213 add settings partition to store key value pair#240
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213 add settings partition to store key value pair#240
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Add FlashDB Key-Value database support to cogip-board and cogip-native: - Enable flashdb_kvdb and flashdb_mtd modules in both boards - Configure MTD backend (mtd_flashpage for STM32, mtd_emulated for native) - Define FAL partition "settings" with 16KB storage capacity - Create dedicated mtd_conf.h header for MTD configuration - Add periph_flashpage feature for cogip-board This enables persistent key-value storage for robot configuration data using the last 8 pages (16KB) of internal flash on STM32G474RE, and RAM-emulated storage for native board testing. Signed-off-by: Mathis Lécrivain <lecrivain.mathis@gmail.com>
…value storage - Singleton FlashKVStorage wraps FlashDB KVDB for blob-level get/set/del operations keyed by 32-bit parameter hashes - Typed store<T>/load<T> templates with static_assert on trivially copyable types to avoid manual casts and sizeof - Mutex-based thread safety via FlashDB lock/unlock callbacks - Build-time #error assertions enforce FAL_MTD, FAL_PART0_LABEL, and FAL_PART0_LENGTH are defined - All operations return int (0 success, negative on error) following RIOT-OS convention
- Add WithFlashStorage<KeyHash> policy that persists parameter values to flash via FlashKVStorage singleton using FNV-1a hashed keys - Introduce on_commit / on_init policy trait detection and fold expressions in PolicyTraits.hpp so the Parameter template can transparently call storage hooks after validation - Add virtual load() to ParameterBase interface to allow runtime reload of persisted values without knowing the concrete type - Parameter::set() now fires combined_on_commit after successful validation, and load() delegates to combined_on_init for first-load-wins semantics across policies
…hStorage policy - Add flash_kv_storage and printf_float module dependencies - Apply WithFlashStorage policy to max_angular_velocity parameter to showcase persistent storage across reboots - Initialize FlashKVStorage and reload saved values at startup - Add dedicated demo section exercising flash store/load/delete and out-of-bounds rejection with persistence
- All applications sharing pf-common now automatically initialize the flash key-value backend, enabling parameter persistence via the WithFlashStorage policy - Init failure is propagated as an error code to the caller
…key hashes - robot*_conf.hpp now only provide constexpr float defaults, no longer declare Parameter<> objects directly - motion_control_parameters.hpp owns all Parameter<> declarations, key hashes, and is the single point for defining policies - Ensures all motion control parameters use the same policies regardless of which robot config is selected at build time - Integral limits use constexpr ternary guards to handle division-by-zero when ki defaults to 0 - Remove redundant app_conf.hpp includes from platform files since motion_control.hpp now includes it transitively
…r loading - WithFlashStorage policy added to all non-ReadOnly parameters to persist tuned values across reboots - Registry now includes both quadpid and tracker chain PID gains, fixing previous mapping where quadpid keys pointed to tracker - pf_load_parameters() iterates the registry at init to restore persisted values before motors and controllers start - 200ms delay between flash reads for stability
…tion Motion control internally works in per-period units (mm/period, deg/period²) but users need to configure parameters in physical units (mm/s, deg/s²) via the protobuf remote interface. Rather than converting throughout the motion control stack or creating a separate parameter wrapper, this adds two new policy hooks at the protobuf serialization boundary: - on_pb_read: converts user units to internal units on write - on_pb_copy: converts internal units to user units on read This keeps set()/get() in system units for zero-overhead internal use, while the remote interface transparently presents physical units. Two conversion policies are provided: - SpeedConversion<PeriodMs>: /s <-> /period - AccelerationConversion<PeriodMs>: /s² <-> /period² Both enforce float-only usage via static_assert to prevent silent precision loss on integer parameter types.
… types - Remove pid_id_t typedef, PidEnum enum class, and PID_COUNT compile-time counter from motion_control.hpp - These declarations have no remaining C++ consumers; PID identification is handled via protobuf definitions
…s with unit conversion Users need to tune speed limits, acceleration/deceleration and pose thresholds at runtime via the protobuf remote interface in human-readable units (mm/s, deg/s, mm/s², deg/s²), while the motion control internals must keep operating in per-period units. - Add new Parameter objects: pose thresholds (mm/deg), speed limits and acceleration limits - Apply SpeedConversion and AccelerationConversion policies so protobuf read/write transparently converts /s <-> /period - Move X_SEC_TO_X_PERIOD macros, motion_control_thread_period_ms and all platform_* constexpr into motion_control_parameters.hpp to break the circular dependency that prevented declaring conversion-aware Parameters in the parameter header - Register all new parameters in the canpb registry
- On STM32G4, pwm_init() iterates all 4 entries in pwm_config[].chan[] and stops only when pin == GPIO_UNDEF (0xffffffff) - Only 2 channels were defined; the remaining 2 had pin=0 (C static init), causing gpio_init() to write to PA0 (GPIOA->MODER/PUPDR) - This set sticky PGSERR (bit 7) + PGAERR (bit 5) in FLASH->SR (0xA0), making all subsequent flash writes silently fail - Complements the defensive SR clearing in flash_common.c (8b3e3f48d9)
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Summary
Add persistent key-value parameter storage using FlashDB, enabling motion control parameters to survive reboots without manual reconfiguration.
Flash storage backend
FlashKVStorage) with mutex-based thread safety and typedstore<T>/load<T>templatessettingsFAL partition on both boardspf-commonso all applications get persistence automaticallyParameter policy system
WithFlashStorage<KeyHash>policy that persists values to flash on commit and restores them on init, using FNV-1a hashed keyson_commit/on_initpolicy trait detection with fold expressions inPolicyTraits.hppon_pb_read/on_pb_copyprotobuf conversion hooks with two concrete policies:SpeedConversion(units/s ↔ units/period) andAccelerationConversion(units/s² ↔ units/period²)load()toParameterBasefor runtime reload without knowing the concrete typeMotion control platform
Parameter<>declarations, key hashes, and policy composition inmotion_control_parameters.hpp— robot config headers now only provideconstexprdefaultsWithFlashStorageto all non-read-only parameters (PID gains, pose thresholds)PidEnumand related typesExample
parameter_demoto exercise flash store/load/delete with theWithFlashStoragepolicy