ardupilot/libraries/AP_HAL_Linux/Storage.h

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2013-09-22 03:01:24 -03:00
#ifndef __AP_HAL_LINUX_STORAGE_H__
#define __AP_HAL_LINUX_STORAGE_H__
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define LINUX_STORAGE_USE_FRAM 1
#else
#define LINUX_STORAGE_USE_FRAM 0
#endif
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_Linux_Namespace.h"
#define LINUX_STORAGE_SIZE HAL_STORAGE_SIZE
#define LINUX_STORAGE_MAX_WRITE 512
#define LINUX_STORAGE_LINE_SHIFT 9
#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
class Linux::Storage : public AP_HAL::Storage
{
public:
Storage() : _fd(-1),_dirty_mask(0) { }
static Storage *from(AP_HAL::Storage *storage) {
return static_cast<Storage*>(storage);
}
void init() {}
uint8_t read_byte(uint16_t loc);
uint16_t read_word(uint16_t loc);
uint32_t read_dword(uint16_t loc);
void read_block(void *dst, uint16_t src, size_t n);
void write_byte(uint16_t loc, uint8_t value);
void write_word(uint16_t loc, uint16_t value);
void write_dword(uint16_t loc, uint32_t value);
void write_block(uint16_t dst, const void* src, size_t n);
virtual void _timer_tick(void);
protected:
void _mark_dirty(uint16_t loc, uint16_t length);
virtual void _storage_create(void);
virtual void _storage_open(void);
int _fd;
volatile bool _initialised;
uint8_t _buffer[LINUX_STORAGE_SIZE];
volatile uint32_t _dirty_mask;
};
#include "Storage_FRAM.h"
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#endif // __AP_HAL_LINUX_STORAGE_H__