ardupilot/libraries/StorageManager/StorageManager.h

113 lines
3.3 KiB
C++

/*
Please contribute your ideas! See https://ardupilot.org/dev for details
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Management for hal.storage to allow for backwards compatible mapping
of storage offsets to available storage
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
/*
use just one area per storage type for boards with 4k of
storage. Use larger areas for other boards
*/
#if HAL_STORAGE_SIZE >= 32768
#define STORAGE_NUM_AREAS 19
#elif HAL_STORAGE_SIZE >= 16384
#define STORAGE_NUM_AREAS 15
#elif HAL_STORAGE_SIZE >= 15360 && defined(HAL_NUM_CAN_IFACES)
#define STORAGE_NUM_AREAS 12
#elif HAL_STORAGE_SIZE >= 15360
#define STORAGE_NUM_AREAS 11
#elif HAL_STORAGE_SIZE >= 8192
#define STORAGE_NUM_AREAS 10
#elif HAL_STORAGE_SIZE >= 4096
#define STORAGE_NUM_AREAS 4
#elif HAL_STORAGE_SIZE > 0
#define STORAGE_NUM_AREAS 1
#else
#error "Unsupported storage size"
#endif
/*
The StorageManager holds the layout of non-volatile storeage
*/
class StorageManager {
friend class StorageAccess;
public:
enum StorageType {
StorageParam = 0,
StorageFence = 1,
StorageRally = 2,
StorageMission = 3,
StorageKeys = 4,
StorageBindInfo= 5,
StorageCANDNA = 6,
StorageParamBak = 7
};
// erase whole of storage
static void erase(void);
private:
struct StorageArea {
StorageType type;
uint16_t offset;
uint16_t length;
};
// available layouts
static const StorageArea layout[STORAGE_NUM_AREAS];
};
/*
A StorageAccess object allows access to one type of storage
*/
class StorageAccess {
public:
// constructor
StorageAccess(StorageManager::StorageType _type);
// return total size of this accessor
uint16_t size(void) const { return total_size; }
// base access via block functions
bool read_block(void *dst, uint16_t src, size_t n) const;
bool write_block(uint16_t dst, const void* src, size_t n) const;
// helper functions
uint8_t read_byte(uint16_t loc) const;
uint8_t read_uint8(uint16_t loc) const { return read_byte(loc); }
uint16_t read_uint16(uint16_t loc) const;
uint32_t read_uint32(uint16_t loc) const;
float read_float(uint16_t loc) const;
void write_byte(uint16_t loc, uint8_t value) const;
void write_uint8(uint16_t loc, uint8_t value) const { return write_byte(loc, value); }
void write_uint16(uint16_t loc, uint16_t value) const;
void write_uint32(uint16_t loc, uint32_t value) const;
void write_float(uint16_t loc, float value) const;
// copy from one storage area to another
bool copy_area(const StorageAccess &source) const;
private:
const StorageManager::StorageType type;
uint16_t total_size;
};