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81 lines
2.3 KiB
81 lines
2.3 KiB
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Common/Bitmask.h> |
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#include "AP_HAL_SITL_Namespace.h" |
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#include <AP_FlashStorage/AP_FlashStorage.h> |
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#include <AP_RAMTRON/AP_RAMTRON.h> |
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#ifndef STORAGE_USE_FLASH |
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#define STORAGE_USE_FLASH 1 |
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#endif |
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#ifndef STORAGE_USE_POSIX |
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#define STORAGE_USE_POSIX 1 |
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#endif |
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#ifndef STORAGE_USE_FRAM |
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#define STORAGE_USE_FRAM HAL_WITH_RAMTRON |
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#endif |
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#define STORAGE_LINE_SHIFT 3 |
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#define STORAGE_LINE_SIZE (1<<STORAGE_LINE_SHIFT) |
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#define STORAGE_NUM_LINES (HAL_STORAGE_SIZE/STORAGE_LINE_SIZE) |
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class HALSITL::Storage : public AP_HAL::Storage { |
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public: |
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void init() override {} |
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void read_block(void *dst, uint16_t src, size_t n) override; |
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void write_block(uint16_t dst, const void* src, size_t n) override; |
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bool get_storage_ptr(void *&ptr, size_t &size) override; |
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void _timer_tick(void) override; |
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bool healthy(void) override; |
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private: |
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enum class StorageBackend: uint8_t { |
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None, |
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FRAM, |
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Flash, |
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SDCard, // AKA POSIX |
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}; |
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StorageBackend _initialisedType = StorageBackend::None; |
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void _storage_create(void); |
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void _storage_open(void); |
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void _save_backup(void); |
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void _mark_dirty(uint16_t loc, uint16_t length); |
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uint8_t _buffer[HAL_STORAGE_SIZE] __attribute__((aligned(4))); |
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Bitmask<STORAGE_NUM_LINES> _dirty_mask; |
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uint32_t _last_empty_ms; |
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#if STORAGE_USE_FLASH |
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bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length); |
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bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length); |
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bool _flash_erase_sector(uint8_t sector); |
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bool _flash_erase_ok(void); |
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bool _flash_failed; |
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uint32_t _last_re_init_ms; |
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AP_FlashStorage _flash{_buffer, |
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HAL_FLASH_SECTOR_SIZE, |
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FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t), |
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FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t), |
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FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t), |
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FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)}; |
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void _flash_load(void); |
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void _flash_write(uint16_t line); |
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#endif |
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#if STORAGE_USE_POSIX |
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int log_fd; |
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#endif |
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#if STORAGE_USE_FRAM |
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AP_RAMTRON fram; |
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#endif |
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};
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