Fixed non-voxl2 builds

PX4 · Mar 4, 2024 · a235bfd · a235bfd
1 parent 32ba379
commit a235bfd
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Showing 3 changed files with 57 additions and 38 deletions.
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
@@ -160,9 +160,19 @@ list(APPEND SRCS
 	parameters.cpp 
 	atomic_transaction.cpp
 	autosave.cpp
+)
+
+if(CONFIG_PARAM_PRIMARY)
+list(APPEND SRCS
 	parameters_primary.cpp
+)
+endif()
+
+if(CONFIG_PARAM_REMOTE)
+list(APPEND SRCS
 	parameters_remote.cpp
 )
+endif()
 
 if(BUILD_TESTING)
 	list(APPEND SRCS param_translation_unit_tests.cpp)

diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
@@ -447,19 +447,23 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
 	}
 
 	// If this is the parameter server, make sure that the remote is updated
-	if ((remote_active) && (is_primary)) {
-		if (param_changed && update_remote) {
-			param_primary_set_value(param, val);
-		}
+#if defined(CONFIG_PARAM_PRIMARY)
+
+	if (param_changed && update_remote) {
+		param_primary_set_value(param, val);
 	}
 
+#endif
+
 	// If this is the parameter remote, make sure that the primary is updated
-	if ((remote_active) && (is_remote)) {
-		if (param_changed && update_remote) {
-			param_remote_set_value(param, val);
-		}
+#if defined(CONFIG_PARAM_REMOTE)
+
+	if (param_changed && update_remote) {
+		param_remote_set_value(param, val);
 	}
 
+#endif
+
 	perf_end(param_set_perf);
 
 	/*
@@ -512,10 +516,14 @@ bool param_used(param_t param)
 void param_set_used(param_t param)
 {
 	if (handle_in_range(param)) {
-		if ((remote_active) && (is_remote) && (! param_used(param))) {
+#if defined(CONFIG_PARAM_REMOTE)
+
+		if (! param_used(param)) {
 			param_remote_set_used(param);
 		}
 
+#endif
+
 		params_active.set(param, true);
 	}
 }
@@ -611,9 +619,9 @@ static int param_reset_internal(param_t param, bool notify = true, bool autosave
 		param_notify_changes();
 	}
 
-	if ((remote_active) && (is_primary)) {
-		param_primary_reset(param);
-	}
+#if defined(CONFIG_PARAM_PRIMARY)
+	param_primary_reset(param);
+#endif
 
 	return param_found;
 }
@@ -637,9 +645,9 @@ param_reset_all_internal(bool auto_save)
 		param_autosave();
 	}
 
-	if ((remote_active) && (is_primary)) {
-		param_primary_reset_all();
-	}
+#if defined(CONFIG_PARAM_PRIMARY)
+	param_primary_reset_all();
+#endif
 
 	param_notify_changes();
 }
@@ -1347,27 +1355,26 @@ void param_print_status()
 	perf_print_counter(param_get_perf);
 	perf_print_counter(param_set_perf);
 
-	if (remote_active) {
-		if (is_primary) {
-			struct param_primary_counters counts;
-			param_primary_get_counters(&counts);
-			PX4_INFO("set value requests received: %u, set value responses sent: %u",
-				 counts.set_value_request_received, counts.set_value_response_sent);
-			PX4_INFO("set value requests sent: %u, set value responses received: %u",
-				 counts.set_value_request_sent, counts.set_value_response_received);
-			PX4_INFO("resets sent: %u, set used requests received: %u",
-				 counts.reset_sent, counts.set_used_received);
-		}
+#if defined(CONFIG_PARAM_PRIMARY)
+	struct param_primary_counters counts;
+	param_primary_get_counters(&counts);
+	PX4_INFO("set value requests received: %" PRIu32 ", set value responses sent: %" PRIu32,
+		 counts.set_value_request_received, counts.set_value_response_sent);
+	PX4_INFO("set value requests sent: %" PRIu32 ", set value responses received: %" PRIu32,
+		 counts.set_value_request_sent, counts.set_value_response_received);
+	PX4_INFO("resets sent: %" PRIu32 ", set used requests received: %" PRIu32,
+		 counts.reset_sent, counts.set_used_received);
+#endif
+
+#if defined(CONFIG_PARAM_REMOTE)
+	struct param_remote_counters counts;
+	param_remote_get_counters(&counts);
+	PX4_INFO("set value requests received: %" PRIu32 ", set value responses sent: %" PRIu32,
+		 counts.set_value_request_received, counts.set_value_response_sent);
+	PX4_INFO("set value requests sent: %" PRIu32 ", set value responses received: %" PRIu32,
+		 counts.set_value_request_sent, counts.set_value_response_received);
+	PX4_INFO("resets received: %" PRIu32 ", set used requests sent: %" PRIu32,
+		 counts.reset_received, counts.set_used_sent);
+#endif
 
-		if (is_remote) {
-			struct param_remote_counters counts;
-			param_remote_get_counters(&counts);
-			PX4_INFO("set value requests received: %u, set value responses sent: %u",
-				 counts.set_value_request_received, counts.set_value_response_sent);
-			PX4_INFO("set value requests sent: %u, set value responses received: %u",
-				 counts.set_value_request_sent, counts.set_value_response_received);
-			PX4_INFO("resets received: %u, set used requests sent: %u",
-				 counts.reset_received, counts.set_used_sent);
-		}
-	}
 }
diff --git a/src/lib/parameters/parameters_remote.cpp b/src/lib/parameters/parameters_remote.cpp
@@ -35,6 +35,8 @@
 
 #include "uORB/uORBManager.hpp"
 
+#include <inttypes.h>
+
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/tasks.h>
 
@@ -214,7 +216,7 @@ void param_remote_set_value(param_t param, const void *val)
 		req.int_value = *(int32_t *)val;
 
 		if (debug) {
-			PX4_INFO("*** Setting %s to %d ***", param_name(req.parameter_index), req.int_value);
+			PX4_INFO("*** Setting %s to %" PRIi32 " ***", param_name(req.parameter_index), req.int_value);
 		}
 
 		break;