New Libraries

git-svn-id: https://arducopter.googlecode.com/svn/trunk@287 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/Waypoints/Waypoints.cpp

@@ -0,0 +1,100 @@
+/*
+	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(uint16_t start_byte, uint8_t wp_size, uint8_t total)
+{
+	_start_byte	= start_byte;
+	_wp_size	= wp_size;
+	_total		= total;
+}
+
+void 
+Waypoints::set_waypoint_with_index(Waypoints::WP wp, uint16_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(uint16_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_next_waypoint(void)
+{
+	_index++;
+	if (_index >= _total)
+		_index == 0;
+}
+
+uint8_t
+Waypoints::get_index(void)
+{
+	return _index;
+}
+
+void
+Waypoints::set_index(uint8_t i)
+{
+	i = constrain(i, 0, _total);
+}
+
+uint8_t
+Waypoints::get_total(void)
+{
+	return _total;
+}

libraries/Waypoints/Waypoints.h

@@ -0,0 +1,41 @@
+#ifndef Waypoints_h
+#define Waypoints_h
+
+#include <inttypes.h>
+#include "WProgram.h"
+#include <avr/eeprom.h>
+
+class Waypoints
+{
+  public:
+	Waypoints(uint16_t start_byte, uint8_t wp_size, uint8_t total);
+
+	struct WP {
+		uint8_t id;					// for commands
+		int8_t p1;					// for commands
+		int32_t alt;				// Altitude in centimeters (meters * 100)
+		int32_t lat;				// Lattitude * 10**7
+		int32_t lng;				// Longitude * 10**7
+	};
+
+
+	Waypoints::WP get_waypoint_with_index(uint16_t i);
+	Waypoints::WP get_next_waypoint(void);
+	
+	void 		set_waypoint_with_index(Waypoints::WP wp, uint16_t i);
+	uint8_t 	get_index(void);
+	void 		set_index(uint8_t i);
+
+	uint8_t 	get_total(void);
+	
+
+
+  private:
+	uint16_t _start_byte;
+	uint8_t _wp_size;
+	uint8_t _index;
+	uint8_t _total;	
+};
+
+#endif
+