Plane: convert to using StorageManager

ArduPlane/ArduPlane.pde

@@ -36,6 +36,7 @@
 #include <AP_Progmem.h>
 #include <AP_Menu.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
@@ -317,7 +318,7 @@ static AP_Camera camera(&relay);
 #endif
 
 //Rally Ponints
-AP_Rally rally(ahrs, MAX_RALLYPOINTS, RALLY_START_BYTE);
+AP_Rally rally(ahrs);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Global variables
@@ -589,8 +590,7 @@ static bool start_command_callback(const AP_Mission::Mission_Command &cmd);
 AP_Mission mission(ahrs, 
                    &start_command_callback, 
                    &verify_command_callback, 
-                   &exit_mission_callback, 
+                   &exit_mission_callback);
-                   MISSION_START_BYTE, MISSION_END_BYTE);
 
 ////////////////////////////////////////////////////////////////////////////////
 // terrain handling
@@ -792,7 +792,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 };
 
 // setup the var_info table
-AP_Param param_loader(var_info, MISSION_START_BYTE);
+AP_Param param_loader(var_info);
 
 void setup() {
     cliSerial = hal.console;

ArduPlane/GCS_Mavlink.pde

@@ -1290,7 +1290,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         
         if (packet.idx >= rally.get_rally_total() || 
-            packet.idx >= MAX_RALLYPOINTS) {
+            packet.idx >= rally.get_rally_max()) {
             send_text_P(SEVERITY_LOW,PSTR("bad rally point message ID"));
             break;
         }

ArduPlane/defines.h

@@ -177,19 +177,6 @@ enum log_messages {
                                         // which a groundstart will be
                                         // triggered
 
-// fence points are stored at the end of the EEPROM
-#define MAX_FENCEPOINTS 20
-#define FENCE_WP_SIZE sizeof(Vector2l)
-#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
-
-// rally points shoehorned between fence points and waypoints
-#define MAX_RALLYPOINTS 10
-#define RALLY_START_BYTE (FENCE_START_BYTE-(MAX_RALLYPOINTS*AC_RALLY_WP_SIZE))
-
-// parameters get the first 1280 bytes of EEPROM, mission commands are stored between these params and the rally points
-#define MISSION_START_BYTE  0x500
-#define MISSION_END_BYTE    (RALLY_START_BYTE-1)
-
 // convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
 // to -1)
 #define BOOL_TO_SIGN(bvalue) ((bvalue) ? -1 : 1)

ArduPlane/geofence.pde

@@ -35,27 +35,34 @@ static struct GeofenceState {
     int32_t guided_lat;
     int32_t guided_lng;
     /* point 0 is the return point */
-    Vector2l boundary[MAX_FENCEPOINTS];
+    Vector2l *boundary;
 } *geofence_state;
 
 
+static const StorageAccess fence_storage(StorageManager::StorageFence);
+
+/*
+  maximum number of fencepoints
+ */
+static uint8_t max_fencepoints(void)
+{
+    return min(255, fence_storage.size() / sizeof(Vector2l));
+}
+
 /*
  *  fence boundaries fetch/store
  */
 static Vector2l get_fence_point_with_index(unsigned i)
 {
-    uint16_t mem;
     Vector2l ret;
 
-    if (i > (unsigned)g.fence_total) {
+    if (i > (unsigned)g.fence_total || i >= max_fencepoints()) {
         return Vector2l(0,0);
     }
 
     // read fence point
-    mem = FENCE_START_BYTE + (i * FENCE_WP_SIZE);
+    ret.x = fence_storage.read_uint32(i * sizeof(Vector2l));
-    ret.x = hal.storage->read_dword(mem);
+    ret.y = fence_storage.read_uint32(i * sizeof(Vector2l) + 4);
-    mem += sizeof(uint32_t);
-    ret.y = hal.storage->read_dword(mem);
 
     return ret;
 }
@@ -63,18 +70,13 @@ static Vector2l get_fence_point_with_index(unsigned i)
 // save a fence point
 static void set_fence_point_with_index(Vector2l &point, unsigned i)
 {
-    uint16_t mem;
+    if (i >= (unsigned)g.fence_total.get() || i >= max_fencepoints()) {
-
-    if (i >= (unsigned)g.fence_total.get()) {
         // not allowed
         return;
     }
 
-    mem = FENCE_START_BYTE + (i * FENCE_WP_SIZE);
+    fence_storage.write_uint32(i * sizeof(Vector2l), point.x);
-
+    fence_storage.write_uint32(i * sizeof(Vector2l)+4, point.y);
-    hal.storage->write_dword(mem, point.x);
-    mem += sizeof(uint32_t);
-    hal.storage->write_dword(mem, point.y);
 
     if (geofence_state != NULL) {
         geofence_state->boundary_uptodate = false;
@@ -98,6 +100,14 @@ static void geofence_load(void)
             // not much we can do here except disable it
             goto failed;
         }
+
+        geofence_state->boundary = (Vector2l *)calloc(sizeof(Vector2l), max_fencepoints());
+        if (geofence_state->boundary == NULL) {
+            free(geofence_state);
+            geofence_state = NULL;
+            goto failed;
+        }
+        
         geofence_state->old_switch_position = 254;
     }
 

ArduPlane/setup.pde

@@ -448,11 +448,8 @@ print_divider(void)
 
 static void zero_eeprom(void)
 {
-    uint8_t b = 0;
     cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
-    for (uint16_t i = 0; i < HAL_STORAGE_SIZE_AVAILABLE; i++) {
+    StorageManager::erase();
-        hal.storage->write_byte(i, b);
-    }
     cliSerial->printf_P(PSTR("done\n"));
 }
 

ArduPlane/test.pde

@@ -19,7 +19,6 @@ static int8_t   test_airspeed(uint8_t argc,     const Menu::arg *argv);
 static int8_t   test_pressure(uint8_t argc,     const Menu::arg *argv);
 static int8_t   test_mag(uint8_t argc,                  const Menu::arg *argv);
 static int8_t   test_xbee(uint8_t argc,                 const Menu::arg *argv);
-static int8_t   test_eedump(uint8_t argc,               const Menu::arg *argv);
 static int8_t   test_modeswitch(uint8_t argc,           const Menu::arg *argv);
 static int8_t   test_logging(uint8_t argc,              const Menu::arg *argv);
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@@ -41,7 +40,6 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
     {"relay",                       test_relay},
     {"waypoints",           test_wp},
     {"xbee",                        test_xbee},
-    {"eedump",                      test_eedump},
     {"modeswitch",          test_modeswitch},
 
     // Tests below here are for hardware sensors only present
@@ -83,21 +81,6 @@ static void print_hit_enter()
     cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
 }
 
-static int8_t
-test_eedump(uint8_t argc, const Menu::arg *argv)
-{
-    uint16_t i, j;
-
-    // hexdump the EEPROM
-    for (i = 0; i < HAL_STORAGE_SIZE_AVAILABLE; i += 16) {
-        cliSerial->printf_P(PSTR("%04x:"), i);
-        for (j = 0; j < 16; j++)
-            cliSerial->printf_P(PSTR(" %02x"), hal.storage->read_byte(i + j));
-        cliSerial->println();
-    }
-    return(0);
-}
-
 static int8_t
 test_radio_pwm(uint8_t argc, const Menu::arg *argv)
 {