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42 lines
1.1 KiB
42 lines
1.1 KiB
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_HAL_VRBRAIN_Namespace.h" |
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#include <systemlib/perf_counter.h> |
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#define VRBRAIN_STORAGE_SIZE HAL_STORAGE_SIZE |
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#define VRBRAIN_STORAGE_MAX_WRITE 512 |
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#define VRBRAIN_STORAGE_LINE_SHIFT 9 |
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#define VRBRAIN_STORAGE_LINE_SIZE (1<<VRBRAIN_STORAGE_LINE_SHIFT) |
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#define VRBRAIN_STORAGE_NUM_LINES (VRBRAIN_STORAGE_SIZE/VRBRAIN_STORAGE_LINE_SIZE) |
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class VRBRAIN::VRBRAINStorage : public AP_HAL::Storage { |
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public: |
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VRBRAINStorage(); |
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void init() {} |
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void read_block(void *dst, uint16_t src, size_t n); |
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void write_block(uint16_t dst, const void* src, size_t n); |
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void _timer_tick(void); |
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private: |
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int _fd; |
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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 _mark_dirty(uint16_t loc, uint16_t length); |
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uint8_t _buffer[VRBRAIN_STORAGE_SIZE] __attribute__((aligned(4))); |
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volatile uint32_t _dirty_mask; |
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perf_counter_t _perf_storage; |
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perf_counter_t _perf_errors; |
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bool _have_mtd; |
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void _upgrade_to_mtd(void); |
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uint32_t _mtd_signature(void); |
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void _mtd_write_signature(void); |
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void bus_lock(bool lock); |
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};
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