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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 156 | killagreg | 1 | #include "91x_lib.h" |
| 2 | #include "params.h" |
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| 276 | holgerb | 3 | #include "spi_slave.h" |
| 278 | killagreg | 4 | #include "waypoints.h" |
| 156 | killagreg | 5 | |
| 6 | s16 NCParams[255]; |
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| 295 | killagreg | 7 | u8 NCParamState[255]; |
| 156 | killagreg | 8 | |
| 9 | void NCParams_Init(void) |
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| 10 | { |
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| 295 | killagreg | 11 | u16 i; |
| 12 | for(i=0; i<256; i++) |
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| 13 | { |
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| 14 | NCParamState[i] = NCPARAM_STATE_UNDEFINED; |
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| 298 | holgerb | 15 | NCParams[i] = 0; |
| 295 | killagreg | 16 | } |
| 156 | killagreg | 17 | NCParams[NCPARAMS_GPS_TARGETSPEED] = 50; // 5.0 m/s |
| 276 | holgerb | 18 | NCParams[NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT] = -1; |
| 298 | holgerb | 19 | NCParams[NCPARAMS_ALTITUDE_RATE] = 0; |
| 156 | killagreg | 20 | } |
| 21 | |||
| 298 | holgerb | 22 | u8 NCParams_SetValue(u8 id, s16 *pvalue) |
| 156 | killagreg | 23 | { |
| 157 | killagreg | 24 | NCParams[id] = *pvalue; |
| 295 | killagreg | 25 | NCParamState[id] = NCRARAM_STATE_VALID; |
| 278 | killagreg | 26 | |
| 27 | switch(id) |
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| 28 | { |
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| 29 | case NCPARAMS_NEW_COMPASS_DIRECTION_SETPOINT: |
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| 280 | killagreg | 30 | if(NULL == PointList_GetPOI()) |
| 278 | killagreg | 31 | { |
| 32 | CAM_Orientation.Azimuth = *pvalue; |
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| 33 | CAM_Orientation.Elevation = 0; |
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| 280 | killagreg | 34 | CAM_Orientation.UpdateMask = CAM_UPDATE_AZIMUTH; |
| 278 | killagreg | 35 | } |
| 36 | break; |
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| 37 | |||
| 492 | killagreg | 38 | case NCPARAMS_WP_LIST_LOAD: |
| 39 | // read wp list from file |
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| 40 | if(PointList_ReadFromFile(*pvalue)) |
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| 41 | { //and move all wp relative so that 1st wp gets current positition |
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| 42 | // PointList_Move(1, &GPSData.Position); |
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| 43 | } |
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| 44 | else PointList_Clear(); |
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| 45 | break; |
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| 46 | break; |
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| 47 | |||
| 48 | case NCPARAMS_WP_LIST_SAVE: |
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| 49 | PointList_SaveToFile(*pvalue); |
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| 50 | break; |
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| 51 | |||
| 52 | |||
| 278 | killagreg | 53 | default: |
| 54 | break; |
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| 55 | } |
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| 298 | holgerb | 56 | return(NCParamState[id]); |
| 156 | killagreg | 57 | } |
| 58 | |||
| 298 | holgerb | 59 | void NCParams_ClearValue(u8 id) |
| 156 | killagreg | 60 | { |
| 298 | holgerb | 61 | NCParamState[id] = NCPARAM_STATE_UNDEFINED; |
| 62 | } |
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| 63 | |||
| 64 | |||
| 65 | u8 NCParams_GetValue(u8 id, s16 *pvalue) |
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| 66 | { |
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| 157 | killagreg | 67 | if(pvalue == 0) return 0; |
| 295 | killagreg | 68 | if(NCParamState[id] == NCRARAM_STATE_VALID) |
| 69 | { |
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| 70 | *pvalue = NCParams[id]; |
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| 71 | } |
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| 298 | holgerb | 72 | return(NCParamState[id]); |
| 156 | killagreg | 73 | } |
| 298 | holgerb | 74 |