mirror of https://github.com/ArduPilot/ardupilot
145 lines
4.1 KiB
C++
145 lines
4.1 KiB
C++
/*
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Please contribute your ideas! See https://ardupilot.org/dev 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig_config.h>
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/*
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use just one area per storage type for boards with 4k of
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storage. Use larger areas for other boards
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*/
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#if HAL_STORAGE_SIZE >= 32768
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#define STORAGE_NUM_AREAS 18
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#elif HAL_STORAGE_SIZE >= 16384
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#define STORAGE_NUM_AREAS 15
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#elif HAL_STORAGE_SIZE >= 15360 && defined(HAL_NUM_CAN_IFACES)
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#define STORAGE_NUM_AREAS 12
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#elif HAL_STORAGE_SIZE >= 15360
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#define STORAGE_NUM_AREAS 11
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#elif HAL_STORAGE_SIZE >= 8192
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#define STORAGE_NUM_AREAS 10
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#elif HAL_STORAGE_SIZE >= 4096
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#define STORAGE_NUM_AREAS 4
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#elif HAL_STORAGE_SIZE > 0
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#define STORAGE_NUM_AREAS 1
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#else
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#error "Unsupported storage size"
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#endif
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/*
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The StorageManager holds the layout of non-volatile storage
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*/
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class StorageManager {
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friend class StorageAccess;
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public:
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enum StorageType {
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StorageParam = 0,
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StorageFence = 1,
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StorageRally = 2,
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StorageMission = 3,
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StorageKeys = 4,
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StorageBindInfo= 5,
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StorageCANDNA = 6,
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StorageParamBak = 7
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};
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// erase whole of storage
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static void erase(void);
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static bool storage_failed(void) {
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return last_io_failed;
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}
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private:
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static bool last_io_failed;
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struct StorageArea {
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StorageType type;
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uint16_t offset;
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uint16_t length;
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};
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// available layouts
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static const StorageArea layout[STORAGE_NUM_AREAS];
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};
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/*
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A StorageAccess object allows access to one type of storage
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NOTE: this object may be declared on the stack, so it will not be
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zero initialised
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*/
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class StorageAccess {
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public:
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// constructor
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StorageAccess(StorageManager::StorageType _type);
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// return total size of this accessor
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uint16_t size(void) const { return total_size; }
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// base access via block functions
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bool read_block(void *dst, uint16_t src, size_t n) const;
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bool write_block(uint16_t dst, const void* src, size_t n) const;
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// helper functions
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uint8_t read_byte(uint16_t loc) const;
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uint8_t read_uint8(uint16_t loc) const { return read_byte(loc); }
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uint16_t read_uint16(uint16_t loc) const;
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uint32_t read_uint32(uint16_t loc) const;
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float read_float(uint16_t loc) const;
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void write_byte(uint16_t loc, uint8_t value) const;
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void write_uint8(uint16_t loc, uint8_t value) const { return write_byte(loc, value); }
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void write_uint16(uint16_t loc, uint16_t value) const;
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void write_uint32(uint16_t loc, uint32_t value) const;
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void write_float(uint16_t loc, float value) const;
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// copy from one storage area to another
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bool copy_area(const StorageAccess &source) const;
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// attach a storage file from microSD
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bool attach_file(const char *fname, uint16_t size_kbyte);
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private:
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const StorageManager::StorageType type;
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uint16_t total_size;
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#if AP_SDCARD_STORAGE_ENABLED
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/*
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support for storage regions on microSD. Only the StorageMission
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for now
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*/
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struct FileStorage {
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HAL_Semaphore sem;
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int fd;
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uint8_t *buffer;
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uint32_t bufsize;
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uint32_t last_clean_ms;
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uint32_t last_io_fail_ms;
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// each bit of the dirty mask covers 1k of data
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uint64_t dirty_mask;
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} *file;
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void flush_file(void);
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#endif
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};
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