mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.6 KiB
C++
121 lines
3.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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DataFlash logging - block oriented variant
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*/
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#ifndef DataFlash_block_h
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#define DataFlash_block_h
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#include <stdint.h>
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class DataFlash_Block : public DataFlash_Class
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{
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public:
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// initialisation
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virtual void Init(void) = 0;
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virtual bool CardInserted(void) = 0;
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// erase handling
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bool NeedErase(void);
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void EraseAll();
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/* Write a block of data at current offset */
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void WriteBlock(const void *pBuffer, uint16_t size);
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// high level interface
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uint16_t find_last_log(void);
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
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uint16_t get_num_logs(void);
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uint16_t start_new_log(void);
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void LogReadProcess(uint16_t log_num,
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uint16_t start_page, uint16_t end_page,
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uint8_t num_types,
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const struct LogStructure *structure,
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void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
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AP_HAL::BetterStream *port);
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void DumpPageInfo(AP_HAL::BetterStream *port);
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void ShowDeviceInfo(AP_HAL::BetterStream *port);
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void ListAvailableLogs(AP_HAL::BetterStream *port);
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private:
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struct PageHeader {
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uint16_t FileNumber;
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uint16_t FilePage;
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};
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// DataFlash Log variables...
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uint8_t df_BufferNum;
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uint8_t df_Read_BufferNum;
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uint16_t df_BufferIdx;
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uint16_t df_Read_BufferIdx;
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uint16_t df_PageAdr;
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uint16_t df_Read_PageAdr;
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uint16_t df_FileNumber;
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uint16_t df_FilePage;
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bool log_write_started;
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/*
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functions implemented by the board specific backends
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*/
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virtual void WaitReady() = 0;
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virtual void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) = 0;
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virtual void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) = 0;
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virtual void PageErase(uint16_t PageAdr) = 0;
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virtual void BlockErase(uint16_t BlockAdr) = 0;
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virtual void ChipErase() = 0;
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// write size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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virtual void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
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const void *pHeader, uint8_t hdr_size,
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const void *pBuffer, uint16_t size) = 0;
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// read size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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virtual bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) = 0;
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// internal high level functions
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void StartRead(uint16_t PageAdr);
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uint16_t find_last_page(void);
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uint16_t find_last_page_of_log(uint16_t log_number);
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bool check_wrapped(void);
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uint16_t GetPage(void);
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uint16_t GetWritePage(void);
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void StartWrite(uint16_t PageAdr);
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void FinishWrite(void);
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// Read methods
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void ReadBlock(void *pBuffer, uint16_t size);
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// file numbers
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void SetFileNumber(uint16_t FileNumber);
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uint16_t GetFilePage();
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uint16_t GetFileNumber();
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void _print_log_formats(uint8_t num_types,
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const struct LogStructure *structure,
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AP_HAL::BetterStream *port);
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protected:
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uint8_t df_manufacturer;
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uint16_t df_device;
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// page handling
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uint16_t df_PageSize;
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uint16_t df_NumPages;
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virtual void ReadManufacturerID() = 0;
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};
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#include "DataFlash_APM1.h"
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#include "DataFlash_APM2.h"
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#include "DataFlash_SITL.h"
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#include "DataFlash_Empty.h"
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#endif // DataFlash_block_h
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