ardupilot/libraries/AP_HAL_VRBRAIN/Storage.h

38 lines
1.1 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_VRBRAIN_Namespace.h"
#include <systemlib/perf_counter.h>
#define VRBRAIN_STORAGE_SIZE HAL_STORAGE_SIZE
#define VRBRAIN_STORAGE_MAX_WRITE 512
#define VRBRAIN_STORAGE_LINE_SHIFT 9
#define VRBRAIN_STORAGE_LINE_SIZE (1<<VRBRAIN_STORAGE_LINE_SHIFT)
#define VRBRAIN_STORAGE_NUM_LINES (VRBRAIN_STORAGE_SIZE/VRBRAIN_STORAGE_LINE_SIZE)
class VRBRAIN::VRBRAINStorage : public AP_HAL::Storage {
public:
VRBRAINStorage();
void init() {}
void read_block(void *dst, uint16_t src, size_t n);
void write_block(uint16_t dst, const void* src, size_t n);
void _timer_tick(void);
private:
int _fd;
volatile bool _initialised;
void _storage_create(void);
void _storage_open(void);
void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[VRBRAIN_STORAGE_SIZE] __attribute__((aligned(4)));
volatile uint32_t _dirty_mask;
perf_counter_t _perf_storage;
perf_counter_t _perf_errors;
bool _have_mtd;
void _upgrade_to_mtd(void);
uint32_t _mtd_signature(void);
void _mtd_write_signature(void);
};