mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 09:53:33 +08:00
param: automatically update calibration ID params on import
This avoids the need for recalibration, and also cleans up other driver ID's (merge separate accel/gyro). The SPI address was previously set to a board-specific (arbitrary) value, and is now set to 0. This will allow extending for multiple sensors of the same type on the same bus.
This commit is contained in:
Beat Küng
@@ -67,7 +67,9 @@ SPI::SPI(const char *name, const char *devname, int bus, uint32_t device, enum s
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// fill in _device_id fields for a SPI device
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_device_id.devid_s.bus_type = DeviceBusType_SPI;
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_device_id.devid_s.bus = bus;
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_device_id.devid_s.address = (uint8_t)device;
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// Use the 2. LSB byte as SPI address. This is currently 0, but will allow to extend
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// for multiple instances of the same device on a bus, should that ever be required.
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_device_id.devid_s.address = (uint8_t)(device >> 8);
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// devtype needs to be filled in by the driver
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_device_id.devid_s.devtype = 0;
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@@ -128,6 +128,11 @@ if ("${CONFIG_SHMEM}" STREQUAL "1")
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list(APPEND SRCS parameters_shmem.cpp)
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else()
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list(APPEND SRCS parameters.cpp)
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if(PX4_TESTING)
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list(APPEND SRCS param_translation_unit_tests.cpp)
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else()
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list(APPEND SRCS param_translation.cpp)
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endif()
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endif()
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if(${PX4_PLATFORM} STREQUAL "nuttx")
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@@ -57,6 +57,7 @@
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#include <parameters/tinybson/tinybson.h>
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#include "flashparams.h"
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#include "flashfs.h"
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#include "../param_translation.h"
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#if 0
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# define debug(fmt, args...) do { warnx(fmt, ##args); } while(0)
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@@ -300,6 +301,8 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
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goto out;
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}
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param_modify_on_import(node->name, node->type, v);
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if (param_set_external(param, v, state->mark_saved, true)) {
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debug("error setting value for '%s'", node->name);
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@@ -0,0 +1,126 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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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#include "param_translation.h"
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#include <px4_platform_common/log.h>
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#include <lib/drivers/device/Device.hpp>
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#include <drivers/drv_sensor.h>
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bool param_modify_on_import(const char *name, bson_type_t type, void *value)
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{
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// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
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if (type != BSON_INT32) {
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return false;
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}
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int32_t *ivalue = (int32_t *)value;
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const char *cal_id_params[] = {
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"CAL_ACC0_ID",
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"CAL_GYRO0_ID",
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"CAL_MAG0_ID",
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"TC_A0_ID",
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"TC_B0_ID",
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"TC_G0_ID",
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"CAL_ACC1_ID",
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"CAL_GYRO1_ID",
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"CAL_MAG1_ID",
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"TC_A1_ID",
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"TC_B1_ID",
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"TC_G1_ID",
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"CAL_ACC2_ID",
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"CAL_GYRO2_ID",
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"CAL_MAG2_ID",
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"TC_A2_ID",
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"TC_B2_ID",
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"TC_G2_ID",
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"CAL_ACC_PRIME",
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"CAL_GYRO_PRIME",
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"CAL_MAG_PRIME",
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};
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bool found = false;
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for (int i = 0; i < sizeof(cal_id_params) / sizeof(cal_id_params[0]); ++i) {
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if (strcmp(cal_id_params[i], name) == 0) {
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found = true;
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break;
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}
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}
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if (!found) {
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return false;
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}
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device::Device::DeviceId device_id;
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device_id.devid = (uint32_t) * ivalue;
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// SPI board config translation
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if (device_id.devid_s.bus_type == device::Device::DeviceBusType_SPI) {
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device_id.devid_s.address = 0;
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}
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// deprecated ACC -> IMU translations
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if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU6000_LEGACY) {
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device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU6000;
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}
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if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU9250_LEGACY) {
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device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU9250;
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}
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if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20602_LEGACY) {
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device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20602;
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}
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if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20608_LEGACY) {
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device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20608;
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}
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if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20689_LEGACY) {
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device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20689;
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}
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int32_t new_value = (int32_t)device_id.devid;
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if (new_value != *ivalue) {
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PX4_INFO("param modify: %s, value=0x%x (old=0x%x)", name, new_value, *ivalue);
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*ivalue = new_value;
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return true;
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}
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return false;
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}
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@@ -0,0 +1,39 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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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#pragma once
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#include "tinybson/tinybson.h"
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__EXPORT bool param_modify_on_import(const char *name, bson_type_t type, void *value);
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@@ -0,0 +1,40 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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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#include "param_translation.h"
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bool param_modify_on_import(const char *name, bson_type_t type, void *value)
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{
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// don't modify params for unit tests
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return false;
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}
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@@ -42,6 +42,7 @@
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*/
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#include "param.h"
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#include "param_translation.h"
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#include <parameters/px4_parameters.h>
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#include "tinybson/tinybson.h"
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@@ -1261,6 +1262,8 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
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goto out;
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}
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param_modify_on_import(node->name, node->type, v);
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if (param_set_internal(param, v, state->mark_saved, true)) {
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PX4_DEBUG("error setting value for '%s'", node->name);
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goto out;
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