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133 lines
3.6 KiB
C++
133 lines
3.6 KiB
C++
/****************************************************************************
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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 <errno.h>
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#include <fcntl.h>
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#include <string.h>
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#include <lib/parameters/param.h>
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#include <px4_platform_common/log.h>
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#include "factory_calibration_storage.h"
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static const char *CALIBRATION_STORAGE = "/fs/mtd_caldata";
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enum class FactoryCalibrationMode : uint32_t {
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Disabled = 0,
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AllSensors,
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AllSensorsExceptMag,
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};
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static bool ends_with(const char *str, const char *suffix)
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{
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if (!str || !suffix) {
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return false;
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}
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size_t len_str = strlen(str);
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size_t len_suffix = strlen(suffix);
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if (len_suffix > len_str) {
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return false;
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}
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return strncmp(str + len_str - len_suffix, suffix, len_suffix) == 0;
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}
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static FactoryCalibrationMode factory_calibration_mode{FactoryCalibrationMode::Disabled};
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static bool filter_calibration_params(param_t handle)
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{
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const char *name = param_name(handle);
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if (factory_calibration_mode == FactoryCalibrationMode::AllSensorsExceptMag) {
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if (strncmp(name, "CAL_MAG", 7) == 0) {
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return false;
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}
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}
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// filter all non-calibration params
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return (strncmp(name, "CAL_", 4) == 0
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&& strcmp(name, "CAL_MAG_SIDES") != 0
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&& !ends_with(name, "_PRIO"))
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|| strncmp(name, "TC_", 3) == 0;
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}
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FactoryCalibrationStorage::FactoryCalibrationStorage()
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{
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int32_t param = 0;
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param_get(param_find("SYS_FAC_CAL_MODE"), ¶m);
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_enabled = param >= 1;
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factory_calibration_mode = (FactoryCalibrationMode)param;
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}
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int FactoryCalibrationStorage::open()
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{
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if (!_enabled) {
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return 0;
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}
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int ret = ::access(CALIBRATION_STORAGE, R_OK | W_OK);
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if (ret != 0) {
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return -errno;
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}
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PX4_INFO("Storing parameters to factory storage %s", CALIBRATION_STORAGE);
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param_control_autosave(false);
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return 0;
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}
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int FactoryCalibrationStorage::store()
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{
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if (!_enabled) {
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return 0;
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}
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int ret = param_export(CALIBRATION_STORAGE, filter_calibration_params);
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if (ret != 0) {
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PX4_ERR("param export failed (%i)", ret);
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}
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return ret;
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}
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void FactoryCalibrationStorage::cleanup()
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{
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if (_enabled) {
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param_control_autosave(true);
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}
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}
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