forked from Archive/PX4-Autopilot
353 lines
11 KiB
C
353 lines
11 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
|
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file mavlink_parameters.c
|
|
* MAVLink parameter protocol implementation (BSD-relicensed).
|
|
*/
|
|
|
|
#include "mavlink_parameters.h"
|
|
#include <uORB/uORB.h>
|
|
#include "math.h" /* isinf / isnan checks */
|
|
#include <assert.h>
|
|
#include <stdio.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
#include <stdbool.h>
|
|
#include <string.h>
|
|
#include <errno.h>
|
|
#include <systemlib/param/param.h>
|
|
#include <systemlib/err.h>
|
|
#include <sys/stat.h>
|
|
|
|
extern mavlink_system_t mavlink_system;
|
|
|
|
extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
|
|
extern int mavlink_missionlib_send_gcs_string(const char *string);
|
|
|
|
/**
|
|
* If the queue index is not at 0, the queue sending
|
|
* logic will send parameters from the current index
|
|
* to len - 1, the end of the param list.
|
|
*/
|
|
static unsigned int mavlink_param_queue_index = 0;
|
|
|
|
/**
|
|
* Callback for param interface.
|
|
*/
|
|
void mavlink_pm_callback(void *arg, param_t param);
|
|
|
|
/**
|
|
* Save parameters to EEPROM.
|
|
*
|
|
* Stores the parameters to /eeprom/parameters
|
|
*/
|
|
static int mavlink_pm_save_eeprom(void);
|
|
|
|
/**
|
|
* Load parameters from EEPROM.
|
|
*
|
|
* Loads the parameters from /eeprom/parameters
|
|
*/
|
|
static int mavlink_pm_load_eeprom(void);
|
|
|
|
void mavlink_pm_callback(void *arg, param_t param)
|
|
{
|
|
mavlink_pm_send_param(param);
|
|
usleep(*(unsigned int*)arg);
|
|
}
|
|
|
|
void mavlink_pm_send_all_params(unsigned int delay)
|
|
{
|
|
unsigned int dbuf = delay;
|
|
param_foreach(&mavlink_pm_callback, &dbuf, false);
|
|
}
|
|
|
|
int mavlink_pm_queued_send()
|
|
{
|
|
if (mavlink_param_queue_index < param_count()) {
|
|
mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
|
|
mavlink_param_queue_index++;
|
|
return 0;
|
|
} else {
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
void mavlink_pm_start_queued_send()
|
|
{
|
|
mavlink_param_queue_index = 0;
|
|
}
|
|
|
|
int mavlink_pm_send_param_for_index(uint16_t index)
|
|
{
|
|
return mavlink_pm_send_param(param_for_index(index));
|
|
}
|
|
|
|
int mavlink_pm_send_param_for_name(const char* name)
|
|
{
|
|
return mavlink_pm_send_param(param_find(name));
|
|
}
|
|
|
|
int mavlink_pm_send_param(param_t param)
|
|
{
|
|
if (param == PARAM_INVALID) return 1;
|
|
|
|
/* buffers for param transmission */
|
|
static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
|
|
float val_buf;
|
|
static mavlink_message_t tx_msg;
|
|
|
|
/* query parameter type */
|
|
param_type_t type = param_type(param);
|
|
/* copy parameter name */
|
|
strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
|
|
|
|
/*
|
|
* Map onboard parameter type to MAVLink type,
|
|
* endianess matches (both little endian)
|
|
*/
|
|
uint8_t mavlink_type;
|
|
if (type == PARAM_TYPE_INT32) {
|
|
mavlink_type = MAVLINK_TYPE_INT32_T;
|
|
} else if (type == PARAM_TYPE_FLOAT) {
|
|
mavlink_type = MAVLINK_TYPE_FLOAT;
|
|
} else {
|
|
mavlink_type = MAVLINK_TYPE_FLOAT;
|
|
}
|
|
|
|
/*
|
|
* get param value, since MAVLink encodes float and int params in the same
|
|
* space during transmission, copy param onto float val_buf
|
|
*/
|
|
|
|
int ret;
|
|
if ((ret = param_get(param, &val_buf)) != OK) return ret;
|
|
|
|
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
|
|
mavlink_system.compid,
|
|
MAVLINK_COMM_0,
|
|
&tx_msg,
|
|
name_buf,
|
|
val_buf,
|
|
mavlink_type,
|
|
param_count(),
|
|
param_get_index(param));
|
|
ret = mavlink_missionlib_send_message(&tx_msg);
|
|
return ret;
|
|
}
|
|
|
|
static const char *mavlink_parameter_file = "/eeprom/parameters";
|
|
|
|
/**
|
|
* @return 0 on success, -1 if device open failed, -2 if writing parameters failed
|
|
*/
|
|
static int mavlink_pm_save_eeprom()
|
|
{
|
|
/* delete the file in case it exists */
|
|
unlink(mavlink_parameter_file);
|
|
|
|
/* create the file */
|
|
int fd = open(mavlink_parameter_file, O_WRONLY | O_CREAT | O_EXCL);
|
|
|
|
if (fd < 0) {
|
|
warn("opening '%s' for writing failed", mavlink_parameter_file);
|
|
return -1;
|
|
}
|
|
|
|
int result = param_export(fd, false);
|
|
close(fd);
|
|
|
|
if (result != 0) {
|
|
unlink(mavlink_parameter_file);
|
|
warn("error exporting parameters to '%s'", mavlink_parameter_file);
|
|
return -2;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
|
|
*/
|
|
static int
|
|
mavlink_pm_load_eeprom()
|
|
{
|
|
int fd = open(mavlink_parameter_file, O_RDONLY);
|
|
|
|
if (fd < 0) {
|
|
/* no parameter file is OK, otherwise this is an error */
|
|
if (errno != ENOENT) {
|
|
warn("open '%s' for reading failed", mavlink_parameter_file);
|
|
return -1;
|
|
}
|
|
return 1;
|
|
}
|
|
|
|
int result = param_load(fd);
|
|
close(fd);
|
|
|
|
if (result != 0) {
|
|
warn("error reading parameters from '%s'", mavlink_parameter_file);
|
|
return -2;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
|
|
{
|
|
switch (msg->msgid) {
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
|
|
/* Start sending parameters */
|
|
mavlink_pm_start_queued_send();
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
|
|
} break;
|
|
|
|
case MAVLINK_MSG_ID_PARAM_SET: {
|
|
|
|
/* Handle parameter setting */
|
|
|
|
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
|
|
mavlink_param_set_t mavlink_param_set;
|
|
mavlink_msg_param_set_decode(msg, &mavlink_param_set);
|
|
|
|
if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
|
|
/* local name buffer to enforce null-terminated string */
|
|
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
|
|
strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
|
|
/* enforce null termination */
|
|
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
|
|
/* attempt to find parameter, set and send it */
|
|
param_t param = param_find(name);
|
|
|
|
if (param == PARAM_INVALID) {
|
|
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
|
|
sprintf(buf, "[mavlink pm] unknown: %s", name);
|
|
mavlink_missionlib_send_gcs_string(buf);
|
|
} else {
|
|
/* set and send parameter */
|
|
param_set(param, &(mavlink_param_set.param_value));
|
|
mavlink_pm_send_param(param);
|
|
}
|
|
}
|
|
}
|
|
} break;
|
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
|
|
mavlink_param_request_read_t mavlink_param_request_read;
|
|
mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
|
|
|
|
if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
|
|
/* when no index is given, loop through string ids and compare them */
|
|
if (mavlink_param_request_read.param_index == -1) {
|
|
/* local name buffer to enforce null-terminated string */
|
|
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
|
|
strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
|
|
/* enforce null termination */
|
|
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
|
|
/* attempt to find parameter and send it */
|
|
mavlink_pm_send_param_for_name(name);
|
|
} else {
|
|
/* when index is >= 0, send this parameter again */
|
|
mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
|
|
}
|
|
}
|
|
|
|
} break;
|
|
|
|
case MAVLINK_MSG_ID_COMMAND_LONG: {
|
|
mavlink_command_long_t cmd_mavlink;
|
|
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
|
|
|
|
uint8_t result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
if (cmd_mavlink.target_system == mavlink_system.sysid &&
|
|
((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
|
|
|
|
/* preflight parameter load / store */
|
|
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
|
|
/* Read all parameters from EEPROM to RAM */
|
|
|
|
if (((int)(cmd_mavlink.param1)) == 0) {
|
|
|
|
/* read all parameters from EEPROM to RAM */
|
|
int read_ret = mavlink_pm_load_eeprom();
|
|
if (read_ret == OK) {
|
|
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else if (read_ret == 1) {
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] No stored parameters to load");
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
if (read_ret < -1) {
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
|
|
} else {
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
|
|
}
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
|
|
} else if (((int)(cmd_mavlink.param1)) == 1) {
|
|
|
|
/* write all parameters from RAM to EEPROM */
|
|
int write_ret = mavlink_pm_save_eeprom();
|
|
if (write_ret == OK) {
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
if (write_ret < -1) {
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
|
|
} else {
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
|
|
}
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
|
|
} else {
|
|
//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
|
|
mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* send back command result */
|
|
//mavlink_msg_command_ack_send(chan, cmd.command, result);
|
|
} break;
|
|
}
|
|
}
|