ardupilot/libraries/AP_HAL_F4Light/Storage.h

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