ardupilot/libraries/AP_HAL_SITL/Storage.h

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#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/Bitmask.h>
#include "AP_HAL_SITL_Namespace.h"
#include <AP_FlashStorage/AP_FlashStorage.h>
#ifndef STORAGE_USE_FLASH
#define STORAGE_USE_FLASH 1
#endif
#ifndef STORAGE_USE_POSIX
#define STORAGE_USE_POSIX 1
#endif
#define STORAGE_LINE_SHIFT 3
#define STORAGE_LINE_SIZE (1<<STORAGE_LINE_SHIFT)
#define STORAGE_NUM_LINES (HAL_STORAGE_SIZE/STORAGE_LINE_SIZE)
class HALSITL::Storage : public AP_HAL::Storage {
public:
void init() override {}
void read_block(void *dst, uint16_t src, size_t n) override;
void write_block(uint16_t dst, const void* src, size_t n) override;
void _timer_tick(void) override;
bool healthy(void) override;
private:
enum class StorageBackend: uint8_t {
None,
// FRAM,
Flash,
SDCard, // AKA POSIX
};
StorageBackend _initialisedType = StorageBackend::None;
void _storage_create(void);
void _storage_open(void);
void _save_backup(void);
void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[HAL_STORAGE_SIZE] __attribute__((aligned(4)));
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Bitmask<STORAGE_NUM_LINES> _dirty_mask;
uint32_t _last_empty_ms;
#if STORAGE_USE_FLASH
bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
bool _flash_erase_sector(uint8_t sector);
bool _flash_erase_ok(void);
bool _flash_failed;
uint32_t _last_re_init_ms;
AP_FlashStorage _flash{_buffer,
HAL_FLASH_SECTOR_SIZE,
FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
void _flash_load(void);
void _flash_write(uint16_t line);
#endif
#if STORAGE_USE_POSIX
int log_fd;
#endif
};