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AP_Limits: fixes to use hal.storage for eeprom access

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Pat Hickey 2012-12-13 12:02:19 -08:00 committed by Andrew Tridgell
parent b0b3fa33b4
commit 7622b725c9
2 changed files with 15 additions and 15 deletions
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26
libraries/AP_Limits/AP_Limit_Geofence.cpp
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@ -7,7 +7,10 @@
/// @author Andrew Tridgell /// @author Andrew Tridgell
/// Andreas Antonopoulos /// Andreas Antonopoulos
#include <AP_Limit_Geofence.h> #include "AP_Limit_Geofence.h"
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Limit_Geofence::var_info[] PROGMEM = { const AP_Param::GroupInfo AP_Limit_Geofence::var_info[] PROGMEM = {
// @Param: FNC_ON // @Param: FNC_ON
@ -47,7 +50,7 @@ const AP_Param::GroupInfo AP_Limit_Geofence::var_info[] PROGMEM = {
}; };
AP_Limit_Geofence::AP_Limit_Geofence(uint32_t efs, uint8_t f_wp_s, AP_Limit_Geofence::AP_Limit_Geofence(uint16_t efs, uint8_t f_wp_s,
uint8_t max_fp, GPS *&gps, struct Location *h_loc, uint8_t max_fp, GPS *&gps, struct Location *h_loc,
struct Location *c_loc) : struct Location *c_loc) :
AP_Limit_Module(AP_LIMITS_GEOFENCE), AP_Limit_Module(AP_LIMITS_GEOFENCE),
@ -156,18 +159,16 @@ AP_Int8 AP_Limit_Geofence::fence_total() {
// save a fence point // save a fence point
void AP_Limit_Geofence::set_fence_point_with_index(Vector2l &point, uint8_t i) void AP_Limit_Geofence::set_fence_point_with_index(Vector2l &point, uint8_t i)
{ {
uintptr_t mem;
if (i >= (unsigned)fence_total()) { if (i >= (unsigned)fence_total()) {
// not allowed // not allowed
return; return;
} }
mem = _eeprom_fence_start + (i * _fence_wp_size); uint16_t mem = _eeprom_fence_start + (i * _fence_wp_size);
eeprom_write_dword((uint32_t *)mem, point.x); hal.storage->write_dword(mem, point.x);
mem += sizeof(uint32_t); mem += 4;
eeprom_write_dword((uint32_t *)mem, point.y); hal.storage->write_dword(mem, point.y);
_boundary_uptodate = false; _boundary_uptodate = false;
} }
@ -177,7 +178,6 @@ void AP_Limit_Geofence::set_fence_point_with_index(Vector2l &point, uint8_t i)
*/ */
Vector2l AP_Limit_Geofence::get_fence_point_with_index(uint8_t i) Vector2l AP_Limit_Geofence::get_fence_point_with_index(uint8_t i)
{ {
uintptr_t mem;
Vector2l ret; Vector2l ret;
if (i > (unsigned) fence_total()) { if (i > (unsigned) fence_total()) {
@ -185,10 +185,10 @@ Vector2l AP_Limit_Geofence::get_fence_point_with_index(uint8_t i)
} }
// read fence point // read fence point
mem = _eeprom_fence_start + (i * _fence_wp_size); uint16_t mem = _eeprom_fence_start + (i * _fence_wp_size);
ret.x = eeprom_read_dword((uint32_t *)mem); ret.x = hal.storage->read_dword(mem);
mem += sizeof(uint32_t); mem += 4;
ret.y = eeprom_read_dword((uint32_t *)mem); ret.y = hal.storage->read_dword(mem);
return ret; return ret;
} }

4
libraries/AP_Limits/AP_Limit_Geofence.h
View File

@ -20,7 +20,7 @@
class AP_Limit_Geofence : public AP_Limit_Module { class AP_Limit_Geofence : public AP_Limit_Module {
public: public:
AP_Limit_Geofence(uint32_t _eeprom_fence_start, uint8_t fpsize, uint8_t max_fp, GPS *&gps, struct Location *home_loc, struct Location *current_loc); AP_Limit_Geofence(uint16_t eeprom_fence_start, uint8_t fpsize, uint8_t max_fp, GPS *&gps, struct Location *home_loc, struct Location *current_loc);
bool init(); bool init();
bool triggered(); bool triggered();
@ -51,7 +51,7 @@ protected:
AP_Int8 _num_points; AP_Int8 _num_points;
private: private:
const uint32_t _eeprom_fence_start; const uint16_t _eeprom_fence_start;
const unsigned _fence_wp_size; const unsigned _fence_wp_size;
const unsigned _max_fence_points; const unsigned _max_fence_points;
bool _boundary_uptodate; bool _boundary_uptodate;