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189 lines
6.5 KiB
189 lines
6.5 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @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 mavlink_parameters.c |
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* MAVLink parameter protocol implementation (BSD-relicensed). |
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*/ |
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#include "mavlink_parameters.h" |
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#include <uORB/uORB.h> |
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#include "math.h" /* isinf / isnan checks */ |
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#include <assert.h> |
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#include <stdio.h> |
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#include <fcntl.h> |
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#include <stdbool.h> |
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#include <string.h> |
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extern mavlink_system_t mavlink_system; |
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extern void mavlink_missionlib_send_message(mavlink_message_t *msg); |
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extern void mavlink_missionlib_send_gcs_string(const char *string); |
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/* send one parameter, assume lock on global_data_parameter_storage */ |
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void mavlink_pm_send_one_parameter(uint16_t next_param) |
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{ |
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if (next_param < global_data_parameter_storage->pm.size) { |
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static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; |
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mavlink_message_t tx_msg; |
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strncpy((char *)name_buf, global_data_parameter_storage->pm.param_names[next_param], MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); |
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mavlink_msg_param_value_pack_chan(mavlink_system.sysid, |
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mavlink_system.compid, |
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MAVLINK_COMM_0, |
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&tx_msg, |
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name_buf, |
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global_data_parameter_storage->pm.param_values[next_param], |
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MAVLINK_TYPE_FLOAT, |
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global_data_parameter_storage->pm.size, |
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next_param); |
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mavlink_missionlib_send_message(&tx_msg); |
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// mavlink_msg_param_value_send(MAVLINK_COMM_0, |
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// name_buf, |
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// global_data_parameter_storage->pm.param_values[next_param], |
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// MAVLINK_TYPE_FLOAT, |
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// global_data_parameter_storage->pm.size, |
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// next_param); |
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} |
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} |
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void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) |
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{ |
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switch (msg->msgid) { |
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case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { |
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/* Start sending parameters */ |
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global_data_parameter_storage->pm.next_param = 0; |
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mavlink_missionlib_send_gcs_string("[pm] sending list"); |
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} break; |
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case MAVLINK_MSG_ID_PARAM_SET: { |
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/* Handle parameter setting */ |
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if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { |
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mavlink_param_set_t mavlink_param_set; |
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mavlink_msg_param_set_decode(msg, &mavlink_param_set); |
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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))) { |
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uint16_t i; //parameters |
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uint16_t j; //chars |
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bool match; |
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for (i = 0; i < PARAM_MAX_COUNT; i++) { |
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match = true; |
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for (j = 0; j < MAX_PARAM_NAME_LEN; j++) { |
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/* Compare char by char */ |
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if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_set.param_id[j]) { |
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match = false; |
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} |
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/* End matching if null termination is reached */ |
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if (global_data_parameter_storage->pm.param_names[i][j] == '\0') { |
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break; |
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} |
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} |
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/* Check if matched */ |
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if (match) { |
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// XXX handle param type as well, assuming float here |
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global_data_parameter_storage->pm.param_values[i] = mavlink_param_set.param_value; |
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mavlink_pm_send_one_parameter(i); |
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} |
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} |
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} |
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} |
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} break; |
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case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { |
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mavlink_param_request_read_t mavlink_param_request_read; |
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mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); |
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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))) { |
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/* when no index is given, loop through string ids and compare them */ |
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if (mavlink_param_request_read.param_index == -1) { |
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uint16_t i; //parameters |
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uint16_t j; //chars |
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bool match; |
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for (i = 0; i < PARAM_MAX_COUNT; i++) { |
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match = true; |
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for (j = 0; j < MAX_PARAM_NAME_LEN; j++) { |
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/* Compare char by char */ |
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if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_request_read.param_id[j]) { |
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match = false; |
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} |
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/* End matching if null termination is reached */ |
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if (global_data_parameter_storage->pm.param_names[i][j] == '\0') { |
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break; |
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} |
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} |
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/* Check if matched */ |
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if (match) { |
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mavlink_pm_send_one_parameter(i); |
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} |
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} |
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} else { |
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/* when index is >= 0, send this parameter again */ |
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mavlink_pm_send_one_parameter(mavlink_param_request_read.param_index); |
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} |
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} |
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} break; |
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} |
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} |
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/** |
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* Send low-priority messages at a maximum rate of xx Hertz. |
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* |
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* This function sends messages at a lower rate to not exceed the wireless |
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* bandwidth. It sends one message each time it is called until the buffer is empty. |
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* Call this function with xx Hertz to increase/decrease the bandwidth. |
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*/ |
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void mavlink_pm_queued_send(void) |
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{ |
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//send parameters one by one: |
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mavlink_pm_send_one_parameter(global_data_parameter_storage->pm.next_param); |
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global_data_parameter_storage->pm.next_param++; |
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}
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