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Mission: pass eeprom start into constructor

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This allows different storage locations for ArduCopter, Plane and Rover
This commit is contained in:
Randy Mackay 2014-03-12 15:14:02 +09:00
parent 7663c5898e
commit 9e07070d86
2 changed files with 15 additions and 13 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
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@ -337,7 +337,7 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
// Find out proper location in memory by using the start_byte position + the index
// we can load a command, we don't process it yet
// read WP position
pos_in_storage = (AP_MISSION_EEPROM_START_BYTE) + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
pos_in_storage = _storage_start + 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
cmd.id = hal.storage->read_byte(pos_in_storage);
pos_in_storage++;
@ -370,12 +370,12 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd)
{
// range check cmd's index
if (index >= AP_MISSION_MAX_COMMANDS) {
if (index >= _cmd_total_max) {
return false;
}
// calculate where in storage the command should be placed
uint16_t pos_in_storage = AP_MISSION_EEPROM_START_BYTE + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
uint16_t pos_in_storage = _storage_start + 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
hal.storage->write_byte(pos_in_storage, cmd.id);
@ -1046,12 +1046,12 @@ void AP_Mission::increment_jump_times_run(Mission_Command& cmd)
// command list will be cleared if they do not match
void AP_Mission::check_eeprom_version()
{
uint32_t eeprom_version = hal.storage->read_dword(AP_MISSION_EEPROM_VERSION_ADDR);
uint32_t eeprom_version = hal.storage->read_dword(_storage_start);
// if eeprom version does not match, clear the command list and update the eeprom version
if (eeprom_version != AP_MISSION_EEPROM_VERSION) {
if (clear()) {
hal.storage->write_dword(AP_MISSION_EEPROM_VERSION_ADDR, AP_MISSION_EEPROM_VERSION);
hal.storage->write_dword(_storage_start, AP_MISSION_EEPROM_VERSION);
}
}
}

18
libraries/AP_Mission/AP_Mission.h
View File

@ -24,14 +24,7 @@
// definitions
#define AP_MISSION_EEPROM_VERSION 0x65AD // version number stored in first four bytes of eeprom. increment this by one when eeprom format is changed
#define AP_MISSION_EEPROM_MAX_ADDR 4096 // parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
#define AP_MISSION_EEPROM_VERSION_ADDR 0x600 // where version number is stored in eeprom
#define AP_MISSION_EEPROM_START_BYTE 0x604 // where in memory home WP is stored, all mission commands appear after this
#define AP_MISSION_EEPROM_COMMAND_SIZE 15 // size in bytes of all mission commands
#define AP_MISSION_FENCEPOINTS_MAX 6 // we reserve space for 6 fence points at the end of EEPROM although this is not currently implemented
#define AP_MISSION_FENCEPOINTS_SIZE sizeof(Vector2l) // each fence points size in eeprom
#define AP_MISSION_FENCE_START_BYTE (AP_MISSION_EEPROM_MAX_ADDR-(AP_MISSION_FENCEPOINTS_MAX*AP_MISSION_FENCEPOINTS_SIZE)) // space reserved for fence points
#define AP_MISSION_MAX_COMMANDS ((AP_MISSION_FENCE_START_BYTE - AP_MISSION_EEPROM_START_BYTE) / AP_MISSION_EEPROM_COMMAND_SIZE) - 1 // -1 to be safe
#define AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS 3 // only allow up to 3 do-jump commands (due to RAM limitations on the APM2)
#define AP_MISSION_JUMP_REPEAT_FOREVER -1 // when do-jump command's repeat count is -1 this means endless repeat
@ -82,7 +75,7 @@ public:
};
/// constructor
AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn, uint16_t storage_start, uint16_t storage_end) :
_ahrs(ahrs),
_cmd_start_fn(cmd_start_fn),
_cmd_verify_fn(cmd_verify_fn),
@ -92,6 +85,10 @@ public:
// load parameter defaults
AP_Param::setup_object_defaults(this, var_info);
// calculate
_storage_start = storage_start;
_cmd_total_max = ((storage_end - storage_start - 4) / AP_MISSION_EEPROM_COMMAND_SIZE) -1; // -4 to remove space for eeprom version number, -1 to be safe
// clear commands
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
@ -115,6 +112,9 @@ public:
/// num_commands - returns total number of commands in the mission
uint16_t num_commands() const { return _cmd_total; }
/// num_commands_max - returns maximum number of commands that can be stored
uint16_t num_commands_max() const {return _cmd_total_max; }
/// start - resets current commands to point to the beginning of the mission
/// To-Do: should we validate the mission first and return true/false?
void start();
@ -261,6 +261,8 @@ private:
mission_complete_fn_t _mission_complete_fn; // pointer to function which will be called when mission completes
// internal variables
uint16_t _storage_start; // first position we are free to use in eeprom storage
uint16_t _cmd_total_max; // maximum number of commands we can store
struct Mission_Command _nav_cmd; // current "navigation" command. It's position in the command list is held in _nav_cmd.index
struct Mission_Command _do_cmd; // current "do" command. It's position in the command list is held in _do_cmd.index
uint16_t _prev_nav_cmd_index; // index of the previous "navigation" command. Rarely used which is why we don't store the whole command