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Merged parameter changes

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This commit is contained in:
Lorenz Meier
2012-08-22 09:19:43 +02:00
parent 72979032e9 c8645a7e53
commit d2e757aa3c
15 changed files with 375 additions and 72 deletions
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apps/mavlink/Makefile
+1 -1
View File
@@ -37,7 +37,7 @@
APPNAME = mavlink
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
STACKSIZE = 2048
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
apps/mavlink/mavlink.c
+1 -1
View File
@@ -1447,7 +1447,7 @@ int mavlink_main(int argc, char *argv[])
}
thread_should_exit = false;
mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4096, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4400, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
apps/mavlink/mavlink_parameters.c
+46 -23
View File
@@ -43,6 +43,7 @@
#include <assert.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdbool.h>
#include <string.h>
#include <systemlib/param/param.h>
@@ -145,39 +146,54 @@ int mavlink_pm_send_param(param_t param)
return mavlink_missionlib_send_message(&tx_msg);
}
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()
{
const char* name = "/eeprom";
int fd = open("/eeprom", O_WRONLY | O_CREAT | O_EXCL);
unlink(mavlink_parameter_file);
if (fd < 0)
warn(1, "opening '%s' failed", name);
int fd = open(mavlink_parameter_file, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
warn("opening '%s' failed", mavlink_parameter_file);
return -1;
}
int result = param_export(fd, false);
close(fd);
if (result < 0) {
warn(1, "error exporting to '%s'", name);
unlink(mavlink_parameter_file);
warn("error exporting to '%s'", mavlink_parameter_file);
return -2;
}
return 0;
}
/**
* @return 0 on success, -1 if device open failed, -2 if writing parameters failed
*/
static int
mavlink_pm_load_eeprom()
{
const char* name = "/eeprom";
int fd = open(name, O_RDONLY);
int fd = open(mavlink_parameter_file, O_RDONLY);
if (fd < 0)
warn(1, "open '%s' failed", name);
if (fd < 0) {
warn("open '%s' failed", mavlink_parameter_file);
return -1;
}
int result = param_import(fd);
close(fd);
if (result < 0)
warn(1, "error importing from '%s'", name);
if (result < 0) {
warn("error importing from '%s'", mavlink_parameter_file);
return -2;
}
return 0;
}
@@ -258,35 +274,42 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
if (((int)(cmd_mavlink.param1)) == 0) {
if (OK == mavlink_pm_load_eeprom()) {
/* read all parameters from EEPROM to RAM */
int read_ret = mavlink_pm_load_eeprom();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] CMD Loaded EEPROM params in RAM");
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
result = MAV_RESULT_ACCEPTED;
} else {
//fprintf(stderr, "[mavlink pm] ERROR loading EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] ERROR loading EEPROM params in RAM");
if (read_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
/* Write all parameters from RAM to EEPROM */
} else if (((int)(cmd_mavlink.param1)) == 1) {
if (OK == mavlink_pm_save_eeprom()) {
//printf("[mavlink pm] RAM params written to EEPROM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] RAM params written to EEPROM");
/* write all parameters from RAM to EEPROM */
int write_ret = mavlink_pm_save_eeprom();
if (write_ret == OK) {
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
} else {
//fprintf(stderr, "[mavlink pm] ERROR writing RAM params to EEPROM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] ERROR writing RAM params to EEPROM");
if (write_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
} else {
//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported storage request");
mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
result = MAV_RESULT_UNSUPPORTED;
}
}