ardupilot/libraries/AP_HAL_ESP32/Storage.h

69 lines
2.5 KiB
C++

/*
* This file 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 file 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/>.
*
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "HAL_ESP32_Namespace.h"
#include <AP_Common/Bitmask.h>
#include <AP_FlashStorage/AP_FlashStorage.h>
#include "esp_partition.h"
#define STORAGE_SIZE HAL_STORAGE_SIZE
#define STORAGE_SECTOR_SIZE (64*1024)
#define STORAGE_LINE_SHIFT 3
#define STORAGE_LINE_SIZE (1<<STORAGE_LINE_SHIFT)
#define STORAGE_NUM_LINES (STORAGE_SIZE/STORAGE_LINE_SIZE)
class ESP32::Storage : public AP_HAL::Storage
{
public:
void init() override {}
void read_block(void *dst, uint16_t src, size_t n) override;
void write_block(uint16_t dst, const void* src, size_t n) override;
void _timer_tick(void) override;
bool healthy(void) override;
private:
volatile bool _initialised;
const esp_partition_t *p;
void _storage_open(void);
void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[STORAGE_SIZE] __attribute__((aligned(4)));
Bitmask<STORAGE_NUM_LINES> _dirty_mask;
bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
bool _flash_erase_sector(uint8_t sector);
bool _flash_erase_ok(void);
bool _flash_failed;
uint32_t _last_re_init_ms;
uint32_t _last_empty_ms;
AP_FlashStorage _flash{_buffer,
STORAGE_SECTOR_SIZE,
FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
void _flash_load(void);
void _flash_write(uint16_t line);
};