From 65d051cbc92af81e6887386d927deda8346e96b4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Mar 2019 11:13:39 +1100
Subject: [PATCH] AP_HAL: added hal.flash driver

needed for semaphore
---
 libraries/AP_HAL/AP_HAL.h           |  1 +
 libraries/AP_HAL/AP_HAL_Namespace.h |  1 +
 libraries/AP_HAL/Flash.h            | 18 ++++++++++++++++++
 libraries/AP_HAL/HAL.h              |  5 ++++-
 4 files changed, 24 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_HAL/Flash.h

diff --git a/libraries/AP_HAL/AP_HAL.h b/libraries/AP_HAL/AP_HAL.h
index e0d83acd12..4c22f4fbdd 100644
--- a/libraries/AP_HAL/AP_HAL.h
+++ b/libraries/AP_HAL/AP_HAL.h
@@ -18,6 +18,7 @@
 #include "Semaphores.h"
 #include "Util.h"
 #include "OpticalFlow.h"
+#include "Flash.h"
 
 #if HAL_WITH_UAVCAN
 #include "CAN.h"
diff --git a/libraries/AP_HAL/AP_HAL_Namespace.h b/libraries/AP_HAL/AP_HAL_Namespace.h
index 464213b606..e3bbd21167 100644
--- a/libraries/AP_HAL/AP_HAL_Namespace.h
+++ b/libraries/AP_HAL/AP_HAL_Namespace.h
@@ -34,6 +34,7 @@ namespace AP_HAL {
     class CAN;
 
     class Util;
+    class Flash;
 
     /* Utility Classes */
     class Print;
diff --git a/libraries/AP_HAL/Flash.h b/libraries/AP_HAL/Flash.h
new file mode 100644
index 0000000000..7402afba76
--- /dev/null
+++ b/libraries/AP_HAL/Flash.h
@@ -0,0 +1,18 @@
+/*
+  interface to flash read/write
+ */
+#pragma once
+
+#include <stdint.h>
+#include "AP_HAL_Namespace.h"
+
+class AP_HAL::Flash {
+public:
+    virtual uint32_t getpageaddr(uint32_t page) = 0;
+    virtual uint32_t getpagesize(uint32_t page) = 0;
+    virtual uint32_t getnumpages(void) = 0;
+    virtual bool erasepage(uint32_t page) = 0;
+    virtual bool write(uint32_t addr, const void *buf, uint32_t count) = 0;
+    virtual void keep_unlocked(bool set) = 0;
+    virtual bool ispageerased(uint32_t page) = 0;
+};
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index 2ae89b03a0..bcd658666d 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -38,6 +38,7 @@ public:
         AP_HAL::Scheduler*  _scheduler,
         AP_HAL::Util*       _util,
         AP_HAL::OpticalFlow *_opticalflow,
+        AP_HAL::Flash *_flash,
 #if HAL_WITH_UAVCAN
         AP_HAL::CANManager* _can_mgr[MAX_NUMBER_OF_CAN_DRIVERS])
 #else
@@ -61,7 +62,8 @@ public:
         rcout(_rcout),
         scheduler(_scheduler),
         util(_util),
-        opticalflow(_opticalflow)
+        opticalflow(_opticalflow),
+        flash(_flash)
     {
 #if HAL_WITH_UAVCAN
         if (_can_mgr == nullptr) {
@@ -112,6 +114,7 @@ public:
     AP_HAL::Scheduler*  scheduler;
     AP_HAL::Util        *util;
     AP_HAL::OpticalFlow *opticalflow;
+    AP_HAL::Flash       *flash;
 #if HAL_WITH_UAVCAN
     AP_HAL::CANManager* can_mgr[MAX_NUMBER_OF_CAN_DRIVERS];
 #else