ardupilot/libraries/AP_HAL_VRBRAIN/Storage.h

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#ifndef __AP_HAL_VRBRAIN_STORAGE_H__
#define __AP_HAL_VRBRAIN_STORAGE_H__
#include <AP_HAL.h>
#include "AP_HAL_VRBRAIN_Namespace.h"
#include <systemlib/perf_counter.h>
#define VRBRAIN_STORAGE_SIZE 4096
#define VRBRAIN_STORAGE_MAX_WRITE 512
#define VRBRAIN_STORAGE_LINE_SHIFT 9
#define VRBRAIN_STORAGE_LINE_SIZE (1<<VRBRAIN_STORAGE_LINE_SHIFT)
#define VRBRAIN_STORAGE_NUM_LINES (VRBRAIN_STORAGE_SIZE/VRBRAIN_STORAGE_LINE_SIZE)
class VRBRAIN::VRBRAINStorage : public AP_HAL::Storage {
public:
VRBRAINStorage();
void init(void* machtnichts) {}
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);
void _timer_tick(void);
private:
int _fd;
volatile bool _initialised;
void _storage_create(void);
void _storage_open(void);
void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[VRBRAIN_STORAGE_SIZE] __attribute__((aligned(4)));
volatile uint32_t _dirty_mask;
perf_counter_t _perf_storage;
perf_counter_t _perf_errors;
bool _have_mtd;
void _upgrade_to_mtd(void);
uint32_t _mtd_signature(void);
void _mtd_write_signature(void);
};
#endif // __AP_HAL_VRBRAIN_STORAGE_H__