Mirrors_Framework/PX4-Autopilot
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Ported almost everything to new param interface, ready for serious testing

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This commit is contained in:
Lorenz Meier
2012-08-24 00:01:23 +02:00
parent b07de1379d
commit 62e07358b4
9 changed files with 297 additions and 353 deletions
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apps/systemlib/systemlib.c
+8 -147
View File
@@ -123,142 +123,6 @@ void kill_task(FAR _TCB *tcb, FAR void *arg)
kill(tcb->pid, SIGUSR1);
}
union param_union {
float f;
char c[4];
};
int store_params_in_eeprom(struct global_data_parameter_storage_t *params)
{
int ret = ERROR;
int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
int write_res;
if (fd < 0) {
fprintf(stderr, "onboard eeprom: open fail\n");
ret = ERROR;
} else if (lseek_res < 0) {
fprintf(stderr, "onboard eeprom: set offet fail\n");
ret = ERROR;
} else {
/*Write start magic byte */
uint8_t mb = EEPROM_PARAM_MAGIC_BYTE;
write_res = write(fd, &mb, sizeof(mb));
if (write_res != sizeof(mb)) {
ret = ERROR;
} else {
for (int i = 0; i < PARAM_MAX_COUNT; i++) {
union param_union p;
p.f = params->pm.param_values[i];
write_res = write(fd, p.c, sizeof(p.f));
if (write_res != sizeof(p.f)) return ERROR;
}
/*Write end magic byte */
write_res = write(fd, &mb, sizeof(mb));
if (write_res != sizeof(mb)) {
ret = ERROR;
} else {
ret = OK;
}
}
}
close(fd);
return ret;
}
int get_params_from_eeprom(struct global_data_parameter_storage_t *params)
{
int ret = ERROR;
uint8_t magic_byte = 0;
int fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
int lseek_res = lseek(fd, EEPROM_OFFSET, SEEK_SET); //don't touch first 64 bytes
if (fd < 0) {
fprintf(stderr, "onboard eeprom: open fail\n");
ret = ERROR;
} else if (lseek_res < 0) {
fprintf(stderr, "onboard eeprom: set offet fail\n");
ret = ERROR;
} else {
/*Get start magic byte */
magic_byte = 0;
int read_res = read(fd, &magic_byte, sizeof(uint8_t));
if (read_res != sizeof(uint8_t)) {
ret = ERROR;
} else {
if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
ret = ERROR;
fprintf(stderr, "onboard eeprom: parameters: start magic byte wrong\n");
} else {
/*get end magic byte */
lseek_res = lseek(fd, EEPROM_OFFSET + 1 + params->pm.size * sizeof(float), SEEK_SET); // jump to 2nd magic byte
if (lseek_res == OK) {
/*Get end magic */
read_res = read(fd, &magic_byte, sizeof(uint8_t));
if (read_res != sizeof(uint8_t)) {
ret = ERROR;
} else {
if (magic_byte != EEPROM_PARAM_MAGIC_BYTE) {
ret = ERROR;
printf("onboard eeprom: parameters: end magic byte wrong\n");
} else {
lseek_res = lseek(fd, EEPROM_OFFSET + 1, SEEK_SET);
/* read data */
if (lseek_res == OK) {
for (int i = 0; i < PARAM_MAX_COUNT; i++) {
union param_union p;
read_res = read(fd, p.c, sizeof(p.f));
params->pm.param_values[i] = p.f;
if (read_res != sizeof(p.f)) return ERROR;
}
ret = OK;
} else {
/* lseek #2 failed */
ret = ERROR;
}
}
}
} else {
/* lseek #1 failed */
ret = ERROR;
}
}
}
}
close(fd);
return ret;
}
#define PX4_BOARD_ID_FMU (5)
int fmu_get_board_info(struct fmu_board_info_s *info)
@@ -268,23 +132,20 @@ int fmu_get_board_info(struct fmu_board_info_s *info)
int statres;
/* Copy version-specific fields */
statres = stat("/dev/bma280", &sb);
statres = stat("/dev/bma180", &sb);
if (statres == OK) {
/* BMA280 indicates a v1.7+ board */
strcpy(info->board_name, "FMU v1.7");
info->board_version = 17;
} else {
statres = stat("/dev/bma180", &sb);
if (statres == OK) {
/* BMA180 indicates a v1.5-v1.6 board */
strcpy(info->board_name, "FMU v1.6");
info->board_version = 16;
} else {
statres = stat("/dev/accel", &sb);
if (statres == OK) {
/* MPU-6000 indicates a v1.7+ board */
strcpy(info->board_name, "FMU v1.7");
info->board_version = 17;
} else {
/* If no BMA pressure sensor is present, it is a v1.3 board */
/* If no BMA and no MPU is present, it is a v1.3 board */
strcpy(info->board_name, "FMU v1.3");
info->board_version = 13;
}
apps/systemlib/systemlib.h
-6
View File
@@ -50,12 +50,6 @@ __EXPORT int reboot(void);
/** Sends SIGUSR1 to all processes */
__EXPORT void killall(void);
struct global_data_parameter_storage_t;
__EXPORT int store_params_in_eeprom(struct global_data_parameter_storage_t *params);
__EXPORT int get_params_from_eeprom(struct global_data_parameter_storage_t *params);
enum MULT_PORTS {
MULT_0_US2_RXTX = 0,
MULT_1_US2_FLOW,