mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.1 KiB
C++
71 lines
2.1 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/Bitmask.h>
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#include "AP_HAL_SITL_Namespace.h"
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#include <AP_FlashStorage/AP_FlashStorage.h>
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#ifndef HAL_STORAGE_FILE
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#define HAL_STORAGE_FILE "eeprom.bin"
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#endif
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// define which storage system to use. This allows us to test flash storage with --sitl-flash-storage
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// configure option
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#ifndef STORAGE_USE_FLASH
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#define STORAGE_USE_FLASH 0
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#endif
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#define STORAGE_USE_POSIX 1
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#define STORAGE_LINE_SHIFT 3
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#define STORAGE_LINE_SIZE (1<<STORAGE_LINE_SHIFT)
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#define STORAGE_NUM_LINES (HAL_STORAGE_SIZE/STORAGE_LINE_SIZE)
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class HALSITL::Storage : public AP_HAL::Storage {
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public:
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void init() override {}
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void read_block(void *dst, uint16_t src, size_t n) override;
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void write_block(uint16_t dst, const void* src, size_t n) override;
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void _timer_tick(void) override;
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bool healthy(void) override;
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private:
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volatile bool _initialised;
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void _storage_create(void);
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void _storage_open(void);
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void _save_backup(void);
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void _mark_dirty(uint16_t loc, uint16_t length);
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uint8_t _buffer[HAL_STORAGE_SIZE] __attribute__((aligned(4)));
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Bitmask<STORAGE_NUM_LINES> _dirty_mask;
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#if STORAGE_USE_FLASH
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bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
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bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
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bool _flash_erase_sector(uint8_t sector);
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bool _flash_erase_ok(void);
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#endif
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bool _flash_failed;
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uint32_t _last_re_init_ms;
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uint32_t _last_empty_ms;
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#if STORAGE_USE_FLASH
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AP_FlashStorage _flash{_buffer,
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HAL_FLASH_SECTOR_SIZE,
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FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
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FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
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FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
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FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
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#endif
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void _flash_load(void);
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void _flash_write(uint16_t line);
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#if STORAGE_USE_POSIX
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bool using_filesystem;
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int log_fd;
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#endif
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};
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