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factory calib: add option to exclude mag to param SYS_FAC_CAL_MODE & exclude _PRIO params #21707

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merged 2 commits into from
Jun 10, 2023
Merged

factory calib: add option to exclude mag to param SYS_FAC_CAL_MODE & exclude _PRIO params #21707

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cdbb023
factory cal: exclude _PRIO params
bresch Feb 14, 2023
ea8cd7b
commander: add option to exclude mag to param SYS_FAC_CAL_MODE
bkueng Jun 8, 2023
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4 changes: 3 additions & 1 deletion src/lib/systemlib/system_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -239,7 +239,9 @@ PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
* Note: this is only supported on boards with a separate calibration storage
* /fs/mtd_caldata.
*
* @boolean
* @value 0 Disabled
* @value 1 All sensors
* @value 2 All sensors except mag
* @group System
*/
PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);
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39 changes: 37 additions & 2 deletions src/modules/commander/factory_calibration_storage.cpp
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Expand Up @@ -43,18 +43,53 @@

static const char *CALIBRATION_STORAGE = "/fs/mtd_caldata";

enum class FactoryCalibrationMode : uint32_t {
Disabled = 0,
AllSensors,
AllSensorsExceptMag,
};

static bool ends_with(const char *str, const char *suffix)
{
if (!str || !suffix) {
return false;
}

size_t len_str = strlen(str);
size_t len_suffix = strlen(suffix);

if (len_suffix > len_str) {
return false;
}

return strncmp(str + len_str - len_suffix, suffix, len_suffix) == 0;
}

static FactoryCalibrationMode factory_calibration_mode{FactoryCalibrationMode::Disabled};

static bool filter_calibration_params(param_t handle)
{
const char *name = param_name(handle);

if (factory_calibration_mode == FactoryCalibrationMode::AllSensorsExceptMag) {
if (strncmp(name, "CAL_MAG", 7) == 0) {
return false;
}
}

// filter all non-calibration params
return (strncmp(name, "CAL_", 4) == 0 && strncmp(name, "CAL_MAG_SIDES", 13) != 0) || strncmp(name, "TC_", 3) == 0;
return (strncmp(name, "CAL_", 4) == 0
&& strcmp(name, "CAL_MAG_SIDES") != 0
&& !ends_with(name, "_PRIO"))
|| strncmp(name, "TC_", 3) == 0;
}

FactoryCalibrationStorage::FactoryCalibrationStorage()
{
int32_t param = 0;
param_get(param_find("SYS_FAC_CAL_MODE"), &param);
_enabled = param == 1;
_enabled = param >= 1;
factory_calibration_mode = (FactoryCalibrationMode)param;
}

int FactoryCalibrationStorage::open()
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