2010-12-26 20:59:17 -04:00
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< title > ArduPilot Libraries: Waypoints.cpp Source File< / title >
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< h1 > Waypoints.cpp< / h1 > < / div >
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< a href = "_waypoints_8cpp.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001 < span class = "comment" > /*< / span >
< a name = "l00002" > < / a > 00002 < span class = "comment" > AP_Radio.cpp - Radio library for Arduino< / span >
< a name = "l00003" > < / a > 00003 < span class = "comment" > Code by Jason Short. DIYDrones.com< / span >
< a name = "l00004" > < / a > 00004 < span class = "comment" > < / span >
< a name = "l00005" > < / a > 00005 < span class = "comment" > This library is free software; you can redistribute it and / or< / span >
< a name = "l00006" > < / a > 00006 < span class = "comment" > modify it under the terms of the GNU Lesser General Public< / span >
< a name = "l00007" > < / a > 00007 < span class = "comment" > License as published by the Free Software Foundation; either< / span >
< a name = "l00008" > < / a > 00008 < span class = "comment" > version 2.1 of the License, or (at your option) any later version.< / span >
< a name = "l00009" > < / a > 00009 < span class = "comment" > < / span >
< a name = "l00010" > < / a > 00010 < span class = "comment" > */< / span >
< a name = "l00011" > < / a > 00011
< a name = "l00012" > < / a > 00012 < span class = "preprocessor" > #include " < a class = "code" href = "_waypoints_8h.html" > Waypoints.h< / a > " < / span >
< a name = "l00013" > < / a > 00013
< a name = "l00014" > < / a > < a class = "code" href = "class_waypoints.html#acf16e7693e577540cd0be5b263acb047" > 00014< / a > < a class = "code" href = "class_waypoints.html#acf16e7693e577540cd0be5b263acb047" > Waypoints::Waypoints< / a > ()
< a name = "l00015" > < / a > 00015 {
< a name = "l00016" > < / a > 00016 }
< a name = "l00017" > < / a > 00017
< a name = "l00018" > < / a > 00018 < span class = "keywordtype" > void< / span >
< a name = "l00019" > < / a > < a class = "code" href = "class_waypoints.html#a78f8f60817720baed33b8081e0ae5a82" > 00019< / a > < a class = "code" href = "class_waypoints.html#a78f8f60817720baed33b8081e0ae5a82" > Waypoints::set_waypoint_with_index< / a > (< a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > wp, uint8_t i)
< a name = "l00020" > < / a > 00020 {
< a name = "l00021" > < / a > 00021 i = constrain(i, 0, _total);
< a name = "l00022" > < / a > 00022 uint32_t mem = _start_byte + (i * _wp_size);
< a name = "l00023" > < / a > 00023
< a name = "l00024" > < / a > 00024 eeprom_busy_wait();
< a name = "l00025" > < / a > 00025 eeprom_write_byte((uint8_t *) mem, wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#af7aada2a4747d5b4329e07ab1f7fa8b8" > id< / a > );
< a name = "l00026" > < / a > 00026
< a name = "l00027" > < / a > 00027 mem++;
< a name = "l00028" > < / a > 00028 eeprom_busy_wait();
< a name = "l00029" > < / a > 00029 eeprom_write_byte((uint8_t *) mem, wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#a8052d8252ee2849af0060924ff943f89" > p1< / a > );
< a name = "l00030" > < / a > 00030
< a name = "l00031" > < / a > 00031 mem++;
< a name = "l00032" > < / a > 00032 eeprom_busy_wait();
< a name = "l00033" > < / a > 00033 eeprom_write_dword((uint32_t *) mem, wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#aa2b3ddc9b275b4561da9ec0738b1b1bb" > alt< / a > );
< a name = "l00034" > < / a > 00034
< a name = "l00035" > < / a > 00035 mem += 4;
< a name = "l00036" > < / a > 00036 eeprom_busy_wait();
< a name = "l00037" > < / a > 00037 eeprom_write_dword((uint32_t *) mem, wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#a9383b83df64aa44b2c9d7398fac40639" > lat< / a > );
< a name = "l00038" > < / a > 00038
< a name = "l00039" > < / a > 00039 mem += 4;
< a name = "l00040" > < / a > 00040 eeprom_busy_wait();
< a name = "l00041" > < / a > 00041 eeprom_write_dword((uint32_t *) mem, wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#aeaeb0aff010ed3057ff7fdfcac737054" > lng< / a > );
< a name = "l00042" > < / a > 00042 }
< a name = "l00043" > < / a > 00043
< a name = "l00044" > < / a > 00044 < a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a >
< a name = "l00045" > < / a > < a class = "code" href = "class_waypoints.html#ab942a563846af24d306e3eb19dfb4a2a" > 00045< / a > < a class = "code" href = "class_waypoints.html#ab942a563846af24d306e3eb19dfb4a2a" > Waypoints::get_waypoint_with_index< / a > (uint8_t i)
< a name = "l00046" > < / a > 00046 {
< a name = "l00047" > < / a > 00047 < a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > wp;
< a name = "l00048" > < / a > 00048
< a name = "l00049" > < / a > 00049 i = constrain(i, 0, _total);
< a name = "l00050" > < / a > 00050 uint32_t mem = _start_byte + (i * _wp_size);
< a name = "l00051" > < / a > 00051
< a name = "l00052" > < / a > 00052 eeprom_busy_wait();
< a name = "l00053" > < / a > 00053 wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#af7aada2a4747d5b4329e07ab1f7fa8b8" > id< / a > = eeprom_read_byte((uint8_t *)mem);
< a name = "l00054" > < / a > 00054
< a name = "l00055" > < / a > 00055 mem++;
< a name = "l00056" > < / a > 00056 eeprom_busy_wait();
< a name = "l00057" > < / a > 00057 wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#a8052d8252ee2849af0060924ff943f89" > p1< / a > = eeprom_read_byte((uint8_t *)mem);
< a name = "l00058" > < / a > 00058
< a name = "l00059" > < / a > 00059 mem++;
< a name = "l00060" > < / a > 00060 eeprom_busy_wait();
< a name = "l00061" > < / a > 00061 wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#aa2b3ddc9b275b4561da9ec0738b1b1bb" > alt< / a > = (long)eeprom_read_dword((uint32_t *)mem);
< a name = "l00062" > < / a > 00062
< a name = "l00063" > < / a > 00063 mem += 4;
< a name = "l00064" > < / a > 00064 eeprom_busy_wait();
< a name = "l00065" > < / a > 00065 wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#a9383b83df64aa44b2c9d7398fac40639" > lat< / a > = (long)eeprom_read_dword((uint32_t *)mem);
< a name = "l00066" > < / a > 00066
< a name = "l00067" > < / a > 00067 mem += 4;
< a name = "l00068" > < / a > 00068 eeprom_busy_wait();
< a name = "l00069" > < / a > 00069 wp.< a class = "code" href = "struct_waypoints_1_1_w_p.html#aeaeb0aff010ed3057ff7fdfcac737054" > lng< / a > = (long)eeprom_read_dword((uint32_t *)mem);
< a name = "l00070" > < / a > 00070 }
< a name = "l00071" > < / a > 00071
< a name = "l00072" > < / a > 00072
< a name = "l00073" > < / a > 00073 < a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a >
< a name = "l00074" > < / a > < a class = "code" href = "class_waypoints.html#a0a69eac7c5eadd99d7dcd3df7bb12364" > 00074< / a > < a class = "code" href = "class_waypoints.html#a0a69eac7c5eadd99d7dcd3df7bb12364" > Waypoints::get_current_waypoint< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00075" > < / a > 00075 {
< a name = "l00076" > < / a > 00076 < span class = "keywordflow" > return< / span > < a class = "code" href = "class_waypoints.html#ab942a563846af24d306e3eb19dfb4a2a" > get_waypoint_with_index< / a > (_index);
< a name = "l00077" > < / a > 00077 }
< a name = "l00078" > < / a > 00078
< a name = "l00079" > < / a > 00079 uint8_t
< a name = "l00080" > < / a > < a class = "code" href = "class_waypoints.html#a14fe22b108921ce62233d215c60528e3" > 00080< / a > < a class = "code" href = "class_waypoints.html#a14fe22b108921ce62233d215c60528e3" > Waypoints::get_index< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00081" > < / a > 00081 {
< a name = "l00082" > < / a > 00082 < span class = "keywordflow" > return< / span > _index;
< a name = "l00083" > < / a > 00083 }
< a name = "l00084" > < / a > 00084
< a name = "l00085" > < / a > 00085 < span class = "keywordtype" > void< / span >
< a name = "l00086" > < / a > < a class = "code" href = "class_waypoints.html#a5a1212d730716e107c76a80f38f72488" > 00086< / a > < a class = "code" href = "class_waypoints.html#a5a1212d730716e107c76a80f38f72488" > Waypoints::next_index< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00087" > < / a > 00087 {
< a name = "l00088" > < / a > 00088 _index++;
< a name = "l00089" > < / a > 00089 < span class = "keywordflow" > if< / span > (_index > = _total)
< a name = "l00090" > < / a > 00090 _index == 0;
< a name = "l00091" > < / a > 00091 }
< a name = "l00092" > < / a > 00092
< a name = "l00093" > < / a > 00093 < span class = "keywordtype" > void< / span >
< a name = "l00094" > < / a > < a class = "code" href = "class_waypoints.html#a12ee61e5fdd8c7e5943d4beaee20eac0" > 00094< / a > < a class = "code" href = "class_waypoints.html#a12ee61e5fdd8c7e5943d4beaee20eac0" > Waypoints::set_index< / a > (uint8_t i)
< a name = "l00095" > < / a > 00095 {
< a name = "l00096" > < / a > 00096 i = constrain(i, 0, _total);
< a name = "l00097" > < / a > 00097 }
< a name = "l00098" > < / a > 00098
< a name = "l00099" > < / a > 00099 uint8_t
< a name = "l00100" > < / a > < a class = "code" href = "class_waypoints.html#ad5b1eaf444c24ab141e7c4b34eece456" > 00100< / a > < a class = "code" href = "class_waypoints.html#ad5b1eaf444c24ab141e7c4b34eece456" > Waypoints::get_total< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00101" > < / a > 00101 {
< a name = "l00102" > < / a > 00102 < span class = "keywordflow" > return< / span > _total;
< a name = "l00103" > < / a > 00103 }
< a name = "l00104" > < / a > 00104 < span class = "keywordtype" > void< / span >
< a name = "l00105" > < / a > < a class = "code" href = "class_waypoints.html#a93835eb97d9725bacec945e7deccc7f4" > 00105< / a > < a class = "code" href = "class_waypoints.html#a93835eb97d9725bacec945e7deccc7f4" > Waypoints::set_total< / a > (uint8_t total)
< a name = "l00106" > < / a > 00106 {
< a name = "l00107" > < / a > 00107 _total = total;
< a name = "l00108" > < / a > 00108 }
< a name = "l00109" > < / a > 00109
< a name = "l00110" > < / a > 00110 < span class = "keywordtype" > void< / span >
< a name = "l00111" > < / a > < a class = "code" href = "class_waypoints.html#a41b0874bc4bffb40988d3112a24d0cb2" > 00111< / a > < a class = "code" href = "class_waypoints.html#a41b0874bc4bffb40988d3112a24d0cb2" > Waypoints::set_start_byte< / a > (uint16_t start_byte)
< a name = "l00112" > < / a > 00112 {
< a name = "l00113" > < / a > 00113 _start_byte = start_byte;
< a name = "l00114" > < / a > 00114 }
< a name = "l00115" > < / a > 00115
< a name = "l00116" > < / a > 00116 < span class = "keywordtype" > void< / span >
< a name = "l00117" > < / a > < a class = "code" href = "class_waypoints.html#a3087951b9c0727ba23d553e6c56333b8" > 00117< / a > < a class = "code" href = "class_waypoints.html#a3087951b9c0727ba23d553e6c56333b8" > Waypoints::set_wp_size< / a > (uint8_t wp_size)
< a name = "l00118" > < / a > 00118 {
< a name = "l00119" > < / a > 00119 _wp_size = wp_size;
< a name = "l00120" > < / a > 00120 }
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2010-12-26 23:23:35 -04:00
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