
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// empty constructor for child classes
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AP_Param() {}
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// a token used for first()/next() state
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typedef struct {
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uint32_t key:8;
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uint32_t idx:6; // offset into array types
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uint32_t group_element:18;
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} ParamToken;
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// return true if AP_Param has been initialised via setup()
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static bool initialised(void);
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@ -136,6 +152,15 @@ public:
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///
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static bool load_all(void);
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// set a AP_Param variable to a specified value
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static void set_value(enum ap_var_type type, void *ptr, float def_value);
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// load default values for scalars in a group
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static void load_defaults_group(const struct GroupInfo *group_info, uintptr_t base);
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// load default values for all scalars
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static void load_defaults(void);
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/// Erase all variables in EEPROM.
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///
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static void erase_all(void);
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@ -179,24 +204,21 @@ private:
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- key: the k_param enum value from Parameter.h in the sketch
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- group_element: This is zero for top level parameters. For
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parameters stored within an object the top 4 bits
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are the idx field of the GroupInfo structue (the index into
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the first level of object indirection). The second
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4 bits are the idx field from the second level of
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object indirection. This allows for two levels of
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object to be stored in the eeprom
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parameters stored within an object this is divided
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into 3 lots of 6 bits, allowing for three levels
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of object to be stored in the eeprom
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- type: the ap_var_type value for the variable
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*/
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struct Param_header {
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uint8_t key;
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uint8_t group_element;
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uint8_t type;
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uint32_t key:8;
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uint32_t type:6;
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uint32_t group_element:18;
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};
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// number of bits in each level of nesting of groups
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static const uint8_t _group_level_shift = 4;
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static const uint8_t _group_bits = 8;
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static const uint8_t _group_level_shift = 6;
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static const uint8_t _group_bits = 18;
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static const uint8_t _sentinal_key = 0xFF;
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static const uint8_t _sentinal_type = 0xFF;
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@ -241,7 +263,7 @@ private:
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// values filled into the EEPROM header
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static const uint8_t k_EEPROM_magic0 = 0x50;
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static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP"
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static const uint8_t k_EEPROM_revision = 5; ///< current format revision
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static const uint8_t k_EEPROM_revision = 6; ///< current format revision
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};
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/// Template class for scalar variables.
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@ -256,18 +278,6 @@ template<typename T, ap_var_type PT>
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class AP_ParamT : public AP_Param
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{
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public:
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/// Constructor for scalar variable.
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///
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/// Initialises a stand-alone variable with optional initial value.
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///
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/// @param default_value Value the variable should have at startup.
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///
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AP_ParamT<T,PT> (const T initial_value = 0) :
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AP_Param(),
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_value(initial_value)
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{
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}
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static const ap_var_type vtype = PT;
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/// Value getter
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@ -346,6 +356,7 @@ template<typename T, ap_var_type PT>
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class AP_ParamV : public AP_Param
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{
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public:
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static const ap_var_type vtype = PT;
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/// Value getter
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@ -406,6 +417,7 @@ template<typename T, uint8_t N, ap_var_type PT>
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class AP_ParamA : public AP_Param
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{
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public:
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static const ap_var_type vtype = PT;
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/// Array operator accesses members.
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@ -18,7 +18,7 @@ struct EEPROM_header {
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static const uint16_t k_EEPROM_magic0 = 0x50;
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static const uint16_t k_EEPROM_magic1 = 0x41;
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static const uint16_t k_EEPROM_revision = 5;
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static const uint16_t k_EEPROM_revision = 6;
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enum ap_var_type {
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AP_PARAM_NONE = 0,
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@ -37,9 +37,9 @@ static const char *type_names[8] = {
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};
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struct Param_header {
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uint8_t key;
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uint8_t group_element;
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uint8_t type;
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uint32_t key:8;
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uint32_t type:6;
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uint32_t group_element:18;
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};
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@ -13,7 +13,7 @@ if (ord($buffer2) != 0x41 && ord($buffer) != 0x50) {
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exit;
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}
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read(IN,$buffer,1);
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if (ord($buffer) != 5) {
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if (ord($buffer) != 6) {
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print "bad version";
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exit;
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}
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@ -26,47 +26,53 @@ $a = 0;
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while (read(IN,$buffer,1)) {
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$pos = (tell(IN) - 1);
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if (ord($buffer) == 0xff) {
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my $key = ord($buffer);
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if ($key == 0xff) {
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printf("end sentinel at %u\n", $pos);
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last;
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}
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read(IN,$buffer2,1);
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read(IN,$buffer3,1);
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read(IN,$buffer2,1);
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read(IN,$buffer3,1);
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read(IN,$buffer4,1);
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if (ord($buffer3) == 0) { #none
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$size = 0;
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$type = "NONE";
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} elsif (ord($buffer3) == 1) { #int8
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$size = 1;
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$type = "INT8";
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} elsif (ord($buffer3) == 2) { #int16
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$size = 2;
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$type = "INT16";
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} elsif (ord($buffer3) == 3) { #int32
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$size = 4;
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$type = "INT32";
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} elsif (ord($buffer3) == 4) { #float
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$size = 4;
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$type = "FLOAT";
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} elsif (ord($buffer3) == 5) { #vector 3
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$size = 3*4;
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$type = "VECTOR3F";
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} elsif (ord($buffer3) == 6) { #vector6
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$size = 6*4;
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$type = "VECTOR6F";
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} elsif (ord($buffer3) == 7) { #matrix
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$size = 3*3*4;
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$type = "MATRIX6F";
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} elsif (ord($buffer3) == 8) { #group
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$size = 0;
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$type = "GROUP";
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} else {
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print "Unknown type\n";
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$size = 0;
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}
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my $itype = ord($buffer2)&0x3F;
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my $group_element = (ord($buffer2)>>6) | (ord($buffer3)<<8) | (ord($buffer4)<<16);
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printf("%04x: type %u ($type) key %u group_element %u size %d\n ", $pos, ord($buffer3),ord($buffer),ord($buffer2), $size);
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if ($itype == 0) { #none
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$size = 0;
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$type = "NONE";
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} elsif ($itype == 1) { #int8
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$size = 1;
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$type = "INT8";
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} elsif ($itype == 2) { #int16
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$size = 2;
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$type = "INT16";
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} elsif ($itype == 3) { #int32
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$size = 4;
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$type = "INT32";
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} elsif ($itype == 4) { #float
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$size = 4;
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$type = "FLOAT";
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} elsif ($itype == 5) { #vector 3
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$size = 3*4;
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$type = "VECTOR3F";
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} elsif ($itype == 6) { #vector6
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$size = 6*4;
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$type = "VECTOR6F";
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} elsif ($itype == 7) { #matrix
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$size = 3*3*4;
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$type = "MATRIX6F";
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} elsif ($itype == 8) { #group
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$size = 0;
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$type = "GROUP";
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} else {
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print "Unknown type\n";
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$size = 0;
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}
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printf("%04x: type %u ($type) key %u group_element %u size %d\n ", $pos, $itype, $key, $group_element, $size);
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for ($i = 0; $i < ($size); $i++) {
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read(IN,$buffer,1);
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