factory_calibration_storage.cpp
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/****************************************************************************
*
* 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"), ¶m);
_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;
}
}