ardupilot/libraries/AP_HAL_Linux/Storage.h

48 lines
1.2 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#define LINUX_STORAGE_SIZE HAL_STORAGE_SIZE
#define LINUX_STORAGE_MAX_WRITE 512
#define LINUX_STORAGE_LINE_SHIFT 9
#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
namespace Linux {
class Storage : public AP_HAL::Storage
{
public:
Storage() : _fd(-1),_dirty_mask(0) { }
static Storage *from(AP_HAL::Storage *storage) {
return static_cast<Storage*>(storage);
}
void init() override;
uint8_t read_byte(uint16_t loc);
uint16_t read_word(uint16_t loc);
uint32_t read_dword(uint16_t loc);
void read_block(void *dst, uint16_t src, size_t n);
void write_byte(uint16_t loc, uint8_t value);
void write_word(uint16_t loc, uint16_t value);
void write_dword(uint16_t loc, uint32_t value);
void write_block(uint16_t dst, const void* src, size_t n);
virtual void _timer_tick(void) override;
protected:
void _mark_dirty(uint16_t loc, uint16_t length);
int _storage_create(const char *dpath);
int _fd;
volatile bool _initialised;
volatile uint32_t _dirty_mask;
uint8_t _buffer[LINUX_STORAGE_SIZE];
};
}