#pragma once #include <AP_HAL/AP_HAL.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) namespace Linux { class 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; }; }