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86 lines
2.9 KiB
86 lines
2.9 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_HAL_ChibiOS_Namespace.h" |
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#include <AP_Common/Bitmask.h> |
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#include <AP_FlashStorage/AP_FlashStorage.h> |
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#include "hwdef/common/flash.h" |
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#include <AP_RAMTRON/AP_RAMTRON.h> |
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#define CH_STORAGE_SIZE HAL_STORAGE_SIZE |
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#ifndef HAL_USE_EMPTY_STORAGE |
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// when using flash storage we use a small line size to make storage |
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// compact and minimise the number of erase cycles needed |
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#define CH_STORAGE_LINE_SHIFT 3 |
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#define CH_STORAGE_LINE_SIZE (1<<CH_STORAGE_LINE_SHIFT) |
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#define CH_STORAGE_NUM_LINES (CH_STORAGE_SIZE/CH_STORAGE_LINE_SIZE) |
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class ChibiOS::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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void _timer_tick(void) override; |
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bool healthy(void) override; |
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private: |
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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 _save_backup(void); |
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void _mark_dirty(uint16_t loc, uint16_t length); |
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uint8_t _buffer[CH_STORAGE_SIZE] __attribute__((aligned(4))); |
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Bitmask<CH_STORAGE_NUM_LINES> _dirty_mask; |
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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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uint8_t _flash_page; |
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bool _flash_failed; |
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uint32_t _last_re_init_ms; |
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uint32_t _last_empty_ms; |
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#ifdef STORAGE_FLASH_PAGE |
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AP_FlashStorage _flash{_buffer, |
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stm32_flash_getpagesize(STORAGE_FLASH_PAGE), |
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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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#endif |
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void _flash_load(void); |
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void _flash_write(uint16_t line); |
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#if HAL_WITH_RAMTRON |
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AP_RAMTRON fram; |
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bool using_fram; |
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#endif |
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#ifdef USE_POSIX |
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bool using_filesystem; |
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int log_fd; |
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#endif |
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}; |
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#endif // HAL_USE_EMPTY_STORAGE
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