onboard_parameters.h

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/*******************************************************************************
 * \file onboard_parameters.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Onboard parameters
 *
 ******************************************************************************/


#ifndef ONBOARD_PARAMETERS_H_
#define ONBOARD_PARAMETERS_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "mavlink_stream.h"
#include "mavlink_message_handler.h"
#include "scheduler.h"

#include <stdbool.h>

#define MAX_ONBOARD_PARAM_COUNT 120 // should be < 122 to fit on user page on AT32UC3C1512

#define MAVERIC_FLASHC_USER_PAGE_START_ADDRESS (AVR32_FLASHC_USER_PAGE_ADDRESS + 0x04)  // +4bytes for unknown reason
#define MAVERIC_FLASHC_USER_PAGE_FREE_SPACE 500 //  512bytes user page, 
                                                //  -4bytes at the start, 
                                                //  -8bytes for the protected fuses at the end of the user page
                                                
typedef struct
{
    float* param;                                               
    char param_name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN];  
    mavlink_message_type_t data_type;                           
    uint8_t param_name_length;                                  
    uint8_t param_id;                                           
    bool  schedule_for_transmission;                            
} onboard_parameters_entry_t;


typedef struct
{
    uint32_t param_count;                                       
    uint32_t max_param_count;                                   
    onboard_parameters_entry_t parameters[];                    
} onboard_parameters_set_t;


typedef struct 
{
    const mavlink_stream_t* mavlink_stream;                 
    bool debug;                                             
    onboard_parameters_set_t* param_set;                    
} onboard_parameters_t;                                         


typedef struct
{
    uint32_t max_param_count;                                   
    bool debug;                                                 
} onboard_parameters_conf_t;


typedef struct                                              
{
    //float values[MAVERIC_FLASHC_USER_PAGE_FREE_SPACE];
    float values[MAX_ONBOARD_PARAM_COUNT];
} nvram_data_t;


bool onboard_parameters_init(onboard_parameters_t* onboard_parameters, const onboard_parameters_conf_t* config, scheduler_t* scheduler, mavlink_message_handler_t* message_handler, const mavlink_stream_t* mavlink_stream);


bool onboard_parameters_add_parameter_uint32(onboard_parameters_t* onboard_parameters, uint32_t* val, const char* param_name);


bool onboard_parameters_add_parameter_int32(onboard_parameters_t* onboard_parameters, int32_t* val, const char* param_name);


bool onboard_parameters_add_parameter_float(onboard_parameters_t* onboard_parameters, float* val, const char* param_name);

mav_result_t onboard_parameters_preflight_storage(onboard_parameters_t* onboard_parameters, mavlink_command_long_t* msg);

bool onboard_parameters_read_parameters_from_flashc(onboard_parameters_t* onboard_parameters);


void onboard_parameters_write_parameters_to_flashc(onboard_parameters_t* onboard_parameters);

#ifdef __cplusplus
}
#endif

#endif /* ONBOARD_PARAMETERS_H */