mirror of https://github.com/ArduPilot/ardupilot
130 lines
4.3 KiB
C++
130 lines
4.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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Partly based on EEPROM.*, flash_stm* copied from AeroQuad_v3.2
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This uses n*2*2k pages of FLASH ROM to emulate an EEPROM
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This storage is retained after power down, and survives reloading of firmware
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All multi-byte accesses are reduced to single byte access so that can span EEPROM block boundaries
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include <string.h>
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#include "Storage.h"
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#include "FlymapleWirish.h"
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#include "utility/EEPROM.h"
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using namespace AP_HAL_FLYMAPLE_NS;
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extern const AP_HAL::HAL& hal;
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// The EEPROM class uses 2x2k FLASH ROM pages to emulate 1k of EEPROM.
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// AP needs at last 4k of EEPROM, so we define multiple EEPROMClass, one for each
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// 1k of EEPROM address space
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// This is the number of 1k EEPROM blocks we need
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const uint8_t num_eeprom_blocks = 4;
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// This is the addres of the LAST 2k FLASH ROM page to be used to implement the EEPROM
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// FLASH ROM page use grows downwards from here
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// It is in fact the lat page in the available FLASH ROM
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const uint32_t last_flash_page = 0x0807F800;
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// This is the size of each FLASH ROM page
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const uint32 pageSize = 0x800;
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// This defines the base addresses of the 2 FLASH ROM pages that will be used to emulate EEPROM
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// These are the last 2 2k pages in the FLASH ROM address space on the RET6 used by Flymaple
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// This will effectively provide a total of 1kb of emulated EEPROM storage
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const uint32 pageBase0 = 0x0807F000;
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const uint32 pageBase1 = 0x0807F800;
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static EEPROMClass eeprom[num_eeprom_blocks];
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FLYMAPLEStorage::FLYMAPLEStorage()
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{}
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void FLYMAPLEStorage::init()
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{
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for (int i = 0; i < num_eeprom_blocks; i++)
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{
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uint16 result = eeprom[i].init(last_flash_page - (2*i * pageSize),
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last_flash_page - (((2*i)+1) * pageSize),
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pageSize);
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if (result != EEPROM_OK)
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hal.console->printf("FLYMAPLEStorage::init eeprom.init[%d] failed: %x\n", i, result);
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}
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}
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uint8_t FLYMAPLEStorage::read_byte(uint16_t loc){
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//hal.console->printf("read_byte %d\n", loc);
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uint16_t eeprom_index = loc >> 10;
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uint16_t eeprom_offset = loc & 0x3ff;
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if (eeprom_index >= num_eeprom_blocks)
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{
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hal.console->printf("FLYMAPLEStorage::read_byte loc %d out of range\n", loc);
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return 0xff; // What else?
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}
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// 'bytes' are packed 2 per word
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// Read existing dataword and change upper or lower byte
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uint16_t data = eeprom[eeprom_index].read(eeprom_offset >> 1);
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if (eeprom_offset & 1)
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return data >> 8; // Odd, upper byte
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else
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return data & 0xff; // Even lower byte
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}
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void FLYMAPLEStorage::read_block(void* dst, uint16_t src, size_t n) {
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// hal.console->printf("read_block %d %d\n", src, n);
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// Treat as a block of bytes
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for (size_t i = 0; i < n; i++)
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((uint8_t*)dst)[i] = read_byte(src+i);
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}
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void FLYMAPLEStorage::write_byte(uint16_t loc, uint8_t value)
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{
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// hal.console->printf("write_byte %d, %d\n", loc, value);
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uint16_t eeprom_index = loc >> 10;
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uint16_t eeprom_offset = loc & 0x3ff;
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if (eeprom_index >= num_eeprom_blocks)
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{
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hal.console->printf("FLYMAPLEStorage::write_byte loc %d out of range\n", loc);
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return;
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}
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// 'bytes' are packed 2 per word
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// Read existing data word and change upper or lower byte
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uint16_t data = eeprom[eeprom_index].read(eeprom_offset >> 1);
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if (eeprom_offset & 1)
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data = (data & 0x00ff) | (value << 8); // Odd, upper byte
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else
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data = (data & 0xff00) | value; // Even, lower byte
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eeprom[eeprom_index].write(eeprom_offset >> 1, data);
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}
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void FLYMAPLEStorage::write_block(uint16_t loc, const void* src, size_t n)
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{
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// hal.console->printf("write_block %d, %d\n", loc, n);
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// Treat as a block of bytes
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for (size_t i = 0; i < n; i++)
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write_byte(loc+i, ((uint8_t*)src)[i]);
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}
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#endif
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