params.h File Reference

Drone parameters of protocol v2 (HANDOVER_FW.md §8, ids.ts PARAMS). More...

#include <stdint.h>

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Data Structures
struct	param_def_t

Macros
#define	PARAM(i)   param_get(i)

Enumerations
enum	{   P_TAKEOFF_ALT = 0 , P_LAND_SPEED , P_AUTO_DISARM , P_MAX_TILT ,   P_MAX_YAW_RATE , P_MAX_CLIMB , P_MAX_HSPEED , P_BEGINNER ,   P_FS_APP_SHORT , P_FS_APP_LONG , P_FS_RADIO , P_FS_GPS_LOST ,   P_FS_FLOW_LOST , P_BATT_WARN , P_BATT_CRIT , P_BATT_EMERG ,   P_GF_MAX_ALT , P_GF_CEILING , P_GF_MAX_DIST , P_GF_ACTION ,   P_RTH_ALT , P_RTH_STICK_CANCEL , P_ARM_REQUIRE_CHECKS , P_COMPASS_PRIMARY ,   P_BATT_CAPACITY , P_BATT_CELLS , P_LOG_MODE , PARAM_COUNT }
	indices in the table (fast access from the flight core) More...
enum	{ PARAM_LOG_OFF = 0 , PARAM_LOG_ARMED = 1 , PARAM_LOG_ALWAYS = 2 }
	log modes (P_LOG_MODE) More...

Functions
void	params_defaults (void)
	RAM <- defaults (dirty until saved)
int	params_index (uint16_t id)
	-1 if unknown
float	param_get (int idx)
	lock-free read, any thread
uint8_t	params_set (uint16_t id, float v, uint8_t *reason)
	PARAM_SET rules: returns an ACK result (PV2_ACK_*) and sets *reason.
void	params_load (const float *values, uint16_t n)
	flash image
void	params_get_all (float *values)
	PARAM_COUNT values.
void	params_mark_saved (void)
	saved <- RAM
uint8_t	params_dirty (int idx)
	RAM != flash.
uint8_t	params_visible (int idx, uint16_t sensors)
	listing: parameters whose sensor is missing are omitted
uint16_t	params_visible_count (uint16_t sensors)
int	params_visible_pos (int idx, uint16_t sensors)
	index in PARAM_LIST, -1 if hidden

Variables
const param_def_t	g_param_def [PARAM_COUNT]

Detailed Description

Drone parameters of protocol v2 (HANDOVER_FW.md §8, ids.ts PARAMS).

Ids are stable forever: add new ids, never reuse one. Values are float32 on the wire and here. RAM values are written only by the AppTask (one 32-bit store each, atomic on Cortex-M); the flight core reads them at any time with param_get() without locks.

Host-testable: no HAL, no RTOS.

Definition in file params.h.

Macro Definition Documentation

PARAM

#define PARAM

(

i

)

param_get(i)

Definition at line 43 of file params.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

indices in the table (fast access from the flight core)

Enumerator
P_TAKEOFF_ALT
P_LAND_SPEED
P_AUTO_DISARM
P_MAX_TILT
P_MAX_YAW_RATE
P_MAX_CLIMB
P_MAX_HSPEED
P_BEGINNER
P_FS_APP_SHORT
P_FS_APP_LONG
P_FS_RADIO
P_FS_GPS_LOST
P_FS_FLOW_LOST
P_BATT_WARN
P_BATT_CRIT
P_BATT_EMERG
P_GF_MAX_ALT
P_GF_CEILING
P_GF_MAX_DIST
P_GF_ACTION
P_RTH_ALT
P_RTH_STICK_CANCEL
P_ARM_REQUIRE_CHECKS
P_COMPASS_PRIMARY
P_BATT_CAPACITY
P_BATT_CELLS
P_LOG_MODE
PARAM_COUNT

Definition at line 18 of file params.h.

anonymous enum

anonymous enum

log modes (P_LOG_MODE)

Enumerator
PARAM_LOG_OFF
PARAM_LOG_ARMED
PARAM_LOG_ALWAYS

Definition at line 49 of file params.h.

Function Documentation

params_defaults()

void params_defaults

(

void

)

RAM <- defaults (dirty until saved)

Definition at line 45 of file params.c.

References g_param_def, PARAM_COUNT, and s_val.

Referenced by app_task_boot(), local_cmd(), and params_load().

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params_index()

int params_index

(

uint16_t

id

)

-1 if unknown

Definition at line 50 of file params.c.

References g_param_def, and PARAM_COUNT.

Referenced by cfg_params_get(), local_cmd(), and params_set().

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param_get()

float param_get

(

int

idx

)

lock-free read, any thread

Definition at line 56 of file params.c.

References PARAM_COUNT, and s_val.

Referenced by send_param().

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params_set()

uint8_t params_set	(	uint16_t	id,
		float	v,
		uint8_t *	reason
	)

PARAM_SET rules: returns an ACK result (PV2_ACK_*) and sets *reason.

Definition at line 68 of file params.c.

References in_range(), P_BATT_CRIT, P_BATT_EMERG, P_BATT_WARN, params_index(), PV2_ACK_INVALID, PV2_ACK_OK, PV2_R_NONE, PV2_R_OUT_OF_RANGE, PV2_R_UNKNOWN_PARAM, and s_val.

Referenced by local_cmd().

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params_load()

void params_load	(	const float *	values,
		uint16_t	n
	)

flash image

out-of-range values -> default

Definition at line 84 of file params.c.

References param_def_t::def, g_param_def, in_range(), n, P_BATT_CRIT, P_BATT_EMERG, P_BATT_WARN, PARAM_COUNT, params_defaults(), and s_val.

Referenced by app_task_boot().

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params_get_all()

void params_get_all

(

float *

values

)

PARAM_COUNT values.

Definition at line 96 of file params.c.

References PARAM_COUNT, and s_val.

Referenced by save_image().

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params_mark_saved()

void params_mark_saved

(

void

)

saved <- RAM

Definition at line 101 of file params.c.

References PARAM_COUNT, s_saved, and s_val.

Referenced by app_task_boot(), and local_cmd().

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params_dirty()

uint8_t params_dirty

(

int

idx

)

RAM != flash.

Definition at line 106 of file params.c.

References PARAM_COUNT, s_saved, and s_val.

Referenced by send_param().

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params_visible()

uint8_t params_visible	(	int	idx,
		uint16_t	sensors
	)

listing: parameters whose sensor is missing are omitted

Definition at line 112 of file params.c.

References g_param_def, param_def_t::needs, and PARAM_COUNT.

Referenced by list_pace(), local_cmd(), params_visible_count(), and params_visible_pos().

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params_visible_count()

uint16_t params_visible_count

(

uint16_t

sensors

)

Definition at line 119 of file params.c.

References n, PARAM_COUNT, and params_visible().

Referenced by send_param().

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params_visible_pos()

int params_visible_pos	(	int	idx,
		uint16_t	sensors
	)

index in PARAM_LIST, -1 if hidden

Definition at line 126 of file params.c.

References params_visible(), and pos.

Referenced by send_param().

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Variable Documentation

g_param_def

const param_def_t g_param_def[PARAM_COUNT]

extern

Definition at line 11 of file params.c.

Referenced by cfg_load(), cfg_params_get(), cfg_params_put(), in_range(), params_defaults(), params_index(), params_load(), params_visible(), and send_param().