mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
952df2fced
this does all IO in the timer thread, avoids writes that don't change data, and does all writes in multiples of 128 byte chunks. This should be about as friendly to SD cards as we can get.
43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
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#ifndef __AP_HAL_PX4_STORAGE_H__
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#define __AP_HAL_PX4_STORAGE_H__
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#include <AP_HAL.h>
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#include "AP_HAL_PX4_Namespace.h"
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#define PX4_STORAGE_SIZE 4096
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#define PX4_STORAGE_MAX_WRITE 1024
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#define PX4_STORAGE_LINE_SHIFT 7
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#define PX4_STORAGE_LINE_SIZE (1<<PX4_STORAGE_LINE_SHIFT)
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#define PX4_STORAGE_NUM_LINES (PX4_STORAGE_SIZE/PX4_STORAGE_LINE_SIZE)
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class PX4::PX4Storage : public AP_HAL::Storage {
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public:
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PX4Storage() {
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_fd = -1;
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}
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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, void* src, size_t n);
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void _timer_tick(void);
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private:
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int _fd;
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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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uint8_t _buffer[PX4_STORAGE_SIZE];
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volatile uint32_t _dirty_mask;
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};
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#endif // __AP_HAL_PX4_STORAGE_H__
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