ardupilot/libraries/DataFlash/DataFlash_Block.h

124 lines
3.6 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
DataFlash logging - block oriented variant
*/
#ifndef DataFlash_block_h
#define DataFlash_block_h
#include <stdint.h>
// the last page holds the log format in first 4 bytes. Please change
// this if (and only if!) the low level format changes
#define DF_LOGGING_FORMAT 0x28122013
// we use an invalie logging format to test the chip erase
#define DF_LOGGING_FORMAT_INVALID 0x28122012
class DataFlash_Block : DataFlash_Class
{
public:
// initialisation
virtual void Init(void) = 0;
virtual bool CardInserted(void) = 0;
// erase handling
bool NeedErase(void);
void EraseAll();
/* Write a block of data at current offset */
void WriteBlock(const void *pBuffer, uint16_t size);
/*
read a packet. The header byte have already been read.
*/
void ReadPacket(void *pkt, uint16_t size);
// high level interface
uint16_t find_last_log(void);
void get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page);
uint8_t get_num_logs(void);
uint16_t start_new_log(void);
uint16_t log_read_process(uint8_t log_num,
uint16_t start_page, uint16_t end_page,
void (*callback)(uint8_t msgid));
void DumpPageInfo(AP_HAL::BetterStream *port);
void ShowDeviceInfo(AP_HAL::BetterStream *port);
private:
struct PageHeader {
uint16_t FileNumber;
uint16_t FilePage;
};
// DataFlash Log variables...
uint8_t df_BufferNum;
uint8_t df_Read_BufferNum;
uint16_t df_BufferIdx;
uint16_t df_Read_BufferIdx;
uint16_t df_PageAdr;
uint16_t df_Read_PageAdr;
uint16_t df_FileNumber;
uint16_t df_FilePage;
/*
functions implemented by the board specific backends
*/
virtual void WaitReady() = 0;
virtual void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) = 0;
virtual void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) = 0;
virtual void PageErase(uint16_t PageAdr) = 0;
virtual void BlockErase(uint16_t BlockAdr) = 0;
virtual void ChipErase() = 0;
// write size bytes of data to a page. The caller must ensure that
// the data fits within the page, otherwise it will wrap to the
// start of the page
virtual void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
const void *pHeader, uint8_t hdr_size,
const void *pBuffer, uint16_t size) = 0;
// read size bytes of data to a page. The caller must ensure that
// the data fits within the page, otherwise it will wrap to the
// start of the page
virtual bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) = 0;
// internal high level functions
void StartRead(uint16_t PageAdr);
uint16_t find_last_page(void);
uint16_t find_last_page_of_log(uint16_t log_number);
bool check_wrapped(void);
uint16_t GetPage(void);
uint16_t GetWritePage(void);
void StartWrite(uint16_t PageAdr);
void FinishWrite(void);
// Read methods
void ReadBlock(void *pBuffer, uint16_t size);
// file numbers
void SetFileNumber(uint16_t FileNumber);
uint16_t GetFilePage();
uint16_t GetFileNumber();
protected:
uint8_t df_manufacturer;
uint16_t df_device;
// page handling
uint16_t df_PageSize;
uint16_t df_NumPages;
virtual void ReadManufacturerID() = 0;
};
#include "DataFlash_APM1.h"
#include "DataFlash_APM2.h"
#include "DataFlash_SITL.h"
#include "DataFlash_Empty.h"
#endif // DataFlash_block_h