mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.9 KiB
C++
126 lines
3.9 KiB
C++
#ifndef DATAFLASH_BACKEND_H
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#define DATAFLASH_BACKEND_H
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75
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#define DATAFLASH_NO_CLI
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#endif
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#include "DataFlash.h"
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class DataFlash_Backend
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{
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public:
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FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
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DataFlash_Backend(DataFlash_Class &front) :
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_front(front),
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_writing_startup_messages(false),
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_internal_errors(0),
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_dropped(0),
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_last_periodic_1Hz(0),
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_last_periodic_10Hz(0)
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{ }
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void internal_error();
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virtual bool CardInserted(void) = 0;
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// erase handling
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virtual void EraseAll() = 0;
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virtual bool NeedPrep() = 0;
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virtual void Prep() = 0;
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/* Write a block of data at current offset */
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bool WriteBlock(const void *pBuffer, uint16_t size) {
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return WritePrioritisedBlock(pBuffer, size, false);
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}
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bool WriteCriticalBlock(const void *pBuffer, uint16_t size) {
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return WritePrioritisedBlock(pBuffer, size, true);
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}
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virtual bool WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical) = 0;
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// high level interface
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virtual uint16_t find_last_log() = 0;
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virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0;
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virtual void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) = 0;
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virtual int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0;
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virtual uint16_t get_num_logs() = 0;
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#ifndef DATAFLASH_NO_CLI
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virtual void LogReadProcess(const uint16_t list_entry,
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uint16_t start_page, uint16_t end_page,
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print_mode_fn printMode,
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AP_HAL::BetterStream *port) = 0;
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virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
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virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0;
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#endif // DATAFLASH_NO_CLI
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void EnableWrites(bool enable) { _writes_enabled = enable; }
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bool logging_started(void) const { return log_write_started; }
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// initialisation this really shouldn't take structure and
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// num_types, however the CLI LogReadProcess function requires it.
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// That function needs to be split.
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virtual void Init(const struct LogStructure *structure, uint8_t num_types) {
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_writes_enabled = true;
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_num_types = num_types;
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_structures = structure;
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}
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virtual uint16_t bufferspace_available() = 0;
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virtual uint16_t start_new_log(void) = 0;
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bool log_write_started;
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// currently only DataFlash_File support this:
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virtual void flush(void) { }
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#endif
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virtual void periodic_tasks();
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virtual void WroteStartupFormat() { }
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virtual void WroteStartupParam() { }
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protected:
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DataFlash_Class &_front;
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virtual void periodic_10Hz(const uint32_t now);
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virtual void periodic_1Hz(const uint32_t now);
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virtual void periodic_fullrate(const uint32_t now);
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/*
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read and print a log entry using the format strings from the given structure
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*/
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void _print_log_entry(uint8_t msg_type,
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print_mode_fn print_mode,
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AP_HAL::BetterStream *port);
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const struct LogStructure *_structures;
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uint8_t _num_types = 0;
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bool _writes_enabled = false;
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/*
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read a block
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*/
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virtual bool ReadBlock(void *pkt, uint16_t size) = 0;
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virtual bool WriteBlockCheckStartupMessages();
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virtual void WriteMoreStartupMessages();
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virtual void push_log_blocks();
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bool _writing_startup_messages = false;
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uint32_t _internal_errors;
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uint32_t _dropped;
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private:
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uint32_t _last_periodic_1Hz;
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uint32_t _last_periodic_10Hz;
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};
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#endif
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