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98 lines
3.1 KiB
98 lines
3.1 KiB
#ifndef DATAFLASH_BACKEND_H |
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#define DATAFLASH_BACKEND_H |
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 |
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#define DATAFLASH_NO_CLI |
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#endif |
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#include <AP_HAL.h> |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <AP_GPS.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_Baro.h> |
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#include <AP_AHRS.h> |
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#include <AP_Vehicle.h> |
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#include "../AP_Airspeed/AP_Airspeed.h" |
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#include "../AP_BattMonitor/AP_BattMonitor.h" |
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#include <stdint.h> |
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class DataFlash_Backend |
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{ |
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public: |
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FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t); |
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DataFlash_Backend(DataFlash_Class &front) : |
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_front(front), |
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_structures(NULL) |
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{ } |
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virtual bool CardInserted(void) = 0; |
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// erase handling |
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virtual bool NeedErase(void) = 0; |
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virtual void EraseAll() = 0; |
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/* Write a block of data at current offset */ |
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virtual void WriteBlock(const void *pBuffer, uint16_t size) = 0; |
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// high level interface |
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virtual uint16_t find_last_log(void) = 0; |
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virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0; |
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virtual void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc) = 0; |
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virtual int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data) = 0; |
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virtual uint16_t get_num_logs(void) = 0; |
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#ifndef DATAFLASH_NO_CLI |
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virtual void LogReadProcess(uint16_t log_num, |
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uint16_t start_page, uint16_t end_page, |
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print_mode_fn printMode, |
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AP_HAL::BetterStream *port) = 0; |
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virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0; |
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virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0; |
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virtual void ListAvailableLogs(AP_HAL::BetterStream *port) = 0; |
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#endif // DATAFLASH_NO_CLI |
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void EnableWrites(bool enable) { _writes_enabled = enable; } |
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bool logging_started(void) const { return log_write_started; } |
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// initialisation this really shouldn't take structure and |
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// num_types, however the CLI LogReadProcess function requires it. |
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// That function needs to be split. |
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virtual void Init(const struct LogStructure *structure, uint8_t num_types) { |
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_writes_enabled = true; |
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_num_types = num_types; |
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_structures = structure; |
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} |
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virtual uint16_t start_new_log(void) = 0; |
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bool log_write_started; |
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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// currently only DataFlash_File support this: |
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virtual void flush(void) { } |
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#endif |
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protected: |
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DataFlash_Class &_front; |
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/* |
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read and print a log entry using the format strings from the given structure |
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*/ |
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void _print_log_entry(uint8_t msg_type, |
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print_mode_fn print_mode, |
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AP_HAL::BetterStream *port); |
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const struct LogStructure *_structures; |
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uint8_t _num_types = 0; |
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bool _writes_enabled = false; |
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/* |
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read a block |
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*/ |
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virtual bool ReadBlock(void *pkt, uint16_t size) = 0; |
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}; |
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#endif
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