// save a fence point
void AP_Limit_Geofence::set_fence_point_with_index(Vector2l &point, uint8_t i)
{
if (i >= (unsigned)fence_total()) {
// not allowed
return;
}
_storage.write_uint32(i * 8, point.x);
_storage.write_uint32(i * 8+4, point.y);
_boundary_uptodate = false;
}
/*
* fence boundaries fetch/store
*/
Vector2l AP_Limit_Geofence::get_fence_point_with_index(uint8_t i)
{
Vector2l ret;
if (i > (unsigned) fence_total()) {
return Vector2l(0,0);
}
// read fence point
ret.x = _storage.read_uint32(i * 8);
ret.y = _storage.read_uint32(i * 8+4);
return ret;
}
/*
* fence boundaries fetch/store
*/
Vector2l AP_Limit_Geofence::get_fence_point_with_index(uint8_t i)
{
uintptr_t mem;
Vector2l ret;
if (i > (unsigned) fence_total()) {
return Vector2l(0,0);
}
// read fence point
mem = _eeprom_fence_start + (i * _fence_wp_size);
ret.x = EPROM->eeprom_read_dword((uint32_t *)mem);
mem += sizeof(uint32_t);
ret.y = EPROM->eeprom_read_dword((uint32_t *)mem);
return ret;
}
// save a fence point
void AP_Limit_Geofence::set_fence_point_with_index(Vector2l &point, uint8_t i)
{
uintptr_t mem;
if (i >= (unsigned)fence_total()) {
// not allowed
return;
}
mem = _eeprom_fence_start + (i * _fence_wp_size);
EPROM->eeprom_write_dword((uint32_t *)mem, point.x);
mem += sizeof(uint32_t);
EPROM->eeprom_write_dword((uint32_t *)mem, point.y);
_boundary_uptodate = false;
}
