mirror of https://github.com/ArduPilot/ardupilot
99 lines
3.1 KiB
C++
99 lines
3.1 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 <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include "../AP_Airspeed/AP_Airspeed.h"
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#include "../AP_BattMonitor/AP_BattMonitor.h"
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#include <stdint.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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_structures(NULL)
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{ }
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virtual bool CardInserted(void) = 0;
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// erase handling
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virtual bool NeedErase(void) = 0;
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virtual void EraseAll() = 0;
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/* Write a block of data at current offset */
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virtual void WriteBlock(const void *pBuffer, uint16_t size) = 0;
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// high level interface
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virtual uint16_t find_last_log(void) = 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(void) = 0;
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#ifndef DATAFLASH_NO_CLI
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virtual void LogReadProcess(uint16_t log_num,
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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 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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protected:
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DataFlash_Class &_front;
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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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};
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#endif
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