mirror of https://github.com/ArduPilot/ardupilot
desktop: fixed for new DataFlash inheritance
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977326e991
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a39a470d75
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@ -17,8 +17,6 @@
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static int flash_fd;
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static uint8_t buffer[2][DF_PAGE_SIZE];
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#define OVERWRITE_DATA 1 // 0: When reach the end page stop, 1: Start overwritten from page 1
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_APM1::Init(void)
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{
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@ -34,10 +32,7 @@ void DataFlash_APM1::Init(void)
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}
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}
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df_PageSize = DF_PAGE_SIZE;
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df_BufferNum = 1;
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df_BufferIdx = 0;
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df_PageAdr = 0;
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df_Stop_Write = 0;
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df_NumPages = DF_NUM_PAGES;
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}
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// This function is mainly to test the device
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@ -112,187 +107,5 @@ void DataFlash_APM1::ChipErase ()
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}
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}
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// *** DATAFLASH PUBLIC FUNCTIONS ***
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void DataFlash_APM1::StartWrite(int16_t PageAdr)
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{
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df_BufferNum=1;
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df_BufferIdx=4;
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df_PageAdr=PageAdr;
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df_Stop_Write=0;
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WaitReady();
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// We are starting a new page - write FileNumber and FilePage
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BufferWrite(df_BufferNum,0,df_FileNumber>>8); // High byte
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BufferWrite(df_BufferNum,1,df_FileNumber&0xFF); // Low byte
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BufferWrite(df_BufferNum,2,df_FilePage>>8); // High byte
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BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
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}
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void DataFlash_APM1::FinishWrite(void)
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{
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df_BufferIdx=0;
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BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
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df_PageAdr++;
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if (OVERWRITE_DATA==1)
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
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df_PageAdr = 1;
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}
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else
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, stop here
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df_Stop_Write=1;
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}
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if (df_BufferNum==1) // Change buffer to continue writing...
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df_BufferNum=2;
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else
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df_BufferNum=1;
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}
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void DataFlash_APM1::WriteByte(byte data)
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{
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if (!df_Stop_Write)
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{
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BufferWrite(df_BufferNum,df_BufferIdx,data);
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df_BufferIdx++;
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if (df_BufferIdx >= df_PageSize) // End of buffer?
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{
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df_BufferIdx=4; //(4 bytes for FileNumber, FilePage)
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BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
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df_PageAdr++;
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if (OVERWRITE_DATA==1)
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
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df_PageAdr = 1;
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}
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else
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{
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if (df_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, stop here
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df_Stop_Write=1;
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}
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if (df_BufferNum==1) // Change buffer to continue writing...
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df_BufferNum=2;
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else
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df_BufferNum=1;
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// We are starting a new page - write FileNumber and FilePage
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BufferWrite(df_BufferNum,0,df_FileNumber>>8); // High byte
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BufferWrite(df_BufferNum,1,df_FileNumber&0xFF); // Low byte
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df_FilePage++;
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BufferWrite(df_BufferNum,2,df_FilePage>>8); // High byte
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BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
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}
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}
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}
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void DataFlash_APM1::WriteInt(int16_t data)
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{
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WriteByte(data>>8); // High byte
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WriteByte(data&0xFF); // Low byte
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}
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void DataFlash_APM1::WriteLong(int32_t data)
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{
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WriteByte(data>>24); // First byte
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WriteByte(data>>16);
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WriteByte(data>>8);
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WriteByte(data&0xFF); // Last byte
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}
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// Get the last page written to
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int16_t DataFlash_APM1::GetWritePage()
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{
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return(df_PageAdr);
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}
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// Get the last page read
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int16_t DataFlash_APM1::GetPage()
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{
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return(df_Read_PageAdr-1);
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}
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void DataFlash_APM1::StartRead(int16_t PageAdr)
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{
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df_Read_BufferNum=1;
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df_Read_BufferIdx=4;
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df_Read_PageAdr=PageAdr;
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WaitReady();
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PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write Memory page to buffer
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//Serial.print(df_Read_PageAdr, DEC); Serial.print("\t");
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df_Read_PageAdr++;
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// We are starting a new page - read FileNumber and FilePage
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df_FileNumber = BufferRead(df_Read_BufferNum,0); // High byte
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//Serial.print(df_FileNumber, DEC); Serial.print("\t");
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df_FileNumber = (df_FileNumber<<8) | BufferRead(df_Read_BufferNum,1); // Low byte
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//Serial.println(df_FileNumber, DEC); Serial.print("\t");
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df_FilePage = BufferRead(df_Read_BufferNum,2); // High byte
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df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
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}
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byte DataFlash_APM1::ReadByte()
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{
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byte result;
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WaitReady();
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result = BufferRead(df_Read_BufferNum,df_Read_BufferIdx);
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df_Read_BufferIdx++;
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if (df_Read_BufferIdx >= df_PageSize) // End of buffer?
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{
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df_Read_BufferIdx=4; //(4 bytes for FileNumber, FilePage)
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PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write memory page to Buffer
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df_Read_PageAdr++;
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if (df_Read_PageAdr>DF_LAST_PAGE) // If we reach the end of the memory, start from the begining
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{
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df_Read_PageAdr = 0;
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df_Read_END = true;
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}
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// We are starting a new page - read FileNumber and FilePage
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df_FileNumber = BufferRead(df_Read_BufferNum,0); // High byte
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df_FileNumber = (df_FileNumber<<8) | BufferRead(df_Read_BufferNum,1); // Low byte
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df_FilePage = BufferRead(df_Read_BufferNum,2); // High byte
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df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
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}
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return result;
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}
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int16_t DataFlash_APM1::ReadInt()
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{
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uint16_t result;
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result = ReadByte(); // High byte
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result = (result<<8) | ReadByte(); // Low byte
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return (int16_t)result;
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}
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int32_t DataFlash_APM1::ReadLong()
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{
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uint32_t result;
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result = ReadByte(); // First byte
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result = (result<<8) | ReadByte();
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result = (result<<8) | ReadByte();
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result = (result<<8) | ReadByte(); // Last byte
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return (int32_t)result;
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}
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void DataFlash_APM1::SetFileNumber(uint16_t FileNumber)
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{
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df_FileNumber = FileNumber;
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df_FilePage = 1;
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}
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uint16_t DataFlash_APM1::GetFileNumber()
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{
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return df_FileNumber;
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}
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uint16_t DataFlash_APM1::GetFilePage()
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{
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return df_FilePage;
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}
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// make one instance for the user to use
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DataFlash_APM1::DataFlash_APM1() {}
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