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AP_Param: add support for converting between old and new parameters

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this allows for a conversion table between old parameters and new
parameters, making firmware upgrades with moved parameters much easier
for users
This commit is contained in:
Andrew Tridgell 2013-05-30 21:45:25 +10:00
parent e48b8c7b4a
commit ad2f6e1217
2 changed files with 100 additions and 6 deletions
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91
libraries/AP_Param/AP_Param.cpp
View File

@ -608,6 +608,17 @@ AP_Param::find(const char *name, enum ap_var_type *ptype)
return NULL;
}
// Find a variable by name.
//
AP_Param *
AP_Param::find_P(const prog_char_t *name, enum ap_var_type *ptype)
{
char param_name[AP_MAX_NAME_SIZE+1];
strncpy_P(param_name, name, AP_MAX_NAME_SIZE);
param_name[AP_MAX_NAME_SIZE] = 0;
return find(param_name, ptype);
}
// Find a variable by index. Note that this is quite slow.
//
AP_Param *
@ -705,6 +716,7 @@ bool AP_Param::save(void)
if (ofs+type_size((enum ap_var_type)phdr.type)+2*sizeof(phdr) >= _eeprom_size) {
// we are out of room for saving variables
hal.console->println_P(PSTR("EEPROM full"));
return false;
}
@ -770,20 +782,20 @@ bool AP_Param::load(void)
}
// set a AP_Param variable to a specified value
void AP_Param::set_value(enum ap_var_type type, void *ptr, float def_value)
void AP_Param::set_value(enum ap_var_type type, void *ptr, float value)
{
switch (type) {
case AP_PARAM_INT8:
((AP_Int8 *)ptr)->set(def_value);
((AP_Int8 *)ptr)->set(value);
break;
case AP_PARAM_INT16:
((AP_Int16 *)ptr)->set(def_value);
((AP_Int16 *)ptr)->set(value);
break;
case AP_PARAM_INT32:
((AP_Int32 *)ptr)->set(def_value);
((AP_Int32 *)ptr)->set(value);
break;
case AP_PARAM_FLOAT:
((AP_Float *)ptr)->set(def_value);
((AP_Float *)ptr)->set(value);
break;
default:
break;
@ -1054,3 +1066,72 @@ void AP_Param::show_all(AP_HAL::BetterStream *port)
}
}
// convert one old vehicle parameter to new object parameter
void AP_Param::convert_old_parameter(const struct ConversionInfo *info)
{
// find the old value in EEPROM.
uint16_t pofs;
AP_Param::Param_header header;
header.type = PGM_UINT8(&info->type);
header.key = PGM_UINT8(&info->old_key);
header.group_element = PGM_UINT8(&info->old_group_element);
if (!scan(&header, &pofs)) {
// the old parameter isn't saved in the EEPROM. It was
// probably still set to the default value, which isn't stored
// no need to convert
return;
}
// load the old value from EEPROM
uint8_t old_value[type_size((enum ap_var_type)header.type)];
hal.storage->read_block(old_value, pofs+sizeof(header), sizeof(old_value));
const AP_Param *ap = (const AP_Param *)&old_value[0];
// find the new variable in the variable structures
enum ap_var_type ptype;
AP_Param *ap2;
ap2 = find_P((const prog_char_t *)&info->new_name[0], &ptype);
if (ap2 == NULL) {
hal.console->printf_P(PSTR("Unknown conversion '%S'\n"), info->new_name);
return;
}
// see if we can load it from EEPROM
if (ap2->load()) {
// the new parameter already has a value set by the user, or
// has already been converted
return;
}
// see if they are the same type
if (ptype == header.type) {
// copy the value over only if the new parameter does not already
// have the old value (via a default).
if (memcmp(ap2, ap, sizeof(old_value)) != 0) {
memcpy(ap2, ap, sizeof(old_value));
// and save
ap2->save();
}
} else if (ptype <= AP_PARAM_FLOAT && header.type <= AP_PARAM_FLOAT) {
// perform scalar->scalar conversion
float v = ap->cast_to_float((enum ap_var_type)header.type);
if (v != ap2->cast_to_float(ptype)) {
// the value needs to change
set_value(ptype, ap2, v);
ap2->save();
}
} else {
// can't do vector<->scalar conversion, or different vector types
hal.console->printf_P(PSTR("Bad conversion type '%S'\n"), info->new_name);
}
}
// convert old vehicle parameters to new object parametersv
void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size)
{
for (uint8_t i=0; i<table_size; i++) {
convert_old_parameter(&conversion_table[i]);
}
}

15
libraries/AP_Param/AP_Param.h
View File

@ -83,6 +83,12 @@ public:
const float def_value;
};
};
struct ConversionInfo {
uint8_t old_key; // k_param_*
uint8_t old_group_element; // index in old object
enum ap_var_type type; // AP_PARAM_*
const char new_name[AP_MAX_NAME_SIZE+1];
};
// called once at startup to setup the _var_info[] table. This
// will also check the EEPROM header and re-initialise it if the
@ -137,6 +143,7 @@ public:
/// it does not exist.
///
static AP_Param * find(const char *name, enum ap_var_type *ptype);
static AP_Param * find_P(const prog_char_t *name, enum ap_var_type *ptype);
/// Find a variable by index.
///
@ -187,6 +194,9 @@ public:
// does not recurse into the sub-objects
static void setup_sketch_defaults(void);
// convert old vehicle parameters to new object parameters
static void convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size);
/// Erase all variables in EEPROM.
///
static void erase_all(void);
@ -300,7 +310,7 @@ private:
const struct GroupInfo *group_info,
enum ap_var_type *ptype);
static void write_sentinal(uint16_t ofs);
bool scan(
static bool scan(
const struct Param_header *phdr,
uint16_t *pofs);
static uint8_t type_size(enum ap_var_type type);
@ -325,6 +335,9 @@ private:
static const uint8_t k_EEPROM_magic0 = 0x50;
static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP"
static const uint8_t k_EEPROM_revision = 6; ///< current format revision
// convert old vehicle parameters to new object parameters
static void convert_old_parameter(const struct ConversionInfo *info);
};
/// Template class for scalar variables.