mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
#ifndef __AP_HAL_LINUX_STORAGE_H__
|
|
#define __AP_HAL_LINUX_STORAGE_H__
|
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
|
|
#define LINUX_STORAGE_USE_FRAM 1
|
|
#else
|
|
#define LINUX_STORAGE_USE_FRAM 0
|
|
#endif
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_HAL_Linux_Namespace.h"
|
|
|
|
#define LINUX_STORAGE_SIZE HAL_STORAGE_SIZE
|
|
#define LINUX_STORAGE_MAX_WRITE 512
|
|
#define LINUX_STORAGE_LINE_SHIFT 9
|
|
#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
|
|
#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
|
|
|
|
class Linux::Storage : public AP_HAL::Storage
|
|
{
|
|
public:
|
|
Storage() : _fd(-1),_dirty_mask(0) { }
|
|
|
|
static Storage *from(AP_HAL::Storage *storage) {
|
|
return static_cast<Storage*>(storage);
|
|
}
|
|
|
|
void init() {}
|
|
uint8_t read_byte(uint16_t loc);
|
|
uint16_t read_word(uint16_t loc);
|
|
uint32_t read_dword(uint16_t loc);
|
|
void read_block(void *dst, uint16_t src, size_t n);
|
|
|
|
void write_byte(uint16_t loc, uint8_t value);
|
|
void write_word(uint16_t loc, uint16_t value);
|
|
void write_dword(uint16_t loc, uint32_t value);
|
|
void write_block(uint16_t dst, const void* src, size_t n);
|
|
|
|
virtual void _timer_tick(void);
|
|
protected:
|
|
void _mark_dirty(uint16_t loc, uint16_t length);
|
|
virtual void _storage_create(void);
|
|
virtual void _storage_open(void);
|
|
int _fd;
|
|
volatile bool _initialised;
|
|
uint8_t _buffer[LINUX_STORAGE_SIZE];
|
|
volatile uint32_t _dirty_mask;
|
|
};
|
|
|
|
#include "Storage_FRAM.h"
|
|
|
|
#endif // __AP_HAL_LINUX_STORAGE_H__
|
|
|