mirror of https://github.com/ArduPilot/ardupilot
687 lines
23 KiB
C++
687 lines
23 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// This is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License as published by the
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// Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version.
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//
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// total up and check overflow
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// check size of group var_info
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/// @file AP_Param.cpp
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/// @brief The AP variable store.
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <math.h>
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#include <string.h>
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// #define ENABLE_FASTSERIAL_DEBUG
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#ifdef ENABLE_FASTSERIAL_DEBUG
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# define serialDebug(fmt, args...) if (FastSerial::getInitialized(0)) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
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#else
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# define serialDebug(fmt, args...)
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#endif
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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_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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// to distinguish between this element of the group and other elements
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// of the same group. It is calculated using a bit shift per level of
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// nesting, so the first level of nesting gets 4 bits, and the next
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// level gets the next 4 bits. This limits groups to having at most 16
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// elements.
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#define GROUP_ID(grpinfo, base, i, shift) ((base)+(((uint16_t)PGM_UINT8(&grpinfo[i].idx))<<(shift)))
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// Static member variables for AP_Param.
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//
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// max EEPROM write size. This is usually less than the physical
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// size as only part of the EEPROM is reserved for parameters
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uint16_t AP_Param::_eeprom_size;
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// number of rows in the _var_info[] table
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uint8_t AP_Param::_num_vars;
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// storage and naming information about all types that can be saved
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const AP_Param::Info *AP_Param::_var_info;
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// write to EEPROM, checking each byte to avoid writing
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// bytes that are already correct
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void AP_Param::eeprom_write_check(const void *ptr, uint16_t ofs, uint8_t size)
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{
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const uint8_t *b = (const uint8_t *)ptr;
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while (size--) {
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uint8_t v = eeprom_read_byte((const uint8_t *)ofs);
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if (v != *b) {
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eeprom_write_byte((uint8_t *)ofs, *b);
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}
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b++;
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ofs++;
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}
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}
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// write a sentinal value at the given offset
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void AP_Param::write_sentinal(uint16_t ofs)
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{
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struct Param_header phdr;
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phdr.type = _sentinal_type;
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phdr.key = _sentinal_key;
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phdr.group_element = _sentinal_group;
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eeprom_write_check(&phdr, ofs, sizeof(phdr));
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}
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// erase all EEPROM variables by re-writing the header and adding
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// a sentinal
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void AP_Param::erase_all(void)
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{
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struct EEPROM_header hdr;
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serialDebug("erase_all");
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// write the header
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hdr.magic[0] = k_EEPROM_magic0;
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hdr.magic[1] = k_EEPROM_magic1;
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hdr.revision = k_EEPROM_revision;
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hdr.spare = 0;
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eeprom_write_check(&hdr, 0, sizeof(hdr));
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// add a sentinal directly after the header
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write_sentinal(sizeof(struct EEPROM_header));
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}
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// validate a group info table
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bool AP_Param::check_group_info(const struct AP_Param::GroupInfo *group_info,
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uint16_t *total_size,
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uint8_t group_shift)
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{
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uint8_t type;
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int8_t max_idx = -1;
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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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// a nested group
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const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
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if (group_shift + _group_level_shift >= _group_bits) {
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// double nesting of groups is not allowed
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return false;
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}
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if (ginfo == NULL ||
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!check_group_info(ginfo, total_size, group_shift + _group_level_shift)) {
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return false;
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}
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continue;
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}
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uint8_t idx = PGM_UINT8(&group_info[i].idx);
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if (idx >= (1<<_group_level_shift)) {
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// passed limit on table size
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return false;
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}
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if ((int8_t)idx <= max_idx) {
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// the indexes must be in increasing order
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return false;
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}
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max_idx = (int8_t)idx;
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uint8_t size = type_size((enum ap_var_type)type);
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if (size == 0) {
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// not a valid type
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return false;
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}
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(*total_size) += size + sizeof(struct Param_header);
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}
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return true;
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}
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// validate the _var_info[] table
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bool AP_Param::check_var_info(void)
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{
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uint16_t total_size = sizeof(struct EEPROM_header);
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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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if (i == 0) {
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// first element can't be a group, for first() call
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return false;
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}
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const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
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if (group_info == NULL ||
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!check_group_info(group_info, &total_size, 0)) {
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return false;
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}
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} else {
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uint8_t size = type_size((enum ap_var_type)type);
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if (size == 0) {
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// not a valid type - the top level list can't contain
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// AP_PARAM_NONE
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return false;
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}
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total_size += size + sizeof(struct Param_header);
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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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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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{
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struct EEPROM_header hdr;
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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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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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// check the header
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eeprom_read_block(&hdr, 0, sizeof(hdr));
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if (hdr.magic[0] != k_EEPROM_magic0 ||
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hdr.magic[1] != k_EEPROM_magic1 ||
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hdr.revision != k_EEPROM_revision) {
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// header doesn't match. We can't recover any variables. Wipe
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// the header and setup the sentinal directly after the header
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serialDebug("bad header in setup - erasing");
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erase_all();
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}
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return true;
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}
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// find the info structure given a header and a group_info table
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// return the Info structure and a pointer to the variables storage
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const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header phdr, void **ptr,
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uint8_t vindex,
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const struct GroupInfo *group_info,
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uint8_t group_base,
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uint8_t group_shift)
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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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// a nested group
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if (group_shift + _group_level_shift >= _group_bits) {
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// too deeply nested - this should have been caught by
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// setup() !
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return NULL;
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}
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const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
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const struct AP_Param::Info *ret = find_by_header_group(phdr, ptr, vindex, ginfo,
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GROUP_ID(group_info, group_base, i, group_shift),
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group_shift + _group_level_shift);
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if (ret != NULL) {
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return ret;
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}
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continue;
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}
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if (GROUP_ID(group_info, group_base, i, group_shift) == phdr.group_element) {
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// found a group element
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*ptr = (void*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
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return &_var_info[vindex];
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}
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}
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return NULL;
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}
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// find the info structure given a header
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// return the Info structure and a pointer to the variables storage
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const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr, void **ptr)
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{
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// loop over all named variables
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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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uint8_t key = PGM_UINT8(&_var_info[i].key);
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if (key != phdr.key) {
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// not the right key
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continue;
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}
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if (type != AP_PARAM_GROUP) {
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// if its not a group then we are done
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*ptr = (void*)PGM_POINTER(&_var_info[i].ptr);
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return &_var_info[i];
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}
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const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
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return find_by_header_group(phdr, ptr, i, group_info, 0, 0);
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}
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return NULL;
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}
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// find the info structure for a variable in a group
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const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInfo *group_info,
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uint8_t vindex,
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uint8_t group_base,
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uint8_t group_shift,
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uint8_t *group_element,
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const struct GroupInfo **group_ret)
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{
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uintptr_t base = PGM_POINTER(&_var_info[vindex].ptr);
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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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// a nested group
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if (group_shift + _group_level_shift >= _group_bits) {
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// too deeply nested - this should have been caught by
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// setup() !
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return NULL;
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}
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const struct AP_Param::Info *info;
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info = find_var_info_group(ginfo, vindex,
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GROUP_ID(group_info, group_base, i, group_shift),
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group_shift + _group_level_shift,
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group_element,
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group_ret);
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if (info != NULL) {
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return info;
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}
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} else if ((uintptr_t)this == base + PGM_POINTER(&group_info[i].offset)) {
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*group_element = GROUP_ID(group_info, group_base, i, group_shift);
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*group_ret = &group_info[i];
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return &_var_info[vindex];
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}
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}
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return NULL;
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}
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// find the info structure for a variable
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const struct AP_Param::Info *AP_Param::find_var_info(uint8_t *group_element,
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const struct GroupInfo **group_ret)
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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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uintptr_t base = PGM_POINTER(&_var_info[i].ptr);
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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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const struct AP_Param::Info *info;
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info = find_var_info_group(group_info, i, 0, 0, group_element, group_ret);
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if (info != NULL) {
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return info;
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}
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} else if (base == (uintptr_t)this) {
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*group_element = 0;
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*group_ret = NULL;
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return &_var_info[i];
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}
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}
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return NULL;
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}
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// return the storage size for a AP_PARAM_* type
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const uint8_t AP_Param::type_size(enum ap_var_type type)
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{
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switch (type) {
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case AP_PARAM_NONE:
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case AP_PARAM_GROUP:
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return 0;
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case AP_PARAM_INT8:
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return 1;
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case AP_PARAM_INT16:
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return 2;
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case AP_PARAM_INT32:
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return 4;
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case AP_PARAM_FLOAT:
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return 4;
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case AP_PARAM_VECTOR3F:
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return 3*4;
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case AP_PARAM_VECTOR6F:
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return 6*4;
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case AP_PARAM_MATRIX3F:
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return 3*3*4;
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}
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serialDebug("unknown type %u\n", type);
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return 0;
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}
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// scan the EEPROM looking for a given variable by header content
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// return true if found, along with the offset in the EEPROM where
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// the variable is stored
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// if not found return the offset of the sentinal, or
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bool AP_Param::scan(const AP_Param::Param_header *target, uint16_t *pofs)
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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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if (phdr.type == target->type &&
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phdr.key == target->key &&
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phdr.group_element == target->group_element) {
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// found it
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*pofs = ofs;
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return true;
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}
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// note that this is an ||, not an &&, as this makes us more
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// robust to power off while adding a variable to EEPROM
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if (phdr.type == _sentinal_type ||
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phdr.key == _sentinal_key ||
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phdr.group_element == _sentinal_group) {
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// we've reached the sentinal
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*pofs = ofs;
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return false;
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}
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ofs += type_size((enum ap_var_type)phdr.type) + sizeof(phdr);
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}
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*pofs = ~0;
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serialDebug("scan past end of eeprom");
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return false;
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}
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// Copy the variable's whole name to the supplied buffer.
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//
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// If the variable is a group member, prepend the group name.
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//
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void AP_Param::copy_name(char *buffer, size_t buffer_size)
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{
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uint8_t group_element;
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const struct GroupInfo *ginfo;
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const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo);
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if (info == NULL) {
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*buffer = 0;
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serialDebug("no info found");
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return;
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}
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strncpy_P(buffer, info->name, buffer_size);
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if (ginfo != NULL) {
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uint8_t len = strnlen(buffer, buffer_size);
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if (len < buffer_size) {
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strncpy_P(&buffer[len], ginfo->name, buffer_size-len);
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}
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}
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}
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// Find a variable by name in a group
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AP_Param *
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AP_Param::find_group(const char *name, uint8_t vindex, const struct GroupInfo *group_info, enum ap_var_type *ptype)
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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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AP_Param *ap = find_group(name, vindex, ginfo, ptype);
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if (ap != NULL) {
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return ap;
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}
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} else if (strcasecmp_P(name, group_info[i].name) == 0) {
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uintptr_t p = PGM_POINTER(&_var_info[vindex].ptr);
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*ptype = (enum ap_var_type)type;
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return (AP_Param *)(p + PGM_POINTER(&group_info[i].offset));
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}
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}
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return NULL;
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}
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// Find a variable by name.
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//
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AP_Param *
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AP_Param::find(const char *name, enum ap_var_type *ptype)
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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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uint8_t len = strnlen_P(_var_info[i].name, AP_MAX_NAME_SIZE);
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if (strncmp_P(name, _var_info[i].name, len) != 0) {
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continue;
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}
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const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
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return find_group(name + len, i, group_info, ptype);
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} else if (strcasecmp_P(name, _var_info[i].name) == 0) {
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*ptype = (enum ap_var_type)type;
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return (AP_Param *)PGM_POINTER(&_var_info[i].ptr);
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}
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}
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return NULL;
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}
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// Save the variable to EEPROM, if supported
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//
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bool AP_Param::save(void)
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{
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uint8_t group_element = 0;
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const struct GroupInfo *ginfo;
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const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo);
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if (info == NULL) {
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// we don't have any info on how to store it
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return false;
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}
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struct Param_header phdr;
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// create the header we will use to store the variable
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if (ginfo != NULL) {
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phdr.type = PGM_UINT8(&ginfo->type);
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} else {
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phdr.type = PGM_UINT8(&info->type);
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}
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phdr.key = PGM_UINT8(&info->key);
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phdr.group_element = group_element;
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|
|
|
// scan EEPROM to find the right location
|
|
uint16_t ofs;
|
|
if (scan(&phdr, &ofs)) {
|
|
// found an existing copy of the variable
|
|
eeprom_write_check(this, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
|
|
return true;
|
|
}
|
|
if (ofs == (uint16_t)~0) {
|
|
return false;
|
|
}
|
|
|
|
// write a new sentinal, then the data, then the header
|
|
write_sentinal(ofs + sizeof(phdr) + type_size((enum ap_var_type)phdr.type));
|
|
eeprom_write_check(this, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
|
|
eeprom_write_check(&phdr, ofs, sizeof(phdr));
|
|
return true;
|
|
}
|
|
|
|
// Load the variable from EEPROM, if supported
|
|
//
|
|
bool AP_Param::load(void)
|
|
{
|
|
uint8_t group_element = 0;
|
|
const struct GroupInfo *ginfo;
|
|
const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo);
|
|
if (info == NULL) {
|
|
// we don't have any info on how to load it
|
|
return false;
|
|
}
|
|
|
|
struct Param_header phdr;
|
|
|
|
// create the header we will use to match the variable
|
|
if (ginfo != NULL) {
|
|
phdr.type = PGM_UINT8(&ginfo->type);
|
|
} else {
|
|
phdr.type = PGM_UINT8(&info->type);
|
|
}
|
|
phdr.key = PGM_UINT8(&info->key);
|
|
phdr.group_element = group_element;
|
|
|
|
// scan EEPROM to find the right location
|
|
uint16_t ofs;
|
|
if (!scan(&phdr, &ofs)) {
|
|
return false;
|
|
}
|
|
|
|
// found it
|
|
eeprom_read_block(this, (void*)(ofs+sizeof(phdr)), type_size((enum ap_var_type)phdr.type));
|
|
return true;
|
|
}
|
|
|
|
// Load all variables from EEPROM
|
|
//
|
|
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, (void *)ofs, sizeof(phdr));
|
|
// note that this is an || not an && for robustness
|
|
// against power off while adding a variable
|
|
if (phdr.type == _sentinal_type ||
|
|
phdr.key == _sentinal_key ||
|
|
phdr.group_element == _sentinal_group) {
|
|
// we've reached the sentinal
|
|
return true;
|
|
}
|
|
|
|
const struct AP_Param::Info *info;
|
|
void *ptr;
|
|
|
|
info = find_by_header(phdr, &ptr);
|
|
if (info != NULL) {
|
|
eeprom_read_block(ptr, (void*)(ofs+sizeof(phdr)), type_size((enum ap_var_type)phdr.type));
|
|
}
|
|
|
|
ofs += type_size((enum ap_var_type)phdr.type) + sizeof(phdr);
|
|
}
|
|
|
|
// we didn't find the sentinal
|
|
serialDebug("no sentinal in load_all");
|
|
return false;
|
|
}
|
|
|
|
|
|
// return the first variable in _var_info
|
|
AP_Param *AP_Param::first(uint16_t *token, enum ap_var_type *ptype)
|
|
{
|
|
*token = 0;
|
|
if (_num_vars == 0) {
|
|
return NULL;
|
|
}
|
|
if (ptype != NULL) {
|
|
*ptype = (enum ap_var_type)PGM_UINT8(&_var_info[0].type);
|
|
}
|
|
return (AP_Param *)(PGM_POINTER(&_var_info[0].ptr));
|
|
}
|
|
|
|
/// Returns the next variable in a group, recursing into groups
|
|
/// as needed
|
|
AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_info,
|
|
bool *found_current,
|
|
uint8_t group_base,
|
|
uint8_t group_shift,
|
|
uint16_t *token,
|
|
enum ap_var_type *ptype)
|
|
{
|
|
uint8_t type;
|
|
for (uint8_t i=0;
|
|
(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_POINTER(&group_info[i].group_info);
|
|
AP_Param *ap;
|
|
ap = next_group(vindex, ginfo, found_current, GROUP_ID(group_info, group_base, i, group_shift),
|
|
group_shift + _group_level_shift, token, ptype);
|
|
if (ap != NULL) {
|
|
return ap;
|
|
}
|
|
} else {
|
|
if (*found_current) {
|
|
// got a new one
|
|
(*token) = ((uint16_t)GROUP_ID(group_info, group_base, i, group_shift)<<8) | vindex;
|
|
if (ptype != NULL) {
|
|
*ptype = (enum ap_var_type)type;
|
|
}
|
|
return (AP_Param*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
|
|
}
|
|
if (GROUP_ID(group_info, group_base, i, group_shift) == (uint8_t)((*token)>>8)) {
|
|
*found_current = true;
|
|
}
|
|
}
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
/// Returns the next variable in _var_info, recursing into groups
|
|
/// as needed
|
|
AP_Param *AP_Param::next(uint16_t *token, enum ap_var_type *ptype)
|
|
{
|
|
uint8_t i = (*token)&0xFF;
|
|
bool found_current = false;
|
|
if (i >= _num_vars) {
|
|
// illegal token
|
|
return NULL;
|
|
}
|
|
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_UINT8(&_var_info[i].type);
|
|
if (type == AP_PARAM_GROUP) {
|
|
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;
|
|
}
|
|
} else {
|
|
// found the next one
|
|
(*token) = i;
|
|
if (ptype != NULL) {
|
|
*ptype = (enum ap_var_type)type;
|
|
}
|
|
return (AP_Param *)(PGM_POINTER(&_var_info[i].ptr));
|
|
}
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
/// Returns the next scalar in _var_info, recursing into groups
|
|
/// as needed
|
|
AP_Param *AP_Param::next_scalar(uint16_t *token, enum ap_var_type *ptype)
|
|
{
|
|
AP_Param *ap;
|
|
enum ap_var_type type;
|
|
while ((ap = next(token, &type)) != NULL && type > AP_PARAM_FLOAT) ;
|
|
if (ap != NULL && ptype != NULL) {
|
|
*ptype = type;
|
|
}
|
|
return ap;
|
|
}
|
|
|
|
|
|
/// cast a variable to a float given its type
|
|
float AP_Param::cast_to_float(enum ap_var_type type)
|
|
{
|
|
switch (type) {
|
|
case AP_PARAM_INT8:
|
|
return ((AP_Int8 *)this)->cast_to_float();
|
|
case AP_PARAM_INT16:
|
|
return ((AP_Int16 *)this)->cast_to_float();
|
|
case AP_PARAM_INT32:
|
|
return ((AP_Int32 *)this)->cast_to_float();
|
|
case AP_PARAM_FLOAT:
|
|
return ((AP_Float *)this)->cast_to_float();
|
|
default:
|
|
return NAN;
|
|
}
|
|
}
|