mirror of https://github.com/ArduPilot/ardupilot
143 lines
4.2 KiB
C++
143 lines
4.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/* ************************************************************ */
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/* Test for DataFlash Log library */
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/* ************************************************************ */
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#ifndef DataFlash_h
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#define DataFlash_h
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#include <stdint.h>
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// the last page holds the log format in first 4 bytes. Please change
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// this if (and only if!) the low level format changes
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#define DF_LOGGING_FORMAT 0x28122013
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// we use an invalie logging format to test the chip erase
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#define DF_LOGGING_FORMAT_INVALID 0x28122012
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class DataFlash_Class
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{
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private:
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struct PageHeader {
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uint16_t FileNumber;
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uint16_t FilePage;
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};
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// DataFlash Log variables...
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uint8_t df_BufferNum;
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uint8_t df_Read_BufferNum;
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uint16_t df_BufferIdx;
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uint16_t df_Read_BufferIdx;
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uint16_t df_PageAdr;
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uint16_t df_Read_PageAdr;
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uint16_t df_FileNumber;
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uint16_t df_FilePage;
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virtual void WaitReady() = 0;
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virtual void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) = 0;
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virtual void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) = 0;
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virtual void PageErase(uint16_t PageAdr) = 0;
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virtual void BlockErase(uint16_t BlockAdr) = 0;
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virtual void ChipErase() = 0;
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// write size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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virtual void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
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const void *pHeader, uint8_t hdr_size,
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const void *pBuffer, uint16_t size) = 0;
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// read size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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virtual bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) = 0;
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// internal high level functions
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int16_t find_last_page(void);
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int16_t find_last_page_of_log(uint16_t log_number);
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bool check_wrapped(void);
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public:
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uint8_t df_manufacturer;
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uint16_t df_device;
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uint16_t df_PageSize;
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virtual void Init(void) = 0;
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virtual void ReadManufacturerID() = 0;
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virtual bool CardInserted(void) = 0;
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int16_t GetPage(void);
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int16_t GetWritePage(void);
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// erase handling
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void EraseAll();
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bool NeedErase(void);
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// Write methods
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void StartWrite(int16_t PageAdr);
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void FinishWrite(void);
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void WriteBlock(const void *pBuffer, uint16_t size);
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void WriteByte(uint8_t data);
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void WriteInt(int16_t data);
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void WriteLong(int32_t data);
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// Read methods
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void StartRead(int16_t PageAdr);
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void ReadBlock(void *pBuffer, uint16_t size);
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uint8_t ReadByte();
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int16_t ReadInt();
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int32_t ReadLong();
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// file numbers
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void SetFileNumber(uint16_t FileNumber);
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uint16_t GetFileNumber();
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uint16_t GetFilePage();
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// page handling
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uint16_t df_NumPages;
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/*
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read a packet, stripping off the header bytes
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*/
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void ReadPacket(void *pkt, uint16_t size) {
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ReadBlock((void *)(sizeof(struct log_Header)+(uintptr_t)pkt), size - sizeof(struct log_Header));
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}
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// high level interface
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int16_t find_last_log(void);
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void get_log_boundaries(uint8_t log_num, int16_t & start_page, int16_t & end_page);
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uint8_t get_num_logs(void);
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void start_new_log(void);
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uint16_t log_read_process(uint16_t start_page, uint16_t end_page,
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void (*callback)(uint8_t msgid));
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/*
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every logged packet starts with 3 bytes
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*/
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struct log_Header {
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uint8_t head1, head2, msgid;
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};
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};
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/*
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unfortunately these need to be macros because of a limitation of
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named member structure initialisation in g++
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*/
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#define LOG_PACKET_HEADER uint8_t head1, head2, msgid;
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#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
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// once the logging code is all converted we will remove these from
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// this header
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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#include "DataFlash_APM1.h"
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#include "DataFlash_APM2.h"
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#include "DataFlash_SITL.h"
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#include "DataFlash_Empty.h"
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#endif
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