Storage.h

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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
 * Storage.h --- AP_HAL_F4Light storage driver.
 
 based on:
 
 * Copyright (C) 2013, Virtualrobotix.com Roberto Navoni , Emile 
 * All Rights Reserved.
 *
 * This software is released under the "BSD3" license.  Read the file
 * "LICENSE" for more information.
 *
 * Written by Roberto Navoni  <info@virtualrobotix.com>, 11 January 2013
 */


// another way - https://habrahabr.ru/post/262163/

#pragma once

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
#include "AP_HAL_F4Light_Namespace.h"
#include <hal.h>

// read is quite expensive operation because requires scan of 16K RAM
// we have a lot of unused CCM memory so lets cache data in RAM
#define EEPROM_CACHED
// write is very expensive operation so move out it to separate thread
#define WRITE_IN_THREAD

class F4Light::Storage : public AP_HAL::Storage
{
public:
    Storage();
    void init();
    static void late_init(bool defer);

    void read_block(void *dst, uint16_t src, size_t n);
    void write_block(uint16_t dst, const void* src, size_t n);

// just for us
    static uint8_t  read_byte(uint16_t loc);
    static void write_byte(uint16_t loc, uint8_t value);
    
    typedef struct {
        uint16_t loc;
        uint16_t val;
    } Item;
#define EEPROM_QUEUE_LEN 256

private:
    static void     _write_byte(uint16_t loc, uint8_t value);
    static uint8_t  _read_byte(uint16_t loc);

    static void write_word(uint16_t loc, uint16_t value);

    static void do_on_disarm();
    static bool write_deferred;
    
    static void error_parse(uint16_t status);

#if defined(WRITE_IN_THREAD)
    static void write_thread();
    static volatile uint16_t rd_ptr;
    static volatile uint16_t wr_ptr;
    static Item queue[EEPROM_QUEUE_LEN];
    static void *_task;
#endif


#if defined(EEPROM_CACHED)
    static uint8_t eeprom_buffer[BOARD_STORAGE_SIZE] IN_CCM;
#endif
};