mirror of https://github.com/ArduPilot/ardupilot
270 lines
7.1 KiB
C++
270 lines
7.1 KiB
C++
/*
|
|
Please contribute your ideas! See https://dev.ardupilot.org 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
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Vehicle/AP_Vehicle_Type.h>
|
|
|
|
#include "StorageManager.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
/*
|
|
the layouts below are carefully designed to ensure backwards
|
|
compatibility with older firmwares
|
|
*/
|
|
|
|
#if STORAGE_NUM_AREAS == 1
|
|
/*
|
|
layout for peripherals
|
|
*/
|
|
const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
|
|
{ StorageParam, 0, HAL_STORAGE_SIZE}
|
|
};
|
|
|
|
#elif !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
|
|
|
|
/*
|
|
layout for fixed wing and rovers
|
|
On PX4v1 this gives 309 waypoints, 30 rally points and 52 fence points
|
|
On Pixhawk this gives 724 waypoints, 50 rally points and 84 fence points
|
|
*/
|
|
const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
|
|
{ StorageParam, 0, 1280}, // 0x500 parameter bytes
|
|
{ StorageMission, 1280, 2506},
|
|
{ StorageRally, 3786, 150}, // 10 rally points
|
|
{ StorageFence, 3936, 160}, // 20 fence points
|
|
#if STORAGE_NUM_AREAS >= 8
|
|
{ StorageParam, 4096, 1280},
|
|
{ StorageRally, 5376, 300},
|
|
{ StorageFence, 5676, 256},
|
|
{ StorageMission, 5932, 2132},
|
|
{ StorageKeys, 8064, 64},
|
|
{ StorageBindInfo,8128, 56},
|
|
#endif
|
|
#if STORAGE_NUM_AREAS == 11
|
|
// optimised for lots of parameters for 15k boards with OSD
|
|
{ StorageParam, 8192, 7168},
|
|
#endif
|
|
#if STORAGE_NUM_AREAS >= 12
|
|
{ StorageParam, 8192, 1280},
|
|
{ StorageRally, 9472, 300},
|
|
{ StorageFence, 9772, 256},
|
|
{ StorageMission, 10028, 5204}, // leave 128 byte gap for expansion
|
|
{ StorageCANDNA, 15232, 1024},
|
|
#endif
|
|
};
|
|
|
|
#else
|
|
|
|
/*
|
|
layout for copter.
|
|
On PX4v1 this gives 303 waypoints, 26 rally points and 38 fence points
|
|
On Pixhawk this gives 718 waypoints, 46 rally points and 70 fence points
|
|
*/
|
|
const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
|
|
{ StorageParam, 0, 1536}, // 0x600 param bytes
|
|
{ StorageMission, 1536, 2422},
|
|
{ StorageRally, 3958, 90}, // 6 rally points
|
|
{ StorageFence, 4048, 48}, // 6 fence points
|
|
#if STORAGE_NUM_AREAS >= 8
|
|
{ StorageParam, 4096, 1280},
|
|
{ StorageRally, 5376, 300},
|
|
{ StorageFence, 5676, 256},
|
|
{ StorageMission, 5932, 2132},
|
|
{ StorageKeys, 8064, 64},
|
|
{ StorageBindInfo,8128, 56},
|
|
#endif
|
|
#if STORAGE_NUM_AREAS == 11
|
|
// optimised for lots of parameters for 15k boards with OSD
|
|
{ StorageParam, 8192, 7168},
|
|
#endif
|
|
#if STORAGE_NUM_AREAS >= 12
|
|
{ StorageParam, 8192, 1280},
|
|
{ StorageRally, 9472, 300},
|
|
{ StorageFence, 9772, 256},
|
|
{ StorageMission, 10028, 5204}, // leave 128 byte gap for expansion
|
|
{ StorageCANDNA, 15232, 1024},
|
|
#endif
|
|
};
|
|
#endif // STORAGE_NUM_AREAS == 1
|
|
|
|
/*
|
|
erase all storage
|
|
*/
|
|
void StorageManager::erase(void)
|
|
{
|
|
if (!hal.storage->erase()) {
|
|
::printf("StorageManager: erase failed\n");
|
|
}
|
|
}
|
|
|
|
/*
|
|
constructor for StorageAccess
|
|
*/
|
|
StorageAccess::StorageAccess(StorageManager::StorageType _type) :
|
|
type(_type)
|
|
{
|
|
// calculate available bytes
|
|
total_size = 0;
|
|
for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
|
|
const StorageManager::StorageArea &area = StorageManager::layout[i];
|
|
if (area.type == type) {
|
|
total_size += area.length;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
base read function. The src offset is within the bytes allocated
|
|
for the storage type of this StorageAccess object
|
|
*/
|
|
bool StorageAccess::read_block(void *data, uint16_t addr, size_t n) const
|
|
{
|
|
uint8_t *b = (uint8_t *)data;
|
|
for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
|
|
const StorageManager::StorageArea &area = StorageManager::layout[i];
|
|
uint16_t length = area.length;
|
|
uint16_t offset = area.offset;
|
|
if (area.type != type) {
|
|
continue;
|
|
}
|
|
if (addr >= length) {
|
|
// the data isn't in this area
|
|
addr -= length;
|
|
continue;
|
|
}
|
|
uint8_t count = n;
|
|
if (count+addr > length) {
|
|
// the data crosses a boundary between two areas
|
|
count = length - addr;
|
|
}
|
|
hal.storage->read_block(b, addr+offset, count);
|
|
n -= count;
|
|
|
|
if (n == 0) {
|
|
break;
|
|
}
|
|
|
|
// move pointer after written bytes
|
|
b += count;
|
|
// continue writing at the beginning of next valid area
|
|
addr = 0;
|
|
}
|
|
return (n == 0);
|
|
}
|
|
|
|
|
|
/*
|
|
base read function. The addr offset is within the bytes allocated
|
|
for the storage type of this StorageAccess object
|
|
*/
|
|
bool StorageAccess::write_block(uint16_t addr, const void *data, size_t n) const
|
|
{
|
|
const uint8_t *b = (const uint8_t *)data;
|
|
for (uint8_t i=0; i<STORAGE_NUM_AREAS; i++) {
|
|
const StorageManager::StorageArea &area = StorageManager::layout[i];
|
|
uint16_t length = area.length;
|
|
uint16_t offset = area.offset;
|
|
if (area.type != type) {
|
|
continue;
|
|
}
|
|
if (addr >= length) {
|
|
// the data isn't in this area
|
|
addr -= length;
|
|
continue;
|
|
}
|
|
uint8_t count = n;
|
|
if (count+addr > length) {
|
|
// the data crosses a boundary between two areas
|
|
count = length - addr;
|
|
}
|
|
hal.storage->write_block(addr+offset, b, count);
|
|
n -= count;
|
|
|
|
if (n == 0) {
|
|
break;
|
|
}
|
|
|
|
// move pointer after written bytes
|
|
b += count;
|
|
// continue writing at the beginning of next valid area
|
|
addr = 0;
|
|
}
|
|
return (n == 0);
|
|
}
|
|
|
|
/*
|
|
read a byte
|
|
*/
|
|
uint8_t StorageAccess::read_byte(uint16_t loc) const
|
|
{
|
|
uint8_t v;
|
|
read_block(&v, loc, sizeof(v));
|
|
return v;
|
|
}
|
|
|
|
/*
|
|
read 16 bit value
|
|
*/
|
|
uint16_t StorageAccess::read_uint16(uint16_t loc) const
|
|
{
|
|
uint16_t v;
|
|
read_block(&v, loc, sizeof(v));
|
|
return v;
|
|
}
|
|
|
|
/*
|
|
read 32 bit value
|
|
*/
|
|
uint32_t StorageAccess::read_uint32(uint16_t loc) const
|
|
{
|
|
uint32_t v;
|
|
read_block(&v, loc, sizeof(v));
|
|
return v;
|
|
}
|
|
|
|
/*
|
|
write a byte
|
|
*/
|
|
void StorageAccess::write_byte(uint16_t loc, uint8_t value) const
|
|
{
|
|
write_block(loc, &value, sizeof(value));
|
|
}
|
|
|
|
/*
|
|
write a uint16
|
|
*/
|
|
void StorageAccess::write_uint16(uint16_t loc, uint16_t value) const
|
|
{
|
|
write_block(loc, &value, sizeof(value));
|
|
}
|
|
|
|
/*
|
|
write a uint32
|
|
*/
|
|
void StorageAccess::write_uint32(uint16_t loc, uint32_t value) const
|
|
{
|
|
write_block(loc, &value, sizeof(value));
|
|
}
|