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77 lines
1.9 KiB
77 lines
1.9 KiB
/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */ |
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/* |
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* Storage.h --- AP_HAL_F4Light storage driver. |
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based on: |
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* Copyright (C) 2013, Virtualrobotix.com Roberto Navoni , Emile |
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* All Rights Reserved. |
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* |
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* This software is released under the "BSD3" license. Read the file |
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* "LICENSE" for more information. |
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* |
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* Written by Roberto Navoni <info@virtualrobotix.com>, 11 January 2013 |
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*/ |
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// another way - https://habrahabr.ru/post/262163/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL_F4Light/AP_HAL_F4Light.h> |
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#include "AP_HAL_F4Light_Namespace.h" |
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#include <hal.h> |
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// read is quite expensive operation because requires scan of 16K RAM |
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// we have a lot of unused CCM memory so lets cache data in RAM |
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#define EEPROM_CACHED |
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// write is very expensive operation so move out it to separate thread |
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#define WRITE_IN_THREAD |
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class F4Light::Storage : public AP_HAL::Storage |
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{ |
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public: |
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Storage(); |
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void init(); |
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static void late_init(bool defer); |
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void read_block(void *dst, uint16_t src, size_t n); |
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void write_block(uint16_t dst, const void* src, size_t n); |
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// just for us |
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static uint8_t read_byte(uint16_t loc); |
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static void write_byte(uint16_t loc, uint8_t value); |
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typedef struct { |
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uint16_t loc; |
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uint16_t val; |
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} Item; |
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#define EEPROM_QUEUE_LEN 256 |
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private: |
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static void _write_byte(uint16_t loc, uint8_t value); |
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static uint8_t _read_byte(uint16_t loc); |
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static void write_word(uint16_t loc, uint16_t value); |
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static void do_on_disarm(); |
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static bool write_deferred; |
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static void error_parse(uint16_t status); |
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#if defined(WRITE_IN_THREAD) |
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static void write_thread(); |
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static volatile uint16_t rd_ptr; |
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static volatile uint16_t wr_ptr; |
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static Item queue[EEPROM_QUEUE_LEN]; |
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static void *_task; |
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#endif |
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#if defined(EEPROM_CACHED) |
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static uint8_t eeprom_buffer[BOARD_STORAGE_SIZE] IN_CCM; |
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#endif |
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}; |
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