ardupilot/libraries/Waypoints/Waypoints.cpp

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/*
AP_Radio.cpp - Radio library for Arduino
Code by Jason Short. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include "Waypoints.h"
Waypoints::Waypoints()
{
}
void
Waypoints::set_waypoint_with_index(Waypoints::WP wp, uint8_t i)
{
i = constrain(i, 0, _total);
uint32_t mem = _start_byte + (i * _wp_size);
eeprom_busy_wait();
eeprom_write_byte((uint8_t *) mem, wp.id);
mem++;
eeprom_busy_wait();
eeprom_write_byte((uint8_t *) mem, wp.p1);
mem++;
eeprom_busy_wait();
eeprom_write_dword((uint32_t *) mem, wp.alt);
mem += 4;
eeprom_busy_wait();
eeprom_write_dword((uint32_t *) mem, wp.lat);
mem += 4;
eeprom_busy_wait();
eeprom_write_dword((uint32_t *) mem, wp.lng);
}
Waypoints::WP
Waypoints::get_waypoint_with_index(uint8_t i)
{
Waypoints::WP wp;
i = constrain(i, 0, _total);
uint32_t mem = _start_byte + (i * _wp_size);
eeprom_busy_wait();
wp.id = eeprom_read_byte((uint8_t *)mem);
mem++;
eeprom_busy_wait();
wp.p1 = eeprom_read_byte((uint8_t *)mem);
mem++;
eeprom_busy_wait();
wp.alt = (long)eeprom_read_dword((uint32_t *)mem);
mem += 4;
eeprom_busy_wait();
wp.lat = (long)eeprom_read_dword((uint32_t *)mem);
mem += 4;
eeprom_busy_wait();
wp.lng = (long)eeprom_read_dword((uint32_t *)mem);
}
Waypoints::WP
Waypoints::get_current_waypoint(void)
{
return get_waypoint_with_index(_index);
}
uint8_t
Waypoints::get_index(void)
{
return _index;
}
void
Waypoints::next_index(void)
{
_index++;
if (_index >= _total)
_index == 0;
}
void
Waypoints::set_index(uint8_t i)
{
i = constrain(i, 0, _total);
}
uint8_t
Waypoints::get_total(void)
{
return _total;
}
void
Waypoints::set_total(uint8_t total)
{
_total = total;
}
void
Waypoints::set_start_byte(uint16_t start_byte)
{
_start_byte = start_byte;
}
void
Waypoints::set_wp_size(uint8_t wp_size)
{
_wp_size = wp_size;
}