mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
#pragma once
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/*
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we can optionally use flash for storage instead of FRAM. That allows
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ArduPilot to run on a wider range of boards and reduces board cost
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*/
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#ifndef USE_FLASH_STORAGE
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#define USE_FLASH_STORAGE 0
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#endif
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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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#include <AP_Common/Bitmask.h>
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#include <AP_FlashStorage/AP_FlashStorage.h>
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#define VRBRAIN_STORAGE_SIZE HAL_STORAGE_SIZE
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#if USE_FLASH_STORAGE
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// when using flash storage we use a small line size to make storage
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// compact and minimise the number of erase cycles needed
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#define VRBRAIN_STORAGE_LINE_SHIFT 3
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#else
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#define VRBRAIN_STORAGE_LINE_SHIFT 9
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#endif
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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) override;
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private:
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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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Bitmask _dirty_mask{VRBRAIN_STORAGE_NUM_LINES};
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perf_counter_t _perf_storage;
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perf_counter_t _perf_errors;
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uint32_t _last_re_init_ms;
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#if !USE_FLASH_STORAGE
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int _fd = -1;
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void bus_lock(bool lock);
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void _mtd_load(void);
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void _mtd_write(uint16_t line);
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#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
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irqstate_t irq_state;
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#endif
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#else // USE_FLASH_STORAGE
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bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
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bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
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bool _flash_erase_sector(uint8_t sector);
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bool _flash_erase_ok(void);
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uint8_t _flash_page;
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bool _flash_failed;
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AP_FlashStorage _flash{_buffer,
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128*1024U,
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FUNCTOR_BIND_MEMBER(&VRBRAINStorage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
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FUNCTOR_BIND_MEMBER(&VRBRAINStorage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
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FUNCTOR_BIND_MEMBER(&VRBRAINStorage::_flash_erase_sector, bool, uint8_t),
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FUNCTOR_BIND_MEMBER(&VRBRAINStorage::_flash_erase_ok, bool)};
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void _flash_load(void);
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void _flash_write(uint16_t line);
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#endif
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};
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