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Rover: convert to using StorageManager

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This commit is contained in:
Andrew Tridgell 2014-08-13 14:44:46 +10:00
parent e260f1c569
commit c150338e53
3 changed files with 4 additions and 11 deletions
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5
APMrover2/APMrover2.pde
View File

@ -62,6 +62,7 @@
#include <AP_HAL.h>
#include <AP_Menu.h>
#include <AP_Param.h>
#include <StorageManager.h>
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
@ -130,7 +131,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// must be the first AP_Param variable declared to ensure its
// constructor runs before the constructors of the other AP_Param
// variables
AP_Param param_loader(var_info, MISSION_START_BYTE);
AP_Param param_loader(var_info);
////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
@ -273,7 +274,7 @@ static AP_SteerController steerController(ahrs);
static bool start_command(const AP_Mission::Mission_Command& cmd);
static bool verify_command(const AP_Mission::Mission_Command& cmd);
static void exit_mission();
AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission, MISSION_START_BYTE, MISSION_END_BYTE);
AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
SITL sitl;

6
APMrover2/defines.h
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@ -126,12 +126,6 @@ enum mode {
#define SPEEDFILT 400 // centimeters/second; the speed below which a groundstart will be triggered
// EEPROM addresses
// parameters get the first 1KiB of EEPROM, remainder is for mission commands
#define MISSION_START_BYTE 0x500
#define MISSION_END_BYTE HAL_STORAGE_SIZE_AVAILABLE
// 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)

4
APMrover2/setup.pde
View File

@ -654,9 +654,7 @@ 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"));
}