fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 23:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

New param interface for microSD and EEPROM

Browse Source
This commit is contained in:
Lorenz Meier
2012-10-31 16:31:21 +01:00
parent 8dcde7f8cd
commit 0ddfd7c75c
5 changed files with 141 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/mavlink/mavlink_parameters.c
+2 -60
View File
@@ -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;