mirror of https://github.com/ArduPilot/ardupilot
259 lines
7.4 KiB
C++
259 lines
7.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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Please contribute your ideas! See http://dev.ardupilot.com for details
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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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Management for hal.storage to allow for backwards compatible mapping
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of storage offsets to available storage
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "StorageManager.h"
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extern const AP_HAL::HAL& hal;
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/*
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the layouts below are carefully designed to ensure backwards
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compatibility with older firmwares
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*/
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/*
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layout for fixed wing and rovers
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On APM2 this gives 167 waypoints, 10 rally points and 20 fence points
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On PX4v1 this gives 309 waypoints, 30 rally points and 52 fence points
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On Pixhawk this gives 724 waypoints, 50 rally points and 84 fence points
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*/
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const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_AREAS] PROGMEM = {
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{ StorageParam, 0, 1280}, // 0x500 parameter bytes
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{ StorageMission, 1280, 2506},
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{ StorageRally, 3786, 150}, // 10 rally points
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{ StorageFence, 3936, 160}, // 20 fence points
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#if STORAGE_NUM_AREAS >= 8
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{ StorageParam, 4096, 1280},
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{ StorageRally, 5376, 300},
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{ StorageFence, 5676, 256},
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{ StorageMission, 5932, 2132}, // leave 4 byte gap for PX4
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// sentinal and expansion
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#endif
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#if STORAGE_NUM_AREAS >= 12
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{ StorageParam, 8192, 1280},
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{ StorageRally, 9472, 300},
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{ StorageFence, 9772, 256},
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{ StorageMission, 10028, 6228}, // leave 128 byte gap for expansion
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#endif
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};
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/*
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layout for copter.
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On APM2 this gives 161 waypoints, 6 fence points and 6 rally points
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On PX4v1 this gives 303 waypoints, 26 rally points and 38 fence points
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On Pixhawk this gives 718 waypoints, 46 rally points and 70 fence points
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*/
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const StorageManager::StorageArea StorageManager::layout_copter[STORAGE_NUM_AREAS] PROGMEM = {
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{ StorageParam, 0, 1536}, // 0x600 param bytes
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{ StorageMission, 1536, 2422},
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{ StorageRally, 3958, 90}, // 6 rally points
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{ StorageFence, 4048, 48}, // 6 fence points
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#if STORAGE_NUM_AREAS >= 8
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{ StorageParam, 4096, 1280},
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{ StorageRally, 5376, 300},
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{ StorageFence, 5676, 256},
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{ StorageMission, 5932, 2132}, // leave 128 byte gap for
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// expansion and PX4 sentinal
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#endif
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#if STORAGE_NUM_AREAS >= 12
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{ StorageParam, 8192, 1280},
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{ StorageRally, 9472, 300},
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{ StorageFence, 9772, 256},
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{ StorageMission, 10028, 6228}, // leave 128 byte gap for expansion
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#endif
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};
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// setup default layout
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const StorageManager::StorageArea *StorageManager::layout = layout_default;
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/*
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erase all storage
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*/
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void StorageManager::erase(void)
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{
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uint8_t blk[16];
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memset(blk, 0, sizeof(blk));
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for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
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const StorageManager::StorageArea &area = StorageManager::layout[i];
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uint16_t length = pgm_read_word(&area.length);
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uint16_t offset = pgm_read_word(&area.offset);
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for (uint16_t ofs=0; ofs<length; ofs += sizeof(blk)) {
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uint8_t n = 16;
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if (ofs + n > length) {
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n = length - ofs;
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}
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hal.storage->write_block(offset + ofs, blk, n);
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}
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}
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}
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/*
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constructor for StorageAccess
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*/
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StorageAccess::StorageAccess(StorageManager::StorageType _type) :
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type(_type)
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{
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// calculate available bytes
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total_size = 0;
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for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
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const StorageManager::StorageArea &area = StorageManager::layout[i];
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if (pgm_read_byte(&area.type) == type) {
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total_size += pgm_read_word(&area.length);
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}
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}
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}
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/*
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base read function. The src offset is within the bytes allocated
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for the storage type of this StorageAccess object
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*/
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bool StorageAccess::read_block(void *data, uint16_t addr, size_t n) const
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{
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uint8_t *b = (uint8_t *)data;
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for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
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const StorageManager::StorageArea &area = StorageManager::layout[i];
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uint16_t length = pgm_read_word(&area.length);
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uint16_t offset = pgm_read_word(&area.offset);
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if (pgm_read_byte(&area.type) != type) {
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continue;
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}
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if (addr >= length) {
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// the data isn't in this area
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addr -= length;
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continue;
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}
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uint8_t count = n;
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if (count+addr > length) {
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// the data crosses a boundary between two areas
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count = length - addr;
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}
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hal.storage->read_block(b, addr+offset, count);
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n -= count;
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if (n == 0) {
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break;
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}
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// move pointer after written bytes
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b += count;
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// continue writing at the beginning of next valid area
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addr = 0;
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}
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return (n == 0);
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}
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/*
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base read function. The addr offset is within the bytes allocated
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for the storage type of this StorageAccess object
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*/
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bool StorageAccess::write_block(uint16_t addr, const void *data, size_t n) const
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{
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const uint8_t *b = (const uint8_t *)data;
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for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
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const StorageManager::StorageArea &area = StorageManager::layout[i];
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uint16_t length = pgm_read_word(&area.length);
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uint16_t offset = pgm_read_word(&area.offset);
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if (pgm_read_byte(&area.type) != type) {
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continue;
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}
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if (addr >= length) {
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// the data isn't in this area
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addr -= length;
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continue;
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}
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uint8_t count = n;
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if (count+addr > length) {
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// the data crosses a boundary between two areas
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count = length - addr;
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}
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hal.storage->write_block(addr+offset, b, count);
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n -= count;
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if (n == 0) {
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break;
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}
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// move pointer after written bytes
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b += count;
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// continue writing at the beginning of next valid area
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addr = 0;
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}
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return (n == 0);
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}
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/*
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read a byte
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*/
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uint8_t StorageAccess::read_byte(uint16_t loc) const
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{
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uint8_t v;
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read_block(&v, loc, sizeof(v));
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return v;
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}
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/*
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read 16 bit value
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*/
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uint16_t StorageAccess::read_uint16(uint16_t loc) const
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{
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uint16_t v;
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read_block(&v, loc, sizeof(v));
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return v;
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}
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/*
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read 32 bit value
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*/
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uint32_t StorageAccess::read_uint32(uint16_t loc) const
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{
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uint32_t v;
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read_block(&v, loc, sizeof(v));
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return v;
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}
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/*
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write a byte
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*/
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void StorageAccess::write_byte(uint16_t loc, uint8_t value) const
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{
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write_block(loc, &value, sizeof(value));
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}
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/*
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write a uint16
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*/
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void StorageAccess::write_uint16(uint16_t loc, uint16_t value) const
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{
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write_block(loc, &value, sizeof(value));
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}
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/*
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write a uint32
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*/
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void StorageAccess::write_uint32(uint16_t loc, uint32_t value) const
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{
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write_block(loc, &value, sizeof(value));
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}
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