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src/lib/parameters/parameters.cpp: Remove conversion of unaligned pointers

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Parameter "void *val" passed to the functions in parameters.cpp are not always
4-byte aligned, so on some platforms direct casting to "int32_t *" or "float *"
leads to an unaligned exception. An example of such user is Logger, which directly packs
parameter values to character buffer.

Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
This commit is contained in:
Jukka Laitinen
2025-03-11 07:50:47 +01:00
committed by Beat Küng
parent 5a05444bad
commit f583406558
1 changed files with 30 additions and 20 deletions
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src/lib/parameters/parameters.cpp
+30 -20
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@@ -305,11 +305,11 @@ param_get(param_t param, void *val)
switch (param_type(param)) {
case PARAM_TYPE_INT32:
*(int32_t *)val = retrieve_value.i;
memcpy(val, &retrieve_value.i, sizeof(retrieve_value.i));
return PX4_OK;
case PARAM_TYPE_FLOAT:
*(float *)val = retrieve_value.f;
memcpy(val, &retrieve_value.f, sizeof(retrieve_value.f));
return PX4_OK;
}
}
@@ -327,13 +327,17 @@ param_get_default_value_internal(param_t param, void *default_val)
if (default_val) {
switch (param_type(param)) {
case PARAM_TYPE_INT32:
*(int32_t *) default_val = runtime_defaults.get(param).i;
return PX4_OK;
case PARAM_TYPE_INT32: {
int32_t val = runtime_defaults.get(param).i;
memcpy(default_val, &val, sizeof(val));
return PX4_OK;
}
case PARAM_TYPE_FLOAT:
*(float *) default_val = runtime_defaults.get(param).f;
return PX4_OK;
case PARAM_TYPE_FLOAT: {
float val = runtime_defaults.get(param).f;
memcpy(default_val, &val, sizeof(val));
return PX4_OK;
}
}
}
@@ -418,13 +422,13 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
switch (param_type(param)) {
case PARAM_TYPE_INT32:
param_changed = user_config_value.i != *(int32_t *)val;
new_value.i = *(int32_t *)val;
memcpy(&new_value.i, val, sizeof(new_value.i));
param_changed = user_config_value.i != new_value.i;
break;
case PARAM_TYPE_FLOAT:
param_changed = fabsf(user_config_value.f - * (float *) val) > FLT_EPSILON;
new_value.f = *(float *) val;
memcpy(&new_value.f, val, sizeof(new_value.f));
param_changed = fabsf(user_config_value.f - new_value.f) > FLT_EPSILON;
break;
default: {
@@ -548,13 +552,19 @@ int param_set_default_value(param_t param, const void *val)
const param_value_u firmware_default_value = firmware_defaults.get(param);
switch (param_type(param)) {
case PARAM_TYPE_INT32:
setting_to_static_default = (firmware_default_value.i == *(int32_t *)val);
break;
case PARAM_TYPE_INT32: {
int32_t new_value;
memcpy(&new_value, val, sizeof(new_value));
setting_to_static_default = firmware_default_value.i == new_value;
break;
}
case PARAM_TYPE_FLOAT:
setting_to_static_default = (fabsf(firmware_default_value.f - * (float *)val) <= FLT_EPSILON);
break;
case PARAM_TYPE_FLOAT: {
float new_value;
memcpy(&new_value, val, sizeof(new_value));
setting_to_static_default = fabsf(firmware_default_value.f - new_value) <= FLT_EPSILON;
break;
}
}
if (setting_to_static_default) {
@@ -567,12 +577,12 @@ int param_set_default_value(param_t param, const void *val)
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
new_value.i = *(int32_t *) val;
memcpy(&new_value.i, val, sizeof(new_value.i));
break;
}
case PARAM_TYPE_FLOAT: {
new_value.f = *(float *) val;
memcpy(&new_value.f, val, sizeof(new_value.f));
break;
}