DataFlash: added SITL headers

libraries/DataFlash/DataFlash_SITL.cpp

@@ -0,0 +1,134 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+  hacked up DataFlash library for Desktop support
+*/
+
+#if 0
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdint.h>
+#include "DataFlash.h"
+
+#define DF_PAGE_SIZE 512
+#define DF_NUM_PAGES 4096
+
+extern const AP_HAL::HAL& hal;
+
+static int flash_fd;
+static uint8_t buffer[2][DF_PAGE_SIZE];
+
+// Public Methods //////////////////////////////////////////////////////////////
+void DataFlash_SITL::Init(void)
+{
+	if (flash_fd == 0) {
+		flash_fd = open("dataflash.bin", O_RDWR, 0777);
+		if (flash_fd == -1) {
+			uint8_t *fill;
+			fill = (uint8_t *)malloc(DF_PAGE_SIZE*DF_NUM_PAGES);
+			flash_fd = open("dataflash.bin", O_RDWR | O_CREAT, 0777);
+			memset(fill, 0xFF, DF_PAGE_SIZE*DF_NUM_PAGES);
+			write(flash_fd, fill, DF_PAGE_SIZE*DF_NUM_PAGES);
+			free(fill);
+		}
+	}
+	df_PageSize = DF_PAGE_SIZE;
+
+    // reserve last page for config information
+    df_NumPages   = DF_NUM_PAGES - 1;
+}
+
+// This function is mainly to test the device
+void DataFlash_SITL::ReadManufacturerID()
+{
+	df_manufacturer = 1;
+	df_device = 0x0203;
+}
+
+bool DataFlash_SITL::CardInserted(void)
+{
+    return true;
+}
+
+// Read the status register
+uint8_t DataFlash_SITL::ReadStatusReg()
+{
+	return 0;
+}
+
+// Read the status of the DataFlash
+inline
+uint8_t DataFlash_SITL::ReadStatus()
+{
+	return 1;
+}
+
+
+inline
+uint16_t DataFlash_SITL::PageSize()
+{
+	return df_PageSize;
+}
+
+
+// Wait until DataFlash is in ready state...
+void DataFlash_SITL::WaitReady()
+{
+	while(!ReadStatus());
+}
+
+void DataFlash_SITL::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
+{
+	pread(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
+}
+
+void DataFlash_SITL::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
+{
+	pwrite(flash_fd, buffer[BufferNum-1], DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
+}
+
+void DataFlash_SITL::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
+{
+	buffer[BufferNum-1][IntPageAdr] = (uint8_t)Data;
+}
+
+unsigned char DataFlash_SITL::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
+{
+	return (unsigned char)buffer[BufferNum-1][IntPageAdr];
+}
+
+// *** END OF INTERNAL FUNCTIONS ***
+
+void DataFlash_SITL::PageErase (uint16_t PageAdr)
+{
+	uint8_t fill[DF_PAGE_SIZE];
+	memset(fill, 0xFF, sizeof(fill));
+	pwrite(flash_fd, fill, DF_PAGE_SIZE, PageAdr*DF_PAGE_SIZE);
+}
+
+void DataFlash_SITL::BlockErase (uint16_t BlockAdr)
+{
+	uint8_t fill[DF_PAGE_SIZE*8];
+	memset(fill, 0xFF, sizeof(fill));
+	pwrite(flash_fd, fill, DF_PAGE_SIZE*8, BlockAdr*DF_PAGE_SIZE*8);
+}
+
+
+void DataFlash_SITL::ChipErase()
+{
+	for (int i=0; i<DF_NUM_PAGES; i++) {
+		PageErase(i);
+        hal.scheduler->delay(1);
+	}
+}
+
+
+#endif
+#endif
+

libraries/DataFlash/DataFlash_SITL.h

@@ -0,0 +1,39 @@
+/* ************************************************************ */
+/* DataFlash_SITL Log library                                 */
+/* ************************************************************ */
+#ifndef __DATAFLASH_SITL_H__
+#define __DATAFLASH_SITL_H__
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+
+#include <AP_HAL.h>
+#include "DataFlash.h"
+
+class DataFlash_SITL : public DataFlash_Class
+{
+private:
+    //Methods
+    uint8_t           BufferRead (uint8_t BufferNum, uint16_t IntPageAdr);
+    void                    BufferWrite (uint8_t BufferNum, uint16_t IntPageAdr, uint8_t Data);
+    void                    BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait);
+    void                    PageToBuffer(uint8_t BufferNum, uint16_t PageAdr);
+    void                    WaitReady();
+    uint8_t           ReadStatusReg();
+    uint8_t           ReadStatus();
+    uint16_t                PageSize();
+    void                    PageErase (uint16_t PageAdr);
+    void                    BlockErase (uint16_t BlockAdr);
+    void                    ChipErase();
+    
+    AP_HAL::SPIDeviceDriver *_spi;
+    AP_HAL::Semaphore *_spi_sem;
+public:
+
+    DataFlash_SITL() {}
+    void        Init();
+    void        ReadManufacturerID();
+    bool        CardInserted();
+};
+
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+#endif // __DATAFLASH_SITL_H__