#pragma once #include <AP_HAL/AP_HAL.h> #include "AP_HAL_VRBRAIN_Namespace.h" #include <systemlib/perf_counter.h> #define VRBRAIN_STORAGE_SIZE HAL_STORAGE_SIZE #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 read_block(void *dst, uint16_t src, size_t n); 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); };