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