calibration: add SYS_FAC_CAL_MODE parameter

If set, stores calibration parameters in separate storage /fs/mtd_caldata.
2026-11-09 08:41:37 +08:00 · 2020-10-12 15:22:26 +02:00
parent f1f6ca21cb
commit ff3008c051
8 changed files with 244 additions and 0 deletions
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <errno.h>
+#include <fcntl.h>
+#include <string.h>
+
+#include <lib/parameters/param.h>
+#include <px4_platform_common/log.h>
+
+#include "factory_calibration_storage.h"
+
+
+static const char *CALIBRATION_STORAGE = "/fs/mtd_caldata";
+
+static bool filter_calibration_params(param_t handle)
+{
+	const char *name = param_name(handle);
+	// filter all non-calibration params
+	return strncmp(name, "CAL_", 4) == 0 || strncmp(name, "TC_", 3) == 0;
+}
+
+FactoryCalibrationStorage::FactoryCalibrationStorage()
+{
+	int32_t param = 0;
+	param_get(param_find("SYS_FAC_CAL_MODE"), &param);
+	_enabled = param == 1;
+}
+
+int FactoryCalibrationStorage::open()
+{
+	if (_fd >= 0) {
+		cleanup();
+	}
+
+	if (!_enabled) {
+		return 0;
+	}
+
+	_fd = ::open(CALIBRATION_STORAGE, O_RDWR);
+
+	if (_fd == -1) {
+		return -errno;
+	}
+
+	PX4_INFO("Storing parameters to factory storage %s", CALIBRATION_STORAGE);
+	param_control_autosave(false);
+	return 0;
+}
+
+int FactoryCalibrationStorage::store()
+{
+	if (!_enabled) {
+		return 0;
+	}
+
+	int ret = param_export(_fd, false, filter_calibration_params);
+
+	if (ret != 0) {
+		PX4_ERR("param export failed (%i)", ret);
+	}
+
+	return ret;
+}
+
+void FactoryCalibrationStorage::cleanup()
+{
+	if (_enabled) {
+		param_control_autosave(true);
+	}
+
+	if (_fd >= 0) {
+		close(_fd);
+		_fd = -1;
+	}
+}
+