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StorageManager: cope with a wider range of storage sizes

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This commit is contained in:
Andrew Tridgell 2014-08-13 20:46:36 +10:00
parent c864f3eed5
commit 52cdd6394f
2 changed files with 18 additions and 10 deletions
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16
libraries/StorageManager/StorageManager.cpp
View File

@ -32,20 +32,23 @@ extern const AP_HAL::HAL& hal;
/*
layout for fixed wing and rovers
On APM2 this gives 167 waypoints, 10 rally points and 20 fence points
On PX4v1 this gives 309 waypoints, 30 rally points and 52 fence points
On Pixhawk this gives 724 waypoints, 50 rally points and 84 fence points
*/
const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_AREAS] PROGMEM = {
{ StorageParam, 0, 1280}, // 0x500 parameter bytes
{ StorageMission, 1280, 2506},
{ StorageRally, 3786, 150}, // 10 rally points
{ StorageFence, 3936, 160}, // 20 fence points
#if HAL_STORAGE_SIZE > 4096
#if STORAGE_NUM_AREAS >= 8
{ StorageParam, 4096, 1280},
{ StorageRally, 5376, 300},
{ StorageFence, 5676, 256},
{ StorageMission, 5932, 2132}, // leave 4 byte gap for PX4
// sentinal and expansion
#endif
#if HAL_STORAGE_SIZE > 8192
#if STORAGE_NUM_AREAS >= 12
{ StorageParam, 8192, 1280},
{ StorageRally, 9472, 300},
{ StorageFence, 9772, 256},
@ -55,21 +58,24 @@ const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_ARE
/*
layout for copter
layout for copter.
On APM2 this gives 161 waypoints, 6 fence points and 6 rally points
On PX4v1 this gives 303 waypoints, 26 rally points and 38 fence points
On Pixhawk this gives 718 waypoints, 46 rally points and 70 fence points
*/
const StorageManager::StorageArea StorageManager::layout_copter[STORAGE_NUM_AREAS] PROGMEM = {
{ StorageParam, 0, 1536}, // 0x600 param bytes
{ StorageMission, 1536, 2422},
{ StorageRally, 3958, 90}, // 6 rally points
{ StorageFence, 4048, 48}, // 6 fence points
#if HAL_STORAGE_SIZE > 4096
#if STORAGE_NUM_AREAS >= 8
{ StorageParam, 4096, 1280},
{ StorageRally, 5376, 300},
{ StorageFence, 5676, 256},
{ StorageMission, 5932, 2132}, // leave 128 byte gap for
// expansion and PX4 sentinal
#endif
#if HAL_STORAGE_SIZE > 8192
#if STORAGE_NUM_AREAS >= 12
{ StorageParam, 8192, 1280},
{ StorageRally, 9472, 300},
{ StorageFence, 9772, 256},

12
libraries/StorageManager/StorageManager.h
View File

@ -29,12 +29,14 @@
use just one area per storage type for boards with 4k of
storage. Use larger areas for other boards
*/
#if HAL_STORAGE_SIZE == 4096
#define STORAGE_NUM_AREAS 4
#elif HAL_STORAGE_SIZE == 8192
#define STORAGE_NUM_AREAS 8
#elif HAL_STORAGE_SIZE == 16384
#if HAL_STORAGE_SIZE >= 16384
#define STORAGE_NUM_AREAS 12
#elif HAL_STORAGE_SIZE >= 8192
#define STORAGE_NUM_AREAS 8
#elif HAL_STORAGE_SIZE >= 4096
#define STORAGE_NUM_AREAS 4
#else
#error "Unsupported storage size"
#endif
/*