Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_HAL/AP_HAL.h>
       4             : #include <AP_Common/Bitmask.h>
       5             : #include "AP_HAL_SITL_Namespace.h"
       6             : #include <AP_FlashStorage/AP_FlashStorage.h>
       7             : #include <AP_RAMTRON/AP_RAMTRON.h>
       8             : 
       9             : #ifndef STORAGE_USE_FLASH
      10             : #define STORAGE_USE_FLASH 1
      11             : #endif
      12             : 
      13             : #ifndef STORAGE_USE_POSIX
      14             : #define STORAGE_USE_POSIX 1
      15             : #endif
      16             : 
      17             : #ifndef STORAGE_USE_FRAM
      18             : #define STORAGE_USE_FRAM HAL_WITH_RAMTRON
      19             : #endif
      20             : 
      21             : #define STORAGE_LINE_SHIFT 3
      22             : 
      23             : #define STORAGE_LINE_SIZE (1<<STORAGE_LINE_SHIFT)
      24             : #define STORAGE_NUM_LINES (HAL_STORAGE_SIZE/STORAGE_LINE_SIZE)
      25             : 
      26             : class HALSITL::Storage : public AP_HAL::Storage {
      27             : public:
      28           0 :     void init() override {}
      29             :     void read_block(void *dst, uint16_t src, size_t n) override;
      30             :     void write_block(uint16_t dst, const void* src, size_t n) override;
      31             :     bool get_storage_ptr(void *&ptr, size_t &size) override;
      32             : 
      33             :     void _timer_tick(void) override;
      34             :     bool healthy(void) override;
      35             : 
      36             : private:
      37             :     enum class StorageBackend: uint8_t {
      38             :         None,
      39             :         FRAM,
      40             :         Flash,
      41             :         SDCard,  // AKA POSIX
      42             :     };
      43             :     StorageBackend _initialisedType = StorageBackend::None;
      44             : 
      45             :     void _storage_create(void);
      46             :     void _storage_open(void);
      47             :     void _save_backup(void);
      48             :     void _mark_dirty(uint16_t loc, uint16_t length);
      49             :     uint8_t _buffer[HAL_STORAGE_SIZE] __attribute__((aligned(4)));
      50             :     Bitmask<STORAGE_NUM_LINES> _dirty_mask;
      51             : 
      52             :     uint32_t _last_empty_ms;
      53             : 
      54             : #if STORAGE_USE_FLASH
      55             :     bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
      56             :     bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
      57             :     bool _flash_erase_sector(uint8_t sector);
      58             :     bool _flash_erase_ok(void);
      59             : 
      60             :     bool _flash_failed;
      61             :     uint32_t _last_re_init_ms;
      62             : 
      63             :     AP_FlashStorage _flash{_buffer,
      64             :             HAL_FLASH_SECTOR_SIZE,
      65             :             FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
      66             :             FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
      67             :             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
      68             :             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
      69             : 
      70             :     void _flash_load(void);
      71             :     void _flash_write(uint16_t line);
      72             : #endif
      73             : 
      74             : #if STORAGE_USE_POSIX
      75             :     int log_fd;
      76             : #endif
      77             : 
      78             : #if STORAGE_USE_FRAM
      79             :     AP_RAMTRON fram;
      80             : #endif
      81             : };