ardupilot/libraries/DataFlash/DataFlash_APM1.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/* ************************************************************ */
/* DataFlash_APM1 Log library                                 */
/* ************************************************************ */
#ifndef __DATAFLASH_APM1_H__
#define __DATAFLASH_APM1_H__

#include <AP_HAL/AP_HAL.h>
#include "DataFlash.h"

class DataFlash_APM1 : public DataFlash_Block
{
private:
    //Methods
    void              BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait);
    void              PageToBuffer(uint8_t BufferNum, uint16_t PageAdr);
    void              WaitReady();
    uint8_t           ReadStatusReg();
    uint8_t           ReadStatus();
    uint16_t          PageSize();
    void              PageErase (uint16_t PageAdr);
    void              BlockErase (uint16_t BlockAdr);
    void              ChipErase();

    // write size bytes of data to a page. The caller must ensure that
    // the data fits within the page, otherwise it will wrap to the
    // start of the page
    // If pHeader is not NULL then write the header bytes before the data
    void		    BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, 
                               const void *pHeader, uint8_t hdr_size,
                               const void *pBuffer, uint16_t size);

    // read size bytes of data to a page. The caller must ensure that
    // the data fits within the page, otherwise it will wrap to the
    // start of the page
    bool 		    BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, 
                              void *pBuffer, uint16_t size);
    
    AP_HAL::SPIDeviceDriver *_spi;
    AP_HAL::Semaphore *_spi_sem;

    // take a semaphore safely
    bool		            _sem_take(uint8_t timeout);

public:
    DataFlash_APM1(DataFlash_Class &front) :
        DataFlash_Block(front) { }
    void        Init(const struct LogStructure *structure, uint8_t num_types);
    void        ReadManufacturerID();
    bool        CardInserted();
};

#endif