mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include <string.h>
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#include "Storage.h"
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#include "FlymapleWirish.h"
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// EEPROM.*, flash_stm* copied from AeroQuad_v3.2
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#include "utility/EEPROM.h"
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using namespace AP_HAL_FLYMAPLE_NS;
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static EEPROMClass eeprom;
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FLYMAPLEStorage::FLYMAPLEStorage()
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{}
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void FLYMAPLEStorage::init(void*)
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{
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eeprom.init(0x801F000, 0x801F800, 0x800);
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}
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uint8_t FLYMAPLEStorage::read_byte(uint16_t loc){
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// 'bytes' are packed 2 per word
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// Read existing dataword and change upper or lower byte
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uint16_t data = eeprom.read(loc >> 1);
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if (loc & 1)
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return data >> 8;
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else
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return data & 0xff;
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}
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uint16_t FLYMAPLEStorage::read_word(uint16_t loc){
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return eeprom.read(loc);
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}
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uint32_t FLYMAPLEStorage::read_dword(uint16_t loc){
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loc <<= 1;
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uint32_t data = eeprom.read(loc);
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data |= (eeprom.read(loc+1) << 16); // second word is the high word
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return data;
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}
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void FLYMAPLEStorage::read_block(void* dst, uint16_t src, size_t n) {
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// Treat as a block of bytes
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for (size_t i = 0; i < n; i++)
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((uint8_t*)dst)[i] = read_byte(src+i);
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}
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void FLYMAPLEStorage::write_byte(uint16_t loc, uint8_t value)
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{
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// 'bytes' are packed 2 per word
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// Read existing data word and change upper or lower byte
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uint16_t data = eeprom.read(loc >> 1);
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if (loc & 1)
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data = (data & 0x00ff) | (value << 8); // Odd, upper byte
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else
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data = (data & 0xff00) | value; // Even, lower byte
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eeprom.write(loc >> 1, data);
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}
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void FLYMAPLEStorage::write_word(uint16_t loc, uint16_t value)
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{
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eeprom.write(loc, value);
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}
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void FLYMAPLEStorage::write_dword(uint16_t loc, uint32_t value)
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{
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loc <<= 1;
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eeprom.write(loc, value & 0xffff);
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eeprom.write(loc+1, value >> 16);
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}
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void FLYMAPLEStorage::write_block(uint16_t loc, const void* src, size_t n)
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{
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// Treat as a block of bytes
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for (size_t i = 0; i < n; i++)
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write_byte(loc+i, ((uint8_t*)src)[i]);
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}
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#endif
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