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Plane: convert to using StorageManager

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This commit is contained in:
Andrew Tridgell 2014-08-13 14:44:08 +10:00
parent cbcb5ec0a9
commit ce9b14f0c8
6 changed files with 31 additions and 54 deletions
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8
ArduPlane/ArduPlane.pde
View File

@ -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,
MISSION_START_BYTE, MISSION_END_BYTE);
&exit_mission_callback);
////////////////////////////////////////////////////////////////////////////////
// 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;

2
ArduPlane/GCS_Mavlink.pde
View File

@ -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;
}

13
ArduPlane/defines.h
View File

@ -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)

40
ArduPlane/geofence.pde
View File

@ -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 = hal.storage->read_dword(mem);
mem += sizeof(uint32_t);
ret.y = hal.storage->read_dword(mem);
ret.x = fence_storage.read_uint32(i * sizeof(Vector2l));
ret.y = fence_storage.read_uint32(i * sizeof(Vector2l) + 4);
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()) {
if (i >= (unsigned)g.fence_total.get() || i >= max_fencepoints()) {
// not allowed
return;
}
mem = FENCE_START_BYTE + (i * FENCE_WP_SIZE);
hal.storage->write_dword(mem, point.x);
mem += sizeof(uint32_t);
hal.storage->write_dword(mem, point.y);
fence_storage.write_uint32(i * sizeof(Vector2l), point.x);
fence_storage.write_uint32(i * sizeof(Vector2l)+4, 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;
}

5
ArduPlane/setup.pde
View File

@ -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++) {
hal.storage->write_byte(i, b);
}
StorageManager::erase();
cliSerial->printf_P(PSTR("done\n"));
}

17
ArduPlane/test.pde
View File

@ -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)
{