mirror of https://github.com/ArduPilot/ardupilot
desktop: fixed build with updated dataflash interface
This commit is contained in:
parent
8245835ea3
commit
e0488e134f
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@ -185,7 +185,7 @@ else
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endif
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endif
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# these are library objects we don't want in the desktop build (maybe we'll add them later)
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# these are library objects we don't want in the desktop build (maybe we'll add them later)
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NODESKTOP := DataFlash/DataFlash_APM1.cpp FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
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NODESKTOP := DataFlash/DataFlash_APM1.cpp FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp AP_InertialSensor_Oilpan.cpp AP_InertialSensor/AP_InertialSensor.cpp
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#
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#
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# Find sketchbook libraries referenced by the sketch.
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# Find sketchbook libraries referenced by the sketch.
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@ -18,13 +18,8 @@ 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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#define OVERWRITE_DATA 1 // 0: When reach the end page stop, 1: Start overwritten from page 1
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// Constructors ////////////////////////////////////////////////////////////////
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DataFlash_Class::DataFlash_Class()
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_Class::Init(void)
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void DataFlash_APM1::Init(void)
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{
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{
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if (flash_fd == 0) {
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if (flash_fd == 0) {
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flash_fd = open("dataflash.bin", O_RDWR, 0777);
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flash_fd = open("dataflash.bin", O_RDWR, 0777);
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@ -45,7 +40,7 @@ void DataFlash_Class::Init(void)
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}
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}
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// This function is mainly to test the device
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// This function is mainly to test the device
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void DataFlash_Class::ReadManufacturerID()
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void DataFlash_APM1::ReadManufacturerID()
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{
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{
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df_manufacturer = 1;
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df_manufacturer = 1;
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df_device_0 = 2;
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df_device_0 = 2;
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@ -53,55 +48,55 @@ void DataFlash_Class::ReadManufacturerID()
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}
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}
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// Read the status register
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// Read the status register
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byte DataFlash_Class::ReadStatusReg()
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byte DataFlash_APM1::ReadStatusReg()
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{
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{
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return 0;
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return 0;
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}
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}
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// Read the status of the DataFlash
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// Read the status of the DataFlash
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inline
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inline
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byte DataFlash_Class::ReadStatus()
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byte DataFlash_APM1::ReadStatus()
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{
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{
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return 1;
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return 1;
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}
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}
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inline
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inline
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uint16_t DataFlash_Class::PageSize()
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uint16_t DataFlash_APM1::PageSize()
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{
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{
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return df_PageSize;
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return df_PageSize;
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}
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}
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// Wait until DataFlash is in ready state...
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// Wait until DataFlash is in ready state...
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void DataFlash_Class::WaitReady()
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void DataFlash_APM1::WaitReady()
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{
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{
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while(!ReadStatus());
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while(!ReadStatus());
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}
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}
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void DataFlash_Class::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
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void DataFlash_APM1::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
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{
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{
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pread(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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pread(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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}
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}
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void DataFlash_Class::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
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void DataFlash_APM1::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
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{
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{
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pwrite(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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pwrite(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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}
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}
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void DataFlash_Class::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
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void DataFlash_APM1::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
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{
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{
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buffer[BufferNum-1][IntPageAdr] = (uint8_t)Data;
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buffer[BufferNum-1][IntPageAdr] = (uint8_t)Data;
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}
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}
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unsigned char DataFlash_Class::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
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unsigned char DataFlash_APM1::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
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{
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{
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return (unsigned char)buffer[BufferNum-1][IntPageAdr];
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return (unsigned char)buffer[BufferNum-1][IntPageAdr];
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}
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}
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// *** END OF INTERNAL FUNCTIONS ***
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// *** END OF INTERNAL FUNCTIONS ***
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void DataFlash_Class::PageErase (uint16_t PageAdr)
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void DataFlash_APM1::PageErase (uint16_t PageAdr)
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{
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{
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uint8_t fill[DF_PAGE_SIZE];
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uint8_t fill[DF_PAGE_SIZE];
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memset(fill, 0xFF, sizeof(fill));
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memset(fill, 0xFF, sizeof(fill));
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@ -109,7 +104,7 @@ void DataFlash_Class::PageErase (uint16_t PageAdr)
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}
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}
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void DataFlash_Class::ChipErase ()
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void DataFlash_APM1::ChipErase ()
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{
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{
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for (int i=0; DF_NUM_PAGES; i++) {
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for (int i=0; DF_NUM_PAGES; i++) {
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PageErase(i);
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PageErase(i);
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@ -117,7 +112,7 @@ void DataFlash_Class::ChipErase ()
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}
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}
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// *** DATAFLASH PUBLIC FUNCTIONS ***
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// *** DATAFLASH PUBLIC FUNCTIONS ***
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void DataFlash_Class::StartWrite(int16_t PageAdr)
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void DataFlash_APM1::StartWrite(int16_t PageAdr)
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{
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{
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df_BufferNum = 1;
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df_BufferNum = 1;
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df_BufferIdx = 4;
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df_BufferIdx = 4;
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@ -130,7 +125,7 @@ void DataFlash_Class::StartWrite(int16_t PageAdr)
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BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low 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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void DataFlash_Class::FinishWrite(void)
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void DataFlash_APM1::FinishWrite(void)
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{
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{
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df_BufferIdx = 0;
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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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BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
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@ -159,7 +154,7 @@ void DataFlash_Class::FinishWrite(void)
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}
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}
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void DataFlash_Class::WriteByte(byte data)
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void DataFlash_APM1::WriteByte(byte data)
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{
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{
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if (!df_Stop_Write)
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if (!df_Stop_Write)
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{
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{
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@ -189,13 +184,13 @@ void DataFlash_Class::WriteByte(byte data)
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}
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}
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}
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}
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void DataFlash_Class::WriteInt(int16_t data)
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void DataFlash_APM1::WriteInt(int16_t data)
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{
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{
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WriteByte(data>>8); // High byte
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WriteByte(data>>8); // High byte
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WriteByte(data&0xFF); // Low byte
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WriteByte(data&0xFF); // Low byte
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}
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}
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void DataFlash_Class::WriteLong(int32_t data)
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void DataFlash_APM1::WriteLong(int32_t data)
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{
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{
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WriteByte(data>>24); // First byte
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WriteByte(data>>24); // First byte
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WriteByte(data>>16);
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WriteByte(data>>16);
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@ -204,18 +199,18 @@ void DataFlash_Class::WriteLong(int32_t data)
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}
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}
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// Get the last page written to
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// Get the last page written to
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int16_t DataFlash_Class::GetWritePage()
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int16_t DataFlash_APM1::GetWritePage()
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{
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{
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return(df_PageAdr);
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return(df_PageAdr);
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}
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}
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// Get the last page read
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// Get the last page read
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int16_t DataFlash_Class::GetPage()
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int16_t DataFlash_APM1::GetPage()
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{
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{
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return(df_Read_PageAdr-1);
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return(df_Read_PageAdr-1);
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}
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}
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void DataFlash_Class::StartRead(int16_t PageAdr)
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void DataFlash_APM1::StartRead(int16_t PageAdr)
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{
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{
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df_Read_BufferNum=1;
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df_Read_BufferNum=1;
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df_Read_BufferIdx=4;
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df_Read_BufferIdx=4;
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@ -225,7 +220,7 @@ void DataFlash_Class::StartRead(int16_t PageAdr)
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df_Read_PageAdr++;
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df_Read_PageAdr++;
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}
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}
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byte DataFlash_Class::ReadByte()
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byte DataFlash_APM1::ReadByte()
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{
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{
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byte result;
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byte result;
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return result;
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return result;
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}
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}
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int16_t DataFlash_Class::ReadInt()
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int16_t DataFlash_APM1::ReadInt()
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{
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{
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uint16_t result;
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uint16_t result;
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return (int16_t)result;
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return (int16_t)result;
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}
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}
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int32_t DataFlash_Class::ReadLong()
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int32_t DataFlash_APM1::ReadLong()
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{
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{
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uint32_t result;
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uint32_t result;
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return (int32_t)result;
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return (int32_t)result;
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}
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}
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void DataFlash_Class::SetFileNumber(uint16_t FileNumber)
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void DataFlash_APM1::SetFileNumber(uint16_t FileNumber)
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{
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{
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df_FileNumber = FileNumber;
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df_FileNumber = FileNumber;
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df_FilePage = 1;
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df_FilePage = 1;
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}
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}
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uint16_t DataFlash_Class::GetFileNumber()
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uint16_t DataFlash_APM1::GetFileNumber()
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{
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{
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return df_FileNumber;
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return df_FileNumber;
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}
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}
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uint16_t DataFlash_Class::GetFilePage()
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uint16_t DataFlash_APM1::GetFilePage()
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{
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{
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return df_FilePage;
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return df_FilePage;
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}
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}
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// make one instance for the user to use
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// make one instance for the user to use
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DataFlash_Class DataFlash;
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DataFlash_APM1::DataFlash_APM1() {}
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