mirror of https://github.com/ArduPilot/ardupilot
119 lines
2.6 KiB
C++
119 lines
2.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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hacked up DataFlash library for Desktop support
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*/
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#include <unistd.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdint.h>
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#include "DataFlash.h"
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#include <SPI.h>
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#define DF_PAGE_SIZE 512
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#define DF_NUM_PAGES 4096
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static int flash_fd;
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static uint8_t buffer[2][DF_PAGE_SIZE];
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// Public Methods //////////////////////////////////////////////////////////////
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void DataFlash_APM1::Init(void)
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{
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if (flash_fd == 0) {
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flash_fd = open("dataflash.bin", O_RDWR, 0777);
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if (flash_fd == -1) {
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uint8_t *fill;
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fill = (uint8_t *)malloc(DF_PAGE_SIZE*DF_NUM_PAGES);
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flash_fd = open("dataflash.bin", O_RDWR | O_CREAT, 0777);
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memset(fill, 0xFF, DF_PAGE_SIZE*DF_NUM_PAGES);
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write(flash_fd, fill, DF_PAGE_SIZE*DF_NUM_PAGES);
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free(fill);
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}
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}
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df_PageSize = DF_PAGE_SIZE;
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// reserve last page for config information
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df_NumPages = DF_NUM_PAGES - 1;
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}
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// This function is mainly to test the device
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void DataFlash_APM1::ReadManufacturerID()
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{
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df_manufacturer = 1;
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df_device = 0x0203;
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}
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bool DataFlash_APM1::CardInserted(void)
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{
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return true;
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}
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// Read the status register
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byte DataFlash_APM1::ReadStatusReg()
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{
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return 0;
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}
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// Read the status of the DataFlash
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inline
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byte DataFlash_APM1::ReadStatus()
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{
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return 1;
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}
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inline
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uint16_t DataFlash_APM1::PageSize()
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{
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return df_PageSize;
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}
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// Wait until DataFlash is in ready state...
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void DataFlash_APM1::WaitReady()
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{
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while(!ReadStatus());
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}
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void DataFlash_APM1::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
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{
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pread(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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}
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void DataFlash_APM1::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
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{
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pwrite(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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}
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void DataFlash_APM1::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
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{
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buffer[BufferNum-1][IntPageAdr] = (uint8_t)Data;
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}
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unsigned char DataFlash_APM1::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
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{
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return (unsigned char)buffer[BufferNum-1][IntPageAdr];
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}
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// *** END OF INTERNAL FUNCTIONS ***
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void DataFlash_APM1::PageErase (uint16_t PageAdr)
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{
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uint8_t fill[DF_PAGE_SIZE];
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memset(fill, 0xFF, sizeof(fill));
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pwrite(flash_fd, fill, DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
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}
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void DataFlash_APM1::ChipErase(void (*delay_cb)(unsigned long))
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{
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for (int i=0; DF_NUM_PAGES; i++) {
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PageErase(i);
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delay_cb(1);
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}
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}
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// make one instance for the user to use
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DataFlash_APM1::DataFlash_APM1() {}
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