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change back to 256 max variables in _var_info[]

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this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
This commit is contained in:
Andrew Tridgell 2012-02-13 10:12:02 +11:00
parent 50f9d12ad5
commit ee2cb32a44
2 changed files with 29 additions and 26 deletions
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33
libraries/AP_Common/AP_Param.cpp
View File

@ -49,7 +49,7 @@
uint16_t AP_Param::_eeprom_size;
// number of rows in the _var_info[] table
uint16_t AP_Param::_num_vars;
uint8_t AP_Param::_num_vars;
// storage and naming information about all types that can be saved
const AP_Param::Info *AP_Param::_var_info;
@ -88,8 +88,10 @@ void AP_Param::erase_all(void)
serialDebug("erase_all");
// write the header
hdr.magic = k_EEPROM_magic;
hdr.magic[0] = k_EEPROM_magic0;
hdr.magic[1] = k_EEPROM_magic1;
hdr.revision = k_EEPROM_revision;
hdr.spare = 0;
eeprom_write_check(&hdr, 0, sizeof(hdr));
// add a sentinal directly after the header
@ -144,7 +146,7 @@ bool AP_Param::check_var_info(void)
{
uint16_t total_size = sizeof(struct EEPROM_header);
for (uint16_t i=0; i<_num_vars; i++) {
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
if (i == 0) {
@ -176,7 +178,7 @@ bool AP_Param::check_var_info(void)
// setup the _var_info[] table
bool AP_Param::setup(const AP_Param::Info *info, uint16_t num_vars, uint16_t eeprom_size)
bool AP_Param::setup(const AP_Param::Info *info, uint8_t num_vars, uint16_t eeprom_size)
{
struct EEPROM_header hdr;
@ -192,7 +194,8 @@ bool AP_Param::setup(const AP_Param::Info *info, uint16_t num_vars, uint16_t eep
// check the header
eeprom_read_block(&hdr, 0, sizeof(hdr));
if (hdr.magic != k_EEPROM_magic ||
if (hdr.magic[0] != k_EEPROM_magic0 ||
hdr.magic[1] != k_EEPROM_magic1 ||
hdr.revision != k_EEPROM_revision) {
// header doesn't match. We can't recover any variables. Wipe
// the header and setup the sentinal directly after the header
@ -245,7 +248,7 @@ const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header
const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr, void **ptr)
{
// loop over all named variables
for (uint16_t i=0; i<_num_vars; i++) {
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
uint8_t key = PGM_UINT8(&_var_info[i].key);
if (key != phdr.key) {
@ -307,7 +310,7 @@ const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInf
const struct AP_Param::Info *AP_Param::find_var_info(uint8_t *group_element,
const struct GroupInfo **group_ret)
{
for (uint16_t i=0; i<_num_vars; i++) {
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
uintptr_t base = PGM_POINTER(&_var_info[i].ptr);
if (type == AP_PARAM_GROUP) {
@ -437,7 +440,7 @@ AP_Param::find_group(const char *name, uint8_t vindex, const struct GroupInfo *g
AP_Param *
AP_Param::find(const char *name, enum ap_var_type *ptype)
{
for (uint16_t i=0; i<_num_vars; i++) {
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
uint8_t len = strnlen_P(_var_info[i].name, AP_MAX_NAME_SIZE);
@ -565,7 +568,7 @@ bool AP_Param::load_all(void)
// return the first variable in _var_info
AP_Param *AP_Param::first(uint32_t *token, enum ap_var_type *ptype)
AP_Param *AP_Param::first(uint16_t *token, enum ap_var_type *ptype)
{
*token = 0;
if (_num_vars == 0) {
@ -583,7 +586,7 @@ AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_inf
bool *found_current,
uint8_t group_base,
uint8_t group_shift,
uint32_t *token,
uint16_t *token,
enum ap_var_type *ptype)
{
uint8_t type;
@ -602,13 +605,13 @@ AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_inf
} else {
if (*found_current) {
// got a new one
(*token) = ((uint32_t)GROUP_ID(group_info, group_base, i, group_shift)<<16) | vindex;
(*token) = ((uint16_t)GROUP_ID(group_info, group_base, i, group_shift)<<8) | vindex;
if (ptype != NULL) {
*ptype = (enum ap_var_type)type;
}
return (AP_Param*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
}
if (GROUP_ID(group_info, group_base, i, group_shift) == (uint16_t)((*token)>>16)) {
if (GROUP_ID(group_info, group_base, i, group_shift) == (uint8_t)((*token)>>8)) {
*found_current = true;
}
}
@ -618,9 +621,9 @@ AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_inf
/// Returns the next variable in _var_info, recursing into groups
/// as needed
AP_Param *AP_Param::next(uint32_t *token, enum ap_var_type *ptype)
AP_Param *AP_Param::next(uint16_t *token, enum ap_var_type *ptype)
{
uint16_t i = (*token)&0xFFFF;
uint8_t i = (*token)&0xFF;
bool found_current = false;
if (i >= _num_vars) {
// illegal token
@ -653,7 +656,7 @@ AP_Param *AP_Param::next(uint32_t *token, enum ap_var_type *ptype)
/// Returns the next scalar in _var_info, recursing into groups
/// as needed
AP_Param *AP_Param::next_scalar(uint32_t *token, enum ap_var_type *ptype)
AP_Param *AP_Param::next_scalar(uint16_t *token, enum ap_var_type *ptype)
{
AP_Param *ap;
enum ap_var_type type;

22
libraries/AP_Common/AP_Param.h
View File

@ -78,7 +78,7 @@ public:
// called once at startup to setup the _var_info[] table. This
// will also check the EEPROM header and re-initialise it if the
// wrong version is found
static bool setup(const struct Info *info, uint16_t num_vars, uint16_t eeprom_size);
static bool setup(const struct Info *info, uint8_t num_vars, uint16_t eeprom_size);
/// Copy the variable's name, prefixed by any containing group name, to a buffer.
///
@ -133,15 +133,15 @@ public:
/// @return The first variable in _var_info, or NULL if
/// there are none.
///
static AP_Param *first(uint32_t *token, enum ap_var_type *ptype);
static AP_Param *first(uint16_t *token, enum ap_var_type *ptype);
/// Returns the next variable in _var_info, recursing into groups
/// as needed
static AP_Param *next(uint32_t *token, enum ap_var_type *ptype);
static AP_Param *next(uint16_t *token, enum ap_var_type *ptype);
/// Returns the next scalar variable in _var_info, recursing into groups
/// as needed
static AP_Param *next_scalar(uint32_t *token, enum ap_var_type *ptype);
static AP_Param *next_scalar(uint16_t *token, enum ap_var_type *ptype);
/// cast a variable to a float given its type
float cast_to_float(enum ap_var_type type);
@ -153,7 +153,7 @@ private:
/// that the ROM is formatted for AP_Param.
///
struct EEPROM_header {
uint16_t magic;
uint8_t magic[2];
uint8_t revision;
uint8_t spare;
};
@ -169,7 +169,7 @@ private:
static const uint8_t _group_level_shift = 4;
static const uint8_t _group_bits = 8;
static const uint16_t _sentinal_key = 0xFF;
static const uint8_t _sentinal_key = 0xFF;
static const uint8_t _sentinal_type = 0xFF;
static const uint8_t _sentinal_group = 0xFF;
@ -198,17 +198,17 @@ private:
bool *found_current,
uint8_t group_base,
uint8_t group_shift,
uint32_t *token,
uint16_t *token,
enum ap_var_type *ptype);
static uint16_t _eeprom_size;
static uint16_t _num_vars;
static uint8_t _num_vars;
static const struct Info *_var_info;
// values filled into the EEPROM header
static const uint16_t k_EEPROM_magic = 0x5041; ///< "AP"
static const uint16_t k_EEPROM_revision = 5; ///< current format revision
static const uint8_t k_EEPROM_magic0 = 0x50;
static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP"
static const uint8_t k_EEPROM_revision = 5; ///< current format revision
};
/// Template class for scalar variables.