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112 lines
2.5 KiB
112 lines
2.5 KiB
#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <assert.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <errno.h> |
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#include "Storage.h" |
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using namespace PX4; |
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#define EEPROM_SIZE 4096 |
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// name the eeprom file after the sketch so you can use the same sd |
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// card for ArduCopter and ArduPlane |
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#define EEPROM_DIR "/fs/microsd/APM" |
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#define EEPROM_FILE EEPROM_DIR "/" SKETCHNAME ".eeprom" |
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extern const AP_HAL::HAL& hal; |
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/* NuttX doesn't have pread/pwrite */ |
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static ssize_t pread(int fd, void *buf, size_t count, off_t ofs) |
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{ |
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lseek(fd, ofs, SEEK_SET); |
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return read(fd, buf, count); |
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} |
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static ssize_t pwrite(int fd, const void *buf, size_t count, off_t ofs) |
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{ |
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lseek(fd, ofs, SEEK_SET); |
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return write(fd, buf, count); |
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} |
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void PX4EEPROMStorage::_eeprom_open(void) |
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{ |
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if (_eeprom_fd == -1) { |
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mkdir(EEPROM_DIR, 0777); |
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_eeprom_fd = open(EEPROM_FILE, O_RDWR|O_CREAT, 0777); |
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if (_eeprom_fd == -1) { |
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hal.scheduler->panic("Failed to open " EEPROM_FILE); |
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} |
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if (lseek(_eeprom_fd, 0, SEEK_END) < EEPROM_SIZE) { |
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char c = 0; |
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assert(pwrite(_eeprom_fd, &c, 1, EEPROM_SIZE-1) == 1); |
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} |
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} |
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} |
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uint8_t PX4EEPROMStorage::read_byte(uint16_t loc) |
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{ |
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uint8_t value; |
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_eeprom_open(); |
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assert(pread(_eeprom_fd, &value, 1, loc) == 1); |
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return value; |
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} |
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uint16_t PX4EEPROMStorage::read_word(uint16_t loc) |
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{ |
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uint16_t value; |
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assert(loc < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pread(_eeprom_fd, &value, 2, loc) == 2); |
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return value; |
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} |
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uint32_t PX4EEPROMStorage::read_dword(uint16_t loc) |
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{ |
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uint32_t value; |
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assert(loc < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pread(_eeprom_fd, &value, 4, loc) == 4); |
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return value; |
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} |
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void PX4EEPROMStorage::read_block(void *dst, uint16_t src, size_t n) |
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{ |
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assert(src < EEPROM_SIZE && src + n < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pread(_eeprom_fd, dst, n, src) == (ssize_t)n); |
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} |
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void PX4EEPROMStorage::write_byte(uint16_t loc, uint8_t value) |
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{ |
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assert(loc < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pwrite(_eeprom_fd, &value, 1, loc) == 1); |
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} |
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void PX4EEPROMStorage::write_word(uint16_t loc, uint16_t value) |
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{ |
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assert(loc < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pwrite(_eeprom_fd, &value, 2, loc) == 2); |
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} |
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void PX4EEPROMStorage::write_dword(uint16_t loc, uint32_t value) |
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{ |
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assert(loc < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pwrite(_eeprom_fd, &value, 4, loc) == 4); |
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} |
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void PX4EEPROMStorage::write_block(uint16_t dst, void *src, size_t n) |
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{ |
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assert(dst < EEPROM_SIZE); |
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_eeprom_open(); |
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assert(pwrite(_eeprom_fd, src, n, dst) == (ssize_t)n); |
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} |
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#endif
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