mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
#ifndef __AP_HAL_LINUX_STORAGE_FRAM_H__
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#define __AP_HAL_LINUX_STORAGE_FRAM_H__
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#include <AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#define OPCODE_WREN 0b0110 /* Write Enable Latch */
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#define OPCODE_WRDI 0b0100 /* Reset Write Enable Latch */
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#define OPCODE_RDSR 0b0101 /* Read Status Register */
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#define OPCODE_WRSR 0b0001 /* Write Status Register */
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#define OPCODE_READ 0b0011 /* Read Memory */
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#define OPCODE_WRITE 0b0010 /* Write Memory */
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#define OPCODE_RDID 0b10011111 /* Read Device ID */
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#define LINUX_STORAGE_SIZE 4096
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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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class Linux::LinuxStorage : public AP_HAL::Storage
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{
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public:
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LinuxStorage();
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void init(void* machtnichts) {}
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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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void _timer_tick(void);
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private:
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uint32_t fptr;
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int _fd;
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volatile bool _initialised;
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int32_t write(uint16_t fd, uint8_t *Buff, uint16_t NumBytes);
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int32_t read(uint16_t fd, uint8_t *Buff, uint16_t NumBytes);
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uint32_t lseek(uint16_t fd,uint32_t offset,uint16_t whence);
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int8_t open();
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int8_t _register_write( uint8_t* src, uint16_t addr, uint16_t len );
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int8_t _register_read( uint16_t addr, uint8_t opcode );
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int8_t _write_enable(bool enable);
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int8_t transaction(uint8_t* tx, uint8_t* rx, uint16_t len);
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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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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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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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#endif // __AP_HAL_LINUX_STORAGE_H__
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