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44 lines
1.2 KiB
44 lines
1.2 KiB
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#define LINUX_STORAGE_SIZE HAL_STORAGE_SIZE |
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#define LINUX_STORAGE_MAX_WRITE 512 |
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#define LINUX_STORAGE_LINE_SHIFT 9 |
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#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT) |
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#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE) |
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namespace Linux { |
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class Storage : public AP_HAL::Storage |
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{ |
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public: |
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Storage() : _fd(-1),_dirty_mask(0) { } |
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static Storage *from(AP_HAL::Storage *storage) { |
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return static_cast<Storage*>(storage); |
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} |
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void init() {} |
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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, const void* src, size_t n); |
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virtual void _timer_tick(void); |
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protected: |
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void _mark_dirty(uint16_t loc, uint16_t length); |
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virtual void _storage_create(void); |
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virtual void _storage_open(void); |
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int _fd; |
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volatile bool _initialised; |
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uint8_t _buffer[LINUX_STORAGE_SIZE]; |
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volatile uint32_t _dirty_mask; |
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}; |
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}
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