mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_VRBRAIN_Namespace.h"
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#include <systemlib/perf_counter.h>
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#define VRBRAIN_STORAGE_SIZE HAL_STORAGE_SIZE
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#define VRBRAIN_STORAGE_MAX_WRITE 512
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#define VRBRAIN_STORAGE_LINE_SHIFT 9
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#define VRBRAIN_STORAGE_LINE_SIZE (1<<VRBRAIN_STORAGE_LINE_SHIFT)
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#define VRBRAIN_STORAGE_NUM_LINES (VRBRAIN_STORAGE_SIZE/VRBRAIN_STORAGE_LINE_SIZE)
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class VRBRAIN::VRBRAINStorage : public AP_HAL::Storage {
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public:
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VRBRAINStorage();
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void init() {}
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void read_block(void *dst, uint16_t src, size_t n);
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void write_block(uint16_t dst, const void* src, size_t n);
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void _timer_tick(void);
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private:
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int _fd;
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volatile bool _initialised;
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void _storage_create(void);
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void _storage_open(void);
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void _mark_dirty(uint16_t loc, uint16_t length);
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uint8_t _buffer[VRBRAIN_STORAGE_SIZE] __attribute__((aligned(4)));
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volatile uint32_t _dirty_mask;
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perf_counter_t _perf_storage;
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perf_counter_t _perf_errors;
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bool _have_mtd;
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void _upgrade_to_mtd(void);
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uint32_t _mtd_signature(void);
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void _mtd_write_signature(void);
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};
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