/* * This file 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 file 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/>. * */ #pragma once #include <AP_HAL/AP_HAL.h> #include "HAL_ESP32_Namespace.h" #include <AP_Common/Bitmask.h> #include <AP_FlashStorage/AP_FlashStorage.h> #include "esp_partition.h" #define STORAGE_SIZE HAL_STORAGE_SIZE #define STORAGE_SECTOR_SIZE (64*1024) #define STORAGE_LINE_SHIFT 3 #define STORAGE_LINE_SIZE (1<<STORAGE_LINE_SHIFT) #define STORAGE_NUM_LINES (STORAGE_SIZE/STORAGE_LINE_SIZE) class ESP32::Storage : public AP_HAL::Storage { public: void init() override {} void read_block(void *dst, uint16_t src, size_t n) override; void write_block(uint16_t dst, const void* src, size_t n) override; void _timer_tick(void) override; bool healthy(void) override; bool get_storage_ptr(void *&ptr, size_t &size) override; private: volatile bool _initialised; const esp_partition_t *p; void _storage_open(void); void _mark_dirty(uint16_t loc, uint16_t length); uint8_t _buffer[STORAGE_SIZE] __attribute__((aligned(4))); Bitmask<STORAGE_NUM_LINES> _dirty_mask; bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length); bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length); bool _flash_erase_sector(uint8_t sector); bool _flash_erase_ok(void); bool _flash_failed; uint32_t _last_re_init_ms; uint32_t _last_empty_ms; AP_FlashStorage _flash{_buffer, STORAGE_SECTOR_SIZE, FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t), FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t), FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t), FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)}; void _flash_load(void); void _flash_write(uint16_t line); };