Desktop: added support for DataFlash in Desktop build

this will allow Jason to look at the logs of the quad sim

libraries/Desktop/Desktop.mk

@@ -171,7 +171,7 @@ else
 endif
 
 # these are library objects we don't want in the desktop build (maybe we'll add them later)
-NODESKTOP		:= FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp 
+NODESKTOP		:= DataFlash/DataFlash.cpp FastSerial/FastSerial.cpp AP_Compass/AP_Compass_HMC5843.cpp APM_BMP085/APM_BMP085.cpp AP_IMU/AP_IMU_Oilpan.cpp AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
 
 #
 # Find sketchbook libraries referenced by the sketch.

libraries/Desktop/Makefile.desktop

@@ -5,26 +5,17 @@ include ../libraries/Desktop/Desktop.mk
 default:
 	make -f $(DESKTOP)/Makefile.desktop
 
-nologging:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DLOGGING_ENABLED=DISABLED"
-
-nogps:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DGPS_PROTOCOL=GPS_PROTOCOL_NONE -DLOGGING_ENABLED=DISABLED"
-
 hil:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DLOGGING_ENABLED=DISABLED"
+	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE"
     
 hilsen:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
-
-hilnocli:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_SENSORS"
 
 heli:
 	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME"
 
 helihil:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DFRAME_CONFIG=HELI_FRAME -DHIL_MODE=HIL_MODE_ATTITUDE"
 
 mavlink10:
-	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DMAVLINK10 -DCLI_ENABLED=DISABLED -DLOGGING_ENABLED=DISABLED"
+	make -f $(DESKTOP)/Makefile.desktop EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DMAVLINK10"

libraries/Desktop/support/DataFlash.cpp

@@ -0,0 +1,251 @@
+/*
+  hacked up DataFlash library for Desktop support
+*/
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdint.h>
+#include "DataFlash.h"
+#include <SPI.h>
+
+#define DF_PAGE_SIZE 512
+#define DF_NUM_PAGES 4096
+
+static int flash_fd;
+static uint8_t buffer[2][DF_PAGE_SIZE];
+
+#define OVERWRITE_DATA 0 // 0: When reach the end page stop, 1: Start overwritten from page 1
+
+// Constructors ////////////////////////////////////////////////////////////////
+DataFlash_Class::DataFlash_Class()
+{
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+void DataFlash_Class::Init(void)
+{
+	if (flash_fd == 0) {
+		flash_fd = open("dataflash.bin", O_RDWR|O_CREAT, 0777);
+		ftruncate(flash_fd, DF_NUM_PAGES*DF_PAGE_SIZE);
+	}
+	df_PageSize = DF_PAGE_SIZE;
+	df_BufferNum  = 1;
+	df_BufferIdx  = 0;
+	df_PageAdr    = 0;
+	df_Stop_Write = 0;
+}
+
+// This function is mainly to test the device
+void DataFlash_Class::ReadManufacturerID()
+{
+	df_manufacturer = 1;
+	df_device_0 = 2;
+	df_device_1 = 3;
+}
+
+// Read the status register
+byte DataFlash_Class::ReadStatusReg()
+{
+	return 0;
+}
+
+// Read the status of the DataFlash
+inline
+byte DataFlash_Class::ReadStatus()
+{
+	return 1;
+}
+
+
+inline
+uint16_t DataFlash_Class::PageSize()
+{
+	return df_PageSize;
+}
+
+
+// Wait until DataFlash is in ready state...
+void DataFlash_Class::WaitReady()
+{
+	while(!ReadStatus());
+}
+
+void DataFlash_Class::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
+{
+	pread(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
+}
+
+void DataFlash_Class::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
+{
+	pwrite(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
+}
+
+void DataFlash_Class::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
+{
+	buffer[BufferNum-1][IntPageAdr] = (uint8_t)Data;
+}
+
+unsigned char DataFlash_Class::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
+{
+	return (unsigned char)buffer[BufferNum-1][IntPageAdr];
+}
+
+// *** END OF INTERNAL FUNCTIONS ***
+
+void DataFlash_Class::PageErase (uint16_t PageAdr)
+{
+	uint8_t zero[DF_PAGE_SIZE] = {0,};
+	pwrite(flash_fd, zero, DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
+}
+
+
+void DataFlash_Class::ChipErase ()
+{
+	for (int i=0; DF_NUM_PAGES; i++) {
+		PageErase(i);
+	}
+}
+
+// *** DATAFLASH PUBLIC FUNCTIONS ***
+void DataFlash_Class::StartWrite(int16_t PageAdr)
+{
+	df_BufferNum  = 1;
+	df_BufferIdx  = 0;
+	df_PageAdr    = PageAdr;
+	df_Stop_Write = 0;
+}
+
+void DataFlash_Class::FinishWrite(void)
+{
+	df_BufferIdx = 0;
+	BufferToPage(df_BufferNum,df_PageAdr,0);  // Write Buffer to memory, NO WAIT
+	df_PageAdr++;
+	if (OVERWRITE_DATA==1)
+	    {
+        if (df_PageAdr>=4096)  // If we reach the end of the memory, start from the begining
+		  df_PageAdr = 1;
+	    }
+	else
+	    {
+        if (df_PageAdr>=4096)  // If we reach the end of the memory, stop here
+		  df_Stop_Write=1;
+	    }
+
+	if (df_BufferNum==1)  // Change buffer to continue writing...
+        df_BufferNum=2;
+	else
+        df_BufferNum=1;
+}
+
+
+void DataFlash_Class::WriteByte(byte data)
+{
+  if (!df_Stop_Write)
+    {
+    BufferWrite(df_BufferNum,df_BufferIdx,data);
+    df_BufferIdx++;
+    if (df_BufferIdx >= df_PageSize)  // End of buffer?
+      {
+      df_BufferIdx=0;
+	  BufferToPage(df_BufferNum,df_PageAdr,0);  // Write Buffer to memory, NO WAIT
+      df_PageAdr++;
+	  if (OVERWRITE_DATA==1)
+	    {
+        if (df_PageAdr>=4096)  // If we reach the end of the memory, start from the begining
+		  df_PageAdr = 1;
+	    }
+      else
+	    {
+        if (df_PageAdr>=4096)  // If we reach the end of the memory, stop here
+		  df_Stop_Write=1;
+	    }
+
+      if (df_BufferNum==1)  // Change buffer to continue writing...
+        df_BufferNum=2;
+      else
+        df_BufferNum=1;
+      }
+    }
+}
+
+void DataFlash_Class::WriteInt(int16_t data)
+{
+  WriteByte(data>>8);   // High byte
+  WriteByte(data&0xFF); // Low byte
+}
+
+void DataFlash_Class::WriteLong(int32_t data)
+{
+  WriteByte(data>>24);   // First byte
+  WriteByte(data>>16);
+  WriteByte(data>>8);
+  WriteByte(data&0xFF);  // Last byte
+}
+
+// Get the last page written to
+int16_t DataFlash_Class::GetWritePage()
+{
+  return(df_PageAdr);
+}
+
+// Get the last page read
+int16_t DataFlash_Class::GetPage()
+{
+  return(df_Read_PageAdr-1);
+}
+
+void DataFlash_Class::StartRead(int16_t PageAdr)
+{
+  df_Read_BufferNum=1;
+  df_Read_BufferIdx=0;
+  df_Read_PageAdr=PageAdr;
+  WaitReady();
+  PageToBuffer(df_Read_BufferNum,df_Read_PageAdr);  // Write Memory page to buffer
+  df_Read_PageAdr++;
+}
+
+byte DataFlash_Class::ReadByte()
+{
+  byte result;
+
+  WaitReady();
+  result = BufferRead(df_Read_BufferNum,df_Read_BufferIdx);
+  df_Read_BufferIdx++;
+  if (df_Read_BufferIdx >= df_PageSize)  // End of buffer?
+    {
+    df_Read_BufferIdx=0;
+    PageToBuffer(df_Read_BufferNum,df_Read_PageAdr);  // Write memory page to Buffer
+    df_Read_PageAdr++;
+    if (df_Read_PageAdr>=4096)  // If we reach the end of the memory, start from the begining
+      {
+      df_Read_PageAdr = 0;
+      df_Read_END = true;
+      }
+    }
+  return result;
+}
+
+int16_t DataFlash_Class::ReadInt()
+{
+  int result;
+
+  result = ReadByte();               // High byte
+  result = (result<<8) | ReadByte(); // Low byte
+  return result;
+}
+
+int32_t DataFlash_Class::ReadLong()
+{
+  int32_t result;
+
+  result = ReadByte();               // First byte
+  result = (result<<8) | ReadByte();
+  result = (result<<8) | ReadByte();
+  result = (result<<8) | ReadByte(); // Last byte
+  return result;
+}
+
+// make one instance for the user to use
+DataFlash_Class DataFlash;