Browse Source
Conflicts: apps/commander/state_machine_helper.c apps/multirotor_att_control/multirotor_att_control_main.c apps/multirotor_att_control/multirotor_rate_control.c solvedsbg
tnaegeli
13 years ago
16 changed files with 380 additions and 125 deletions
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Build the parameters tool.
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#
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APPNAME = param
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 4096
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include $(APPDIR)/mk/app.mk |
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/****************************************************************************
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file param.c |
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* |
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* Parameter tool. |
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*/ |
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#include <nuttx/config.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <stdbool.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <sys/stat.h> |
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#include <arch/board/board.h> |
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#include "systemlib/systemlib.h" |
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#include "systemlib/param/param.h" |
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#include "systemlib/err.h" |
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__EXPORT int param_main(int argc, char *argv[]); |
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static void do_save(void); |
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static void do_load(void); |
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static void do_import(void); |
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static void do_show(void); |
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static void do_show_print(void *arg, param_t param); |
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static const char *param_file_name = "/eeprom/parameters"; |
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int |
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param_main(int argc, char *argv[]) |
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{ |
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if (argc >= 2) { |
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if (!strcmp(argv[1], "save")) |
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do_save(); |
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if (!strcmp(argv[1], "load")) |
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do_load(); |
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if (!strcmp(argv[1], "import")) |
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do_import(); |
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if (!strcmp(argv[1], "show")) |
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do_show(); |
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} |
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errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n"); |
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} |
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static void |
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do_save(void) |
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{ |
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/* delete the parameter file in case it exists */ |
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unlink(param_file_name); |
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/* create the file */ |
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int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL); |
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if (fd < 0) |
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err(1, "opening '%s' failed", param_file_name); |
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int result = param_export(fd, false); |
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close(fd); |
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if (result < 0) { |
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unlink(param_file_name); |
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errx(1, "error exporting to '%s'", param_file_name); |
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} |
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exit(0); |
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} |
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static void |
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do_load(void) |
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{ |
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int fd = open(param_file_name, O_RDONLY); |
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if (fd < 0) |
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err(1, "open '%s'", param_file_name); |
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int result = param_load(fd); |
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close(fd); |
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if (result < 0) |
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errx(1, "error importing from '%s'", param_file_name); |
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exit(0); |
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} |
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static void |
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do_import(void) |
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{ |
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int fd = open(param_file_name, O_RDONLY); |
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if (fd < 0) |
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err(1, "open '%s'", param_file_name); |
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int result = param_import(fd); |
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close(fd); |
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if (result < 0) |
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errx(1, "error importing from '%s'", param_file_name); |
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exit(0); |
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} |
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static void |
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do_show(void) |
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{ |
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printf(" + = saved, * = unsaved (warning, floating-point values are often printed with the decimal point wrong)\n"); |
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param_foreach(do_show_print, NULL, false); |
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exit(0); |
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} |
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static void |
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do_show_print(void *arg, param_t param) |
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{ |
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int32_t i; |
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float f; |
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printf("%c %s: ", |
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param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), |
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param_name(param)); |
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/*
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* This case can be expanded to handle printing common structure types. |
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*/ |
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switch (param_type(param)) { |
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case PARAM_TYPE_INT32: |
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if (!param_get(param, &i)) { |
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printf("%d\n", i); |
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return; |
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} |
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break; |
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case PARAM_TYPE_FLOAT: |
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if (!param_get(param, &f)) { |
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printf("%4.4f\n", (double)f); |
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return; |
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} |
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break; |
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case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX: |
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printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param)); |
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return; |
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default: |
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printf("<unknown type %d>\n", 0 + param_type(param)); |
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return; |
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} |
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printf("<error fetching parameter %d>\n", param); |
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} |
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