src/main/pg/pg.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdint.h>
  24 #include <stdbool.h>
  25
  26 #include "build/build_config.h"
  27
  28 typedef uint16_t pgn_t;
  29
  30 // parameter group registry flags
  31 typedef enum {
  32     PGRF_NONE = 0,
  33     PGRF_CLASSIFICATON_BIT = (1 << 0)
  34 } pgRegistryFlags_e;
  35
  36 typedef enum {
  37     PGR_PGN_MASK =          0x0fff,
  38     PGR_PGN_VERSION_MASK =  0xf000,
  39     PGR_SIZE_MASK =         0x0fff,
  40     PGR_SIZE_SYSTEM_FLAG =  0x0000 // documentary
  41 } pgRegistryInternal_e;
  42
  43 // function that resets a single parameter group instance
  44 typedef void (pgResetFunc)(void * /* base */);
  45
  46 typedef struct pgRegistry_s {
  47     pgn_t pgn;             // The parameter group number, the top 4 bits are reserved for version
  48     uint8_t length;        // The number of elements in the group
  49     uint16_t size;         // Size of the group in RAM, the top 4 bits are reserved for flags
  50     uint8_t *address;      // Address of the group in RAM.
  51     uint8_t *copy;         // Address of the copy in RAM.
  52     uint8_t **ptr;         // The pointer to update after loading the record into ram.
  53     union {
  54         void *ptr;         // Pointer to init template
  55         pgResetFunc *fn;   // Popinter to pgResetFunc
  56     } reset;
  57 } pgRegistry_t;
  58
  59 static inline uint16_t pgN(const pgRegistry_t* reg) {return reg->pgn & PGR_PGN_MASK;}
  60 static inline uint8_t pgVersion(const pgRegistry_t* reg) {return (uint8_t)(reg->pgn >> 12);}
  61 static inline uint16_t pgSize(const pgRegistry_t* reg) {return reg->size & PGR_SIZE_MASK;}
  62 static inline uint16_t pgElementSize(const pgRegistry_t* reg) {return (reg->size & PGR_SIZE_MASK) / reg->length;}
  63
  64 #define PG_PACKED __attribute__((packed))
  65
  66 #ifdef __APPLE__
  67 extern const pgRegistry_t __pg_registry_start[] __asm("section$start$__DATA$__pg_registry");
  68 extern const pgRegistry_t __pg_registry_end[] __asm("section$end$__DATA$__pg_registry");
  69 #define PG_REGISTER_ATTRIBUTES __attribute__ ((section("__DATA,__pg_registry"), used, aligned(4)))
  70
  71 extern const uint8_t __pg_resetdata_start[] __asm("section$start$__DATA$__pg_resetdata");
  72 extern const uint8_t __pg_resetdata_end[] __asm("section$end$__DATA$__pg_resetdata");
  73 #define PG_RESETDATA_ATTRIBUTES __attribute__ ((section("__DATA,__pg_resetdata"), used, aligned(2)))
  74 #else
  75 extern const pgRegistry_t __pg_registry_start[];
  76 extern const pgRegistry_t __pg_registry_end[];
  77 #define PG_REGISTER_ATTRIBUTES __attribute__ ((section(".pg_registry"), used, aligned(4)))
  78
  79 extern const uint8_t __pg_resetdata_start[];
  80 extern const uint8_t __pg_resetdata_end[];
  81 #define PG_RESETDATA_ATTRIBUTES __attribute__ ((section(".pg_resetdata"), used, aligned(2)))
  82 #endif
  83
  84 #define PG_REGISTRY_SIZE (__pg_registry_end - __pg_registry_start)
  85
  86 // Helper to iterate over the PG register.  Cheaper than a visitor style callback.
  87 #define PG_FOREACH(_name) \
  88     for (const pgRegistry_t *(_name) = __pg_registry_start; (_name) < __pg_registry_end; _name++)
  89
  90 // Reset configuration to default (by name)
  91 #define PG_RESET(_name)                                         \
  92     do {                                                                \
  93         extern const pgRegistry_t _name ##_Registry;                    \
  94         pgReset(&_name ## _Registry);                            \
  95     } while (0)                                                          \
  96     /**/
  97
  98 // Declare system config
  99 #define PG_DECLARE(_type, _name)                                        \
 100     extern _type _name ## _System;                                      \
 101     extern _type _name ## _Copy;                                        \
 102     static inline const _type* _name(void) { return &_name ## _System; }\
 103     static inline _type* _name ## Mutable(void) { return &_name ## _System; }\
 104     struct _dummy                                                       \
 105     /**/
 106
 107 // Declare system config array
 108 #define PG_DECLARE_ARRAY(_type, _length, _name)                         \
 109     extern _type _name ## _SystemArray[_length];                        \
 110     extern _type _name ## _CopyArray[_length];                          \
 111     static inline const _type* _name(int _index) { return &_name ## _SystemArray[_index]; } \
 112     static inline _type* _name ## Mutable(int _index) { return &_name ## _SystemArray[_index]; } \
 113     static inline _type (* _name ## _array(void))[_length] { return &_name ## _SystemArray; } \
 114     struct _dummy                                                       \
 115     /**/
 116
 117 // Register system config
 118 #define PG_REGISTER_I(_type, _name, _pgn, _version, _reset)             \
 119     _type _name ## _System;                                             \
 120     _type _name ## _Copy;                                               \
 121     /* Force external linkage for g++. Catch multi registration */      \
 122     extern const pgRegistry_t _name ## _Registry;                       \
 123     const pgRegistry_t _name ##_Registry PG_REGISTER_ATTRIBUTES = {     \
 124         .pgn = _pgn | (_version << 12),                                 \
 125         .length = 1,                                                    \
 126         .size = sizeof(_type) | PGR_SIZE_SYSTEM_FLAG,                   \
 127         .address = (uint8_t*)&_name ## _System,                         \
 128         .copy = (uint8_t*)&_name ## _Copy,                              \
 129         .ptr = 0,                                                       \
 130         _reset,                                                         \
 131     }                                                                   \
 132     /**/
 133
 134 #define PG_REGISTER(_type, _name, _pgn, _version)                       \
 135     PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.ptr = 0})    \
 136     /**/
 137
 138 #define PG_REGISTER_WITH_RESET_FN(_type, _name, _pgn, _version)         \
 139     extern void pgResetFn_ ## _name(_type *);                           \
 140     PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.fn = (pgResetFunc*)&pgResetFn_ ## _name }) \
 141     /**/
 142
 143 #define PG_REGISTER_WITH_RESET_TEMPLATE(_type, _name, _pgn, _version)   \
 144     extern const _type pgResetTemplate_ ## _name;                       \
 145     PG_REGISTER_I(_type, _name, _pgn, _version, .reset = {.ptr = (void*)&pgResetTemplate_ ## _name}) \
 146     /**/
 147
 148 // Register system config array
 149 #define PG_REGISTER_ARRAY_I(_type, _length, _name, _pgn, _version, _reset)  \
 150     _type _name ## _SystemArray[_length];                               \
 151     _type _name ## _CopyArray[_length];                                 \
 152     extern const pgRegistry_t _name ##_Registry;                        \
 153     const pgRegistry_t _name ## _Registry PG_REGISTER_ATTRIBUTES = {    \
 154         .pgn = _pgn | (_version << 12),                                 \
 155         .length = _length,                                              \
 156         .size = (sizeof(_type) * _length) | PGR_SIZE_SYSTEM_FLAG,       \
 157         .address = (uint8_t*)&_name ## _SystemArray,                    \
 158         .copy = (uint8_t*)&_name ## _CopyArray,                         \
 159         .ptr = 0,                                                       \
 160         _reset,                                                         \
 161     }                                                                   \
 162     /**/
 163
 164 #define PG_REGISTER_ARRAY(_type, _length, _name, _pgn, _version)        \
 165     PG_REGISTER_ARRAY_I(_type, _length, _name, _pgn, _version, .reset = {.ptr = 0}) \
 166     /**/
 167
 168 #define PG_REGISTER_ARRAY_WITH_RESET_FN(_type, _length, _name, _pgn, _version) \
 169     extern void pgResetFn_ ## _name(_type *);    \
 170     PG_REGISTER_ARRAY_I(_type, _length, _name, _pgn, _version, .reset = {.fn = (pgResetFunc*)&pgResetFn_ ## _name}) \
 171     /**/
 172
 173 #if 0
 174 // ARRAY reset mechanism is not implemented yet, only few places in code would benefit from it - See pgResetInstance
 175 #define PG_REGISTER_ARRAY_WITH_RESET_TEMPLATE(_type, _length, _name, _pgn, _version) \
 176     extern const _type pgResetTemplate_ ## _name;                       \
 177     PG_REGISTER_ARRAY_I(_type, _length, _name, _pgn, _version, .reset = {.ptr = (void*)&pgResetTemplate_ ## _name}) \
 178     /**/
 179 #endif
 180
 181 #define PG_ARRAY_ELEMENT_OFFSET(type, index, member) (index * sizeof(type) + offsetof(type, member))
 182
 183 // Emit reset defaults for config.
 184 // Config must be registered with PG_REGISTER_<xxx>_WITH_RESET_TEMPLATE macro
 185 #define PG_RESET_TEMPLATE(_type, _name, ...)                            \
 186     const _type pgResetTemplate_ ## _name PG_RESETDATA_ATTRIBUTES = {   \
 187         __VA_ARGS__                                                     \
 188     }                                                                   \
 189     /**/
 190
 191 #define CONVERT_PARAMETER_TO_FLOAT(param) (0.001f * param)
 192 #define CONVERT_PARAMETER_TO_PERCENT(param) (0.01f * param)
 193
 194 const pgRegistry_t* pgFind(pgn_t pgn);
 195
 196 bool pgLoad(const pgRegistry_t* reg, const void *from, int size, int version);
 197 int pgStore(const pgRegistry_t* reg, void *to, int size);
 198 void pgResetAll(void);
 199 void pgResetInstance(const pgRegistry_t *reg, uint8_t *base);
 200 bool pgResetCopy(void *copy, pgn_t pgn);
 201 void pgReset(const pgRegistry_t* reg);