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103 lines
2.9 KiB
103 lines
2.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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Please contribute your ideas! See http://dev.ardupilot.com for details |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Management for hal.storage to allow for backwards compatible mapping |
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of storage offsets to available storage |
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*/ |
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#ifndef _STORAGEMANAGER_H_ |
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#define _STORAGEMANAGER_H_ |
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#include <AP_HAL.h> |
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/* |
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use just one area per storage type for boards with 4k of |
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storage. Use larger areas for other boards |
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*/ |
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#if HAL_STORAGE_SIZE >= 16384 |
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#define STORAGE_NUM_AREAS 12 |
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#elif HAL_STORAGE_SIZE >= 8192 |
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#define STORAGE_NUM_AREAS 8 |
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#elif HAL_STORAGE_SIZE >= 4096 |
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#define STORAGE_NUM_AREAS 4 |
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#else |
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#error "Unsupported storage size" |
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#endif |
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/* |
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The StorageManager holds the layout of non-volatile storeage |
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*/ |
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class StorageManager { |
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friend class StorageAccess; |
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public: |
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enum StorageType { |
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StorageParam = 0, |
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StorageFence = 1, |
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StorageRally = 2, |
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StorageMission = 3 |
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}; |
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// erase whole of storage |
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static void erase(void); |
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// setup for copter layout of storage |
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static void set_layout_copter(void) { layout = layout_copter; } |
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private: |
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struct StorageArea { |
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StorageType type; |
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uint16_t offset; |
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uint16_t length; |
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}; |
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// available layouts |
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static const StorageArea layout_copter[STORAGE_NUM_AREAS]; |
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static const StorageArea layout_default[STORAGE_NUM_AREAS]; |
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static const StorageArea *layout; |
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}; |
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/* |
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A StorageAccess object allows access to one type of storage |
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*/ |
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class StorageAccess { |
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public: |
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// constructor |
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StorageAccess(StorageManager::StorageType _type); |
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// return total size of this accessor |
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uint16_t size(void) const { return total_size; } |
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// base access via block functions |
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bool read_block(void *dst, uint16_t src, size_t n) const; |
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bool write_block(uint16_t dst, const void* src, size_t n) const; |
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// helper functions |
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uint8_t read_byte(uint16_t loc) const; |
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uint16_t read_uint16(uint16_t loc) const; |
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uint32_t read_uint32(uint16_t loc) const; |
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void write_byte(uint16_t loc, uint8_t value) const; |
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void write_uint16(uint16_t loc, uint16_t value) const; |
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void write_uint32(uint16_t loc, uint32_t value) const; |
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private: |
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const StorageManager::StorageType type; |
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uint16_t total_size; |
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}; |
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#endif // _STORAGEMANAGER_H_
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