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49 lines
1.4 KiB
49 lines
1.4 KiB
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#ifndef __AP_HAL_PX4_STORAGE_H__ |
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#define __AP_HAL_PX4_STORAGE_H__ |
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#include <AP_HAL.h> |
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#include "AP_HAL_PX4_Namespace.h" |
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#include <systemlib/perf_counter.h> |
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#define PX4_STORAGE_SIZE 4096 |
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#define PX4_STORAGE_MAX_WRITE 512 |
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#define PX4_STORAGE_LINE_SHIFT 9 |
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#define PX4_STORAGE_LINE_SIZE (1<<PX4_STORAGE_LINE_SHIFT) |
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#define PX4_STORAGE_NUM_LINES (PX4_STORAGE_SIZE/PX4_STORAGE_LINE_SIZE) |
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class PX4::PX4Storage : public AP_HAL::Storage { |
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public: |
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PX4Storage() : |
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_fd(-1), |
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_dirty_mask(0), |
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_perf_storage(perf_alloc(PC_ELAPSED, "APM_storage")), |
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_perf_errors(perf_alloc(PC_COUNT, "APM_storage_errors")) |
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{} |
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void init(void* machtnichts) {} |
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uint8_t read_byte(uint16_t loc); |
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uint16_t read_word(uint16_t loc); |
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uint32_t read_dword(uint16_t loc); |
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void read_block(void *dst, uint16_t src, size_t n); |
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void write_byte(uint16_t loc, uint8_t value); |
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void write_word(uint16_t loc, uint16_t value); |
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void write_dword(uint16_t loc, uint32_t value); |
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void write_block(uint16_t dst, void* src, size_t n); |
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void _timer_tick(void); |
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private: |
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int _fd; |
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volatile bool _initialised; |
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void _storage_create(void); |
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void _storage_open(void); |
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void _mark_dirty(uint16_t loc, uint16_t length); |
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uint8_t _buffer[PX4_STORAGE_SIZE]; |
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volatile uint32_t _dirty_mask; |
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perf_counter_t _perf_storage; |
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perf_counter_t _perf_errors; |
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}; |
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#endif // __AP_HAL_PX4_STORAGE_H__
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