mirror of https://github.com/ArduPilot/ardupilot
100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
Please contribute your ideas! See http://dev.ardupilot.com for details
|
|
|
|
This program 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 program 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/>.
|
|
*/
|
|
/*
|
|
Management for hal.storage to allow for backwards compatible mapping
|
|
of storage offsets to available storage
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
/*
|
|
use just one area per storage type for boards with 4k of
|
|
storage. Use larger areas for other boards
|
|
*/
|
|
#if HAL_STORAGE_SIZE >= 16384
|
|
#define STORAGE_NUM_AREAS 12
|
|
#elif HAL_STORAGE_SIZE >= 8192
|
|
#define STORAGE_NUM_AREAS 8
|
|
#elif HAL_STORAGE_SIZE >= 4096
|
|
#define STORAGE_NUM_AREAS 4
|
|
#else
|
|
#error "Unsupported storage size"
|
|
#endif
|
|
|
|
/*
|
|
The StorageManager holds the layout of non-volatile storeage
|
|
*/
|
|
class StorageManager {
|
|
friend class StorageAccess;
|
|
public:
|
|
enum StorageType {
|
|
StorageParam = 0,
|
|
StorageFence = 1,
|
|
StorageRally = 2,
|
|
StorageMission = 3
|
|
};
|
|
|
|
// erase whole of storage
|
|
static void erase(void);
|
|
|
|
// setup for copter layout of storage
|
|
static void set_layout_copter(void) { layout = layout_copter; }
|
|
|
|
private:
|
|
struct StorageArea {
|
|
StorageType type;
|
|
uint16_t offset;
|
|
uint16_t length;
|
|
};
|
|
|
|
// available layouts
|
|
static const StorageArea layout_copter[STORAGE_NUM_AREAS];
|
|
static const StorageArea layout_default[STORAGE_NUM_AREAS];
|
|
static const StorageArea *layout;
|
|
};
|
|
|
|
/*
|
|
A StorageAccess object allows access to one type of storage
|
|
*/
|
|
class StorageAccess {
|
|
public:
|
|
// constructor
|
|
StorageAccess(StorageManager::StorageType _type);
|
|
|
|
// return total size of this accessor
|
|
uint16_t size(void) const { return total_size; }
|
|
|
|
// base access via block functions
|
|
bool read_block(void *dst, uint16_t src, size_t n) const;
|
|
bool write_block(uint16_t dst, const void* src, size_t n) const;
|
|
|
|
// helper functions
|
|
uint8_t read_byte(uint16_t loc) const;
|
|
uint16_t read_uint16(uint16_t loc) const;
|
|
uint32_t read_uint32(uint16_t loc) const;
|
|
|
|
void write_byte(uint16_t loc, uint8_t value) const;
|
|
void write_uint16(uint16_t loc, uint16_t value) const;
|
|
void write_uint32(uint16_t loc, uint32_t value) const;
|
|
|
|
private:
|
|
const StorageManager::StorageType type;
|
|
uint16_t total_size;
|
|
};
|