You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
42 lines
1.1 KiB
42 lines
1.1 KiB
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include "AP_HAL_PX4_Namespace.h" |
|
#include <systemlib/perf_counter.h> |
|
|
|
#define PX4_STORAGE_SIZE HAL_STORAGE_SIZE |
|
#define PX4_STORAGE_MAX_WRITE 512 |
|
#define PX4_STORAGE_LINE_SHIFT 9 |
|
#define PX4_STORAGE_LINE_SIZE (1<<PX4_STORAGE_LINE_SHIFT) |
|
#define PX4_STORAGE_NUM_LINES (PX4_STORAGE_SIZE/PX4_STORAGE_LINE_SIZE) |
|
|
|
class PX4::PX4Storage : public AP_HAL::Storage { |
|
public: |
|
PX4Storage(); |
|
|
|
void init() {} |
|
void read_block(void *dst, uint16_t src, size_t n); |
|
void write_block(uint16_t dst, const void* src, size_t n); |
|
|
|
void _timer_tick(void); |
|
|
|
private: |
|
int _fd; |
|
volatile bool _initialised; |
|
void _storage_create(void); |
|
void _storage_open(void); |
|
void _mark_dirty(uint16_t loc, uint16_t length); |
|
uint8_t _buffer[PX4_STORAGE_SIZE] __attribute__((aligned(4))); |
|
volatile uint32_t _dirty_mask; |
|
perf_counter_t _perf_storage; |
|
perf_counter_t _perf_errors; |
|
bool _have_mtd; |
|
void _upgrade_to_mtd(void); |
|
uint32_t _mtd_signature(void); |
|
void _mtd_write_signature(void); |
|
|
|
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4) |
|
irqstate_t irq_state; |
|
#endif |
|
void bus_lock(bool lock); |
|
};
|
|
|