New param interface for microSD and EEPROM

apps/commander/commander.c

@@ -268,33 +268,6 @@ void tune_confirm() {
 	ioctl(buzzer, TONE_SET_ALARM, 3);
 }
 
-static const char *parameter_file = "/eeprom/parameters";
-
-static int pm_save_eeprom(bool only_unsaved)
-{
-	/* delete the file in case it exists */
-	unlink(parameter_file);
-
-	/* create the file */
-	int fd = open(parameter_file, O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0) {
-		warn("opening '%s' for writing failed", parameter_file);
-		return -1;
-	}
-
-	int result = param_export(fd, only_unsaved);
-	close(fd);
-
-	if (result != 0) {
-		unlink(parameter_file);
-		warn("error exporting parameters to '%s'", parameter_file);
-		return -2;
-	}
-
-	return 0;
-}
-
 void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 {
 	/* set to mag calibration mode */
@@ -496,9 +469,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		}
 
 		/* auto-save to EEPROM */
-		int save_ret = pm_save_eeprom(false);
+		int save_ret = param_save_default();
 		if(save_ret != 0) {
-			warn("WARNING: auto-save of params to EEPROM failed");
+			warn("WARNING: auto-save of params to storage failed");
 		}
 
 		printf("[mag cal]\tscale: %.6f %.6f %.6f\n         \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n",
@@ -616,9 +589,9 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 		close(fd);
 
 		/* auto-save to EEPROM */
-		int save_ret = pm_save_eeprom(false);
+		int save_ret = param_save_default();
 		if(save_ret != 0) {
-			warn("WARNING: auto-save of params to EEPROM failed");
+			warn("WARNING: auto-save of params to storage failed");
 		}
 
 		// char buf[50];
@@ -736,9 +709,9 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 		close(fd);
 
 		/* auto-save to EEPROM */
-		int save_ret = pm_save_eeprom(false);
+		int save_ret = param_save_default();
 		if(save_ret != 0) {
-			warn("WARNING: auto-save of params to EEPROM failed");
+			warn("WARNING: auto-save of params to storage failed");
 		}
 
 		//char buf[50];

apps/mavlink/mavlink_parameters.c

@@ -172,64 +172,6 @@ int mavlink_pm_send_param(param_t param)
 	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) {
@@ -307,7 +249,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 					if (((int)(cmd_mavlink.param1)) == 0)	{
 
 						/* read all parameters from EEPROM to RAM */
-						int read_ret = mavlink_pm_load_eeprom();
+						int read_ret = param_load_default();
 						if (read_ret == OK) {
 							//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
 							mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
@@ -327,7 +269,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 					} else if (((int)(cmd_mavlink.param1)) == 1)	{
 
 						/* write all parameters from RAM to EEPROM */
-						int write_ret = mavlink_pm_save_eeprom();
+						int write_ret = param_save_default();
 						if (write_ret == OK) {
 							mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
 							result = MAV_RESULT_ACCEPTED;

apps/systemcmds/param/param.c

@@ -56,36 +56,53 @@
 
 __EXPORT int param_main(int argc, char *argv[]);
 
-static void	do_save(void);
-static void	do_load(void);
-static void	do_import(void);
+static void	do_save(const char* param_file_name);
+static void	do_load(const char* param_file_name);
+static void	do_import(const char* param_file_name);
 static void	do_show(void);
 static void	do_show_print(void *arg, param_t param);
 
-static const char *param_file_name = "/eeprom/parameters";
+static const char *param_file_name_default = "/fs/microsd/parameters";
 
 int
 param_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
-		if (!strcmp(argv[1], "save"))
-			do_save();
+		if (!strcmp(argv[1], "save")) {
+			if (argc >= 3) {
+				do_save(argv[2]);
+			} else {
+				do_save(param_file_name_default);
+			}
+		}
 
-		if (!strcmp(argv[1], "load"))
-			do_load();
+		if (!strcmp(argv[1], "load")) {
+			if (argc >= 3) {
+				do_load(argv[2]);
+			} else {
+				do_load(param_file_name_default);
+			}
+		}
 
-		if (!strcmp(argv[1], "import"))
-			do_import();
+		if (!strcmp(argv[1], "import")) {
+			if (argc >= 3) {
+				do_import(argv[2]);
+			} else {
+				do_import(param_file_name_default);
+			}
+		}
 
-		if (!strcmp(argv[1], "show"))
+		if (!strcmp(argv[1], "show")) {
 			do_show();
+		}
+			
 	}
 
 	errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
 }
 
 static void
-do_save(void)
+do_save(const char* param_file_name)
 {
 	/* delete the parameter file in case it exists */
 	unlink(param_file_name);
@@ -108,7 +125,7 @@ do_save(void)
 }
 
 static void
-do_load(void)
+do_load(const char* param_file_name)
 {
 	int fd = open(param_file_name, O_RDONLY);
 
@@ -118,14 +135,18 @@ do_load(void)
 	int result = param_load(fd);
 	close(fd);
 
-	if (result < 0)
+	if (result < 0) {
 		errx(1, "error importing from '%s'", param_file_name);
+	} else {
+		/* set default file name for next storage operation */
+		param_set_default_file(param_file_name);
+	}
 
 	exit(0);
 }
 
 static void
-do_import(void)
+do_import(const char* param_file_name)
 {
 	int fd = open(param_file_name, O_RDONLY);
 

apps/systemlib/param/param.c

@@ -47,6 +47,7 @@
 #include <fcntl.h>
 #include <unistd.h>
 #include <err.h>
+#include <errno.h>
 
 #include <sys/stat.h>
 
@@ -480,6 +481,83 @@ param_reset_all(void)
 	param_notify_changes();
 }
 
+static char param_default_file_name[50] = "/eeprom/parameters";
+
+int
+param_set_default_file(const char* filename)
+{
+	if (filename) {
+		if (strlen(filename) < sizeof(param_default_file_name))
+		{
+			strcpy(param_default_file_name, filename);
+		} else {
+			warnx("param file name too long");
+			return 1;
+		}
+		return 0;
+	} else {
+		warnx("no valid param file name");
+		return 1;
+	}
+	return 0;
+}
+
+int
+param_save_default(void)
+{
+	/* delete the file in case it exists */
+	unlink(param_default_file_name);
+
+	/* create the file */
+	int fd = open(param_default_file_name, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0) {
+		warn("opening '%s' for writing failed", param_default_file_name);
+		return -1;
+	}
+
+	int result = param_export(fd, false);
+	/* should not be necessary, over-careful here */
+	fsync(fd);
+	close(fd);
+
+	if (result != 0) {
+		unlink(param_default_file_name);
+		warn("error exporting parameters to '%s'", param_default_file_name);
+		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
+ */
+int
+param_load_default(void)
+{
+	int fd = open(param_default_file_name, O_RDONLY);
+
+	if (fd < 0) {
+		/* no parameter file is OK, otherwise this is an error */
+		if (errno != ENOENT) {
+			warn("open '%s' for reading failed", param_default_file_name);
+			return -1;
+		}
+		return 1;
+	}
+
+	int result = param_load(fd);
+	close(fd);
+
+	if (result != 0) {
+		warn("error reading parameters from '%s'", param_default_file_name);
+		return -2;
+	}
+
+	return 0;
+}
+
 int
 param_export(int fd, bool only_unsaved)
 {

apps/systemlib/param/param.h

@@ -234,6 +234,25 @@ __EXPORT int		param_load(int fd);
  */
 __EXPORT void		param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed);
 
+/**
+ * Export parameters to the default file name.
+ *
+ *
+ * @param 
+ */
+__EXPORT int 		param_save_default(void);
+
+/**
+ * Set the default parameter file name.
+ */
+__EXPORT int 		param_set_default_file(const char* filename);
+
+/**
+ * Import parameters from the default file name.
+ */
+__EXPORT int 		param_load_default(void);
+
+
 /*
  * Macros creating static parameter definitions.
  *