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AntennaTracker: convert to using StorageManager

This commit is contained in:
Andrew Tridgell 2014-08-13 14:43:56 +10:00
parent 2d9e9879a2
commit cbcb5ec0a9
2 changed files with 13 additions and 26 deletions
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3
Tools/AntennaTracker/AntennaTracker.pde
View File

@ -32,6 +32,7 @@
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_Param.h>
#include <StorageManager.h>
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_Baro.h> // ArduPilot barometer library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
@ -244,7 +245,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
};
// setup the var_info table
AP_Param param_loader(var_info, EEPROM_MAX_ADDR);
AP_Param param_loader(var_info);
/**
setup the sketch - called once on startup

36
Tools/AntennaTracker/system.pde
View File

@ -1,5 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// mission storage
static const StorageAccess wp_storage(StorageManager::StorageMission);
static void init_tracker()
{
hal.uartA->begin(SERIAL0_BAUD, 128, SERIAL_BUFSIZE);
@ -130,8 +133,6 @@ static void update_notify()
*/
static bool get_home_eeprom(struct Location &loc)
{
uint16_t mem;
// Find out proper location in memory by using the start_byte position + the index
// --------------------------------------------------------------------------------
if (g.command_total.get() == 0) {
@ -139,35 +140,20 @@ static bool get_home_eeprom(struct Location &loc)
}
// read WP position
mem = WP_START_BYTE;
loc.options = hal.storage->read_byte(mem);
mem++;
loc.alt = hal.storage->read_dword(mem);
mem += 4;
loc.lat = hal.storage->read_dword(mem);
mem += 4;
loc.lng = hal.storage->read_dword(mem);
loc.options = wp_storage.read_byte(0);
loc.alt = wp_storage.read_uint32(1);
loc.lat = wp_storage.read_uint32(5);
loc.lng = wp_storage.read_uint32(9);
return true;
}
static void set_home_eeprom(struct Location temp)
{
uint16_t mem = WP_START_BYTE;
hal.storage->write_byte(mem, temp.options);
mem++;
hal.storage->write_dword(mem, temp.alt);
mem += 4;
hal.storage->write_dword(mem, temp.lat);
mem += 4;
hal.storage->write_dword(mem, temp.lng);
wp_storage.write_byte(0, temp.options);
wp_storage.write_uint32(1, temp.alt);
wp_storage.write_uint32(5, temp.lat);
wp_storage.write_uint32(9, temp.lng);
// Now have a home location in EEPROM
g.command_total.set_and_save(1); // At most 1 entry for HOME