mirror of https://github.com/ArduPilot/ardupilot
78 lines
1.9 KiB
C
78 lines
1.9 KiB
C
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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
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/*
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* Storage.h --- AP_HAL_F4Light storage driver.
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based on:
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* Copyright (C) 2013, Virtualrobotix.com Roberto Navoni , Emile
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* All Rights Reserved.
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*
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* This software is released under the "BSD3" license. Read the file
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* "LICENSE" for more information.
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*
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* Written by Roberto Navoni <info@virtualrobotix.com>, 11 January 2013
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*/
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// another way - https://habrahabr.ru/post/262163/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
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#include "AP_HAL_F4Light_Namespace.h"
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#include <hal.h>
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// read is quite expensive operation because requires scan of 16K RAM
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// we have a lot of unused CCM memory so lets cache data in RAM
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#define EEPROM_CACHED
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// write is very expensive operation so move out it to separate thread
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#define WRITE_IN_THREAD
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class F4Light::Storage : public AP_HAL::Storage
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{
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public:
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Storage();
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void init();
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static void late_init(bool defer);
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void read_block(void *dst, uint16_t src, size_t n);
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void write_block(uint16_t dst, const void* src, size_t n);
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// just for us
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static uint8_t read_byte(uint16_t loc);
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static void write_byte(uint16_t loc, uint8_t value);
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typedef struct {
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uint16_t loc;
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uint16_t val;
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} Item;
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#define EEPROM_QUEUE_LEN 256
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private:
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static void _write_byte(uint16_t loc, uint8_t value);
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static uint8_t _read_byte(uint16_t loc);
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static void write_word(uint16_t loc, uint16_t value);
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static void do_on_disarm();
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static bool write_deferred;
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static void error_parse(uint16_t status);
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#if defined(WRITE_IN_THREAD)
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static void write_thread();
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static volatile uint16_t rd_ptr;
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static volatile uint16_t wr_ptr;
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static Item queue[EEPROM_QUEUE_LEN];
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static void *_task;
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#endif
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#if defined(EEPROM_CACHED)
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static uint8_t eeprom_buffer[BOARD_STORAGE_SIZE] IN_CCM;
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#endif
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};
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