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75 Commits

Author SHA1 Message Date
mengchaoheng
5f83c186ee Checks for identical parameter changes 2026-01-09 08:53:09 +01:00
Jukka Laitinen
f583406558 src/lib/parameters/parameters.cpp: Remove conversion of unaligned pointers 
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>
 2025-03-11 07:50:47 +01:00
Eric Katzfey
f4ebfa6130
parameters: support for an optional remote parameter database (#22836) 
The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote.
 2024-03-11 13:52:22 -04:00
Silvan Fuhrer
584d8abe1e params: change return type of param_modify_on_import to enum 
Return early in param_import_callback() with 1 if we do a param_set in the param translation.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-02-07 08:08:37 +01:00
Thomas Debrunner
fd267fb9a5 param save: Add a blocking API for param saves to be used from shell. 2023-06-21 08:19:52 +02:00
Beat Küng
db18a94382 refactor param: reduce flash usage 
Reduces usage by ~1.5KB
 2023-05-31 07:45:20 +02:00
Beat Küng
1bfca24fa9 refactor param: move autosave to px4::wq_configurations::lp_default work queue 
Changes initialization order as param_init now depends on wq manager
 2023-05-31 07:45:20 +02:00
Thomas Debrunner
f0dd9fa445 param: Add contained-params-bitset export interface to the param layers 
Allows for efficient looping over the contained data
 2023-05-31 07:45:20 +02:00
Thomas Debrunner
bc872822bc params: Overhaul param system to use a layered approach without locking 
- Instead we disable interrups on Nuttx where needed
- No lock is held during param export. Params can be changed
  concurrently and we rely on the fact that another export will be
  triggered in that case.
 2023-05-31 07:45:20 +02:00
Daniel Agar
f2cd7667dc systemcmds/bsondump: new command line utility (extracted from parameters) 2022-12-21 10:14:00 -05:00
Daniel Agar
3f3a5f19f0 parameters: open export files O_TRUNC to discard previous data 
- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export)
 - rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt)
 - posix rcS try to keep param backup and restore roughly in sync with NuttX rcS
 - tinybson fix debug printf format
 - param_export_internal ensure file descriptor positioned at 0 (precaution)
 2022-09-09 16:20:16 -04:00
Jukka Laitinen
0d31aadcc3 src/lib/paramters: Add a new interface library for protected build user side 
Implement an interface for protected build to access parameters.

The implementation only does IOCTL calls to the kernel, where the parameters
live.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-15 07:52:26 +01:00
Jukka Laitinen
41a7ae3db2 src/lib/parameters: Refactor common functions to an own file 
Put all functions which are commont to flat build and protected kernel and
userspace to an own source file

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-03-15 07:52:26 +01:00
Daniel Agar
ece09064c4 parameters: perform verification pass twice 
- on NuttX with MTD storage this is to ensure we are verifying what's
actually stored on ramtron or eeprom, not just what's cached by bchlib
 2022-01-18 09:47:28 -05:00
Daniel Agar
673d4544d1 parameters: verify param backup after export 2022-01-02 10:46:34 -05:00
Daniel Agar
80ef6e19df tinybson: explicitly append int32 or int64 2022-01-02 10:46:34 -05:00
Daniel Agar
9cbb5c9920 parameters: fix export shutdown locking 
- in NuttX bchlib keeps a sector sized buffer that might not be written
out to RAMTRON until the file is closed
 2022-01-02 10:46:34 -05:00
Daniel Agar
1b6700592b parameters: require valid BSON document size 2021-12-30 16:36:23 -05:00
Daniel Agar
236794235a parameters: export empty BSON document even if there are no parameters to save 
- otherwise a 'param reset_all' won't be saved until a parameter is changed
 2021-12-27 09:17:00 -05:00
Daniel Agar
33d7b42040 parameters: import quietly retry if there's no data (as a precuation) 2021-12-27 09:17:00 -05:00
Daniel Agar
20d3e6f4e1 parameters: add simple BSON verification pass after export 2021-12-27 09:17:00 -05:00
Daniel Agar
3f3836afa8 parameters: simplify import mark_unsaved and don't fail bson decode unnecessarily 2021-12-24 14:32:40 -05:00
Daniel Agar
d1cd4904dc parameters: param_value_is_default avoid locking if value unchanged 2021-12-24 14:32:40 -05:00
Daniel Agar
c0b8f2952c parameters: param_get_default_value avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar
27a113ecab parameters: param_get avoid locking if value is static default 2021-12-24 14:32:40 -05:00
Daniel Agar
cd8ce4d01e parameters: remove obsolete perf_end 2021-12-24 14:32:40 -05:00
Daniel Agar
38731662c6 parameters use bitset for mark_unsaved 2021-12-24 14:32:40 -05:00
Daniel Agar
1f6acd0171 parameters: add simple backup and restore mechanism 2021-12-06 09:37:08 -05:00
Daniel Agar
674b92df18 parameters: sleep 10 ms before retrying a failed import/export 2021-12-06 09:37:08 -05:00
Daniel Agar
7bfebf5289 parameters: add param dump to read and decode bson to console 2021-12-06 09:37:08 -05:00
Daniel Agar
7560d45c61 parameters: import tolerate unhanlded BSON types 2021-12-06 09:37:08 -05:00
Daniel Agar
1af068179e parameters: tinybson print errors and count imported types 2021-12-06 09:37:08 -05:00
Jukka Laitinen
351f679c2f parameters: Use px4::atomic_bool instead of px4::atomic<bool> 
This enables us to define the actual atomic bool type in px4_platform

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2021-10-13 15:01:26 -04:00
Beat Küng
540c024cbb parameters: avoid printing errors for erased flash devices 
Errors:
ERROR [parameters] param import failed (-1) attempt 1, retrying
ERROR [parameters] param import failed (-1) attempt 2, retrying
ERROR [parameters] param import failed (-1) attempt 3, retrying
ERROR [parameters] param import failed (-1) attempt 4, retrying
ERROR [param] importing from '/fs/mtd_caldata' failed (-1)
 2021-10-04 10:25:32 -04:00
Daniel Agar
99d7cf4255 parameters: only warn on invalid parameter import 2021-09-01 15:16:00 -04:00
Daniel Agar
65745a3676 purge broken qurt support and atlflight boards 2021-07-16 08:53:36 -04:00
David Sidrane
f50b238c78 lib/parameters:Use inttypes 2021-06-16 17:07:47 +02:00
Daniel Agar
e78a4287f9 parameters: attempt import multiple times 2021-05-02 13:48:16 -04:00
Daniel Agar
c266c3e43a parameters: remove unnecessary param_get_system_default_value() locking 2021-04-26 09:49:15 +02:00
Beat Küng
1730cd1971 param: avoid warning for 'param show -c' or 'param show -a' 2021-04-23 16:44:55 -04:00
Daniel Agar
f44f497e3f parameters: better handle export failures and retry 2021-04-12 21:26:50 -04:00
Daniel Agar
edc445a1b2 parameters: tinybson fill total document length for bson compatibility 2021-04-12 21:26:50 -04:00
Beat Küng
b512a3d8f7 param: add param_get_system_default_value 2021-03-12 13:44:10 +01:00
Daniel Agar
7d78cf8505 parameters: param_value_is_default() add note about params_changed bitset usage 2021-03-11 11:30:43 -05:00
Daniel Agar
a991e78e18 parameters: fix runtime default edge case 2021-03-11 11:30:43 -05:00
Daniel Agar
684424bf73 parameters: delete unused BSON_BINDATA handling 2021-03-09 19:29:42 -05:00
Daniel Agar
711a69854b uthash: move remaining utarray usage to parameters and delete unused 
- this is to discourage further use until utarray can be dropped entirely
 2021-02-20 11:28:22 +01:00
Daniel Agar
ce64951578 parameter_update.msg: add basic status info 2021-02-12 08:27:47 -05:00
Daniel Agar
b8b13bb882 parameters runtime defaults 2021-02-12 08:27:47 -05:00
Daniel Agar
da1a38b44e parameters: merge generated files ito single static constexpr header 
- store parameter type and if volatile separately (saves kilobytes of flash)
 - use Bitset for tracking active and changed parameters
 - use atomic for autosave_enabled flag
 - compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
 2021-02-12 08:27:47 -05:00