amiro-os / include / amiro / memoryLayout.h @ 2af9778e
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| 1 | 58fe0e0b | Thomas Schöpping | #ifndef AMIRO_FILESYSTEMIO_H_
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| 2 | #define AMIRO_FILESYSTEMIO_H_
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| 3 | |||
| 4 | /*! \brief memory layouts for the eeproms
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| 5 | *
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| 6 | * This header defines the memory layout.
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| 7 | * Every memory layout starts with a preamble
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| 8 | * of 3 byte. The first one is a magic byte
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| 9 | * for checking purpose. The second one declares
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| 10 | * the byte structure major version (BSMV) and the third
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| 11 | * the byte structure minor version (bsmv) of the subsequently
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| 12 | * bytes in the memory. With different major versions, the
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| 13 | * layout of the memory may totaly change, so one should
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| 14 | * not read from such a different layout if the version
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| 15 | * differs from the expected one. With greater minor
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| 16 | * versions the old memory layout may not change, but
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| 17 | * new elements emerge.
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| 18 | */
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| 19 | |||
| 20 | #include <amiro/eeprom/at24.hpp> |
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| 21 | #include <chprintf.h> |
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| 22 | |||
| 23 | namespace amiro {
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| 24 | namespace fileSystemIo {
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| 25 | |||
| 26 | class FileSystemIoBase {
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| 27 | |||
| 28 | public:
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| 29 | AT24 *at24c01; |
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| 30 | const uint8_t BSMV;
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| 31 | const uint8_t bsmv;
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| 32 | const uint8_t HMV;
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| 33 | const uint8_t hmv;
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| 34 | const uint8_t magicByteValue = 0xAAu; |
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| 35 | |||
| 36 | // TODO implement CRC check
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| 37 | struct preamble {
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| 38 | uint8_t magicByte; |
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| 39 | uint8_t byteStructureMajorVersion; |
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| 40 | uint8_t byteStructureMinorVersion; |
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| 41 | uint8_t hardwareMajorVersion; |
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| 42 | uint8_t hardwareMinorVersion; |
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| 43 | uint8_t reserved_0x04_0x14[15];
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| 44 | }; |
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| 45 | |||
| 46 | enum{
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| 47 | OK = 0x00u,
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| 48 | NOT_IMPLEMENTED = 0x01u,
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| 49 | WRONG_BSMV = 0x02u,
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| 50 | WRONG_bsmv = 0x03u,
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| 51 | IO_ERROR = 0x04u,
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| 52 | WRONG_MAGICBYTE_VALUE = 0x05u,
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| 53 | WRONG_INDEX = 0x06u,
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| 54 | WRONG_HMV = 0x07u,
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| 55 | WRONG_hmv = 0x08u,
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| 56 | }; |
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| 57 | |||
| 58 | public:
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| 59 | |||
| 60 | FileSystemIoBase(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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| 61 | : at24c01(at24c01), |
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| 62 | BSMV(BSMV), |
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| 63 | bsmv(bsmv), |
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| 64 | HMV(HMV), |
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| 65 | hmv(hmv) {
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| 66 | } |
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| 67 | |||
| 68 | msg_t getCheck(){
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| 69 | |||
| 70 | // Get the preamble
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| 71 | const uint8_t bufferSize = sizeof(FileSystemIoBase::preamble); |
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| 72 | uint8_t buffer[bufferSize]; |
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| 73 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(FileSystemIoBase::preamble, magicByte)); |
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| 74 | msg_t bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, sizeof(FileSystemIoBase::preamble));
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| 75 | |||
| 76 | if (bytesWritten != bufferSize) {
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| 77 | return IO_ERROR;
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| 78 | } else if (buffer[offsetof(FileSystemIoBase::preamble, magicByte)] != magicByteValue) { |
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| 79 | return WRONG_MAGICBYTE_VALUE;
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| 80 | } else if (buffer[offsetof(FileSystemIoBase::preamble, byteStructureMajorVersion)] != BSMV) { |
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| 81 | return WRONG_BSMV;
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| 82 | } else if (buffer[offsetof(FileSystemIoBase::preamble, byteStructureMinorVersion)] < bsmv) { |
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| 83 | return WRONG_bsmv;
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| 84 | } else if (buffer[offsetof(FileSystemIoBase::preamble, hardwareMajorVersion)] != HMV) { |
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| 85 | return WRONG_HMV;
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| 86 | } else if (buffer[offsetof(FileSystemIoBase::preamble, hardwareMinorVersion)] < hmv) { |
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| 87 | return WRONG_hmv;
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| 88 | } else {
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| 89 | return OK;
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| 90 | } |
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| 91 | } |
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| 92 | |||
| 93 | msg_t initMemory(){
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| 94 | |||
| 95 | // Get the preamble
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| 96 | const uint8_t bufferSize = offsetof(FileSystemIoBase::preamble, hardwareMinorVersion) + 1; |
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| 97 | uint8_t buffer[bufferSize]; |
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| 98 | |||
| 99 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(FileSystemIoBase::preamble, magicByte)); |
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| 100 | |||
| 101 | buffer[offsetof(FileSystemIoBase::preamble, magicByte)] = magicByteValue; |
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| 102 | buffer[offsetof(FileSystemIoBase::preamble, byteStructureMajorVersion)] = BSMV; |
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| 103 | buffer[offsetof(FileSystemIoBase::preamble, byteStructureMinorVersion)] = bsmv; |
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| 104 | buffer[offsetof(FileSystemIoBase::preamble, hardwareMajorVersion)] = HMV; |
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| 105 | buffer[offsetof(FileSystemIoBase::preamble, hardwareMinorVersion)] = hmv; |
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| 106 | |||
| 107 | msg_t bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
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| 108 | |||
| 109 | if (bytesWritten != bufferSize) {
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| 110 | return IO_ERROR;
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| 111 | } else {
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| 112 | return OK;
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| 113 | } |
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| 114 | } |
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| 115 | |||
| 116 | |||
| 117 | |||
| 118 | }; |
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| 119 | |||
| 120 | |||
| 121 | class DiWheelDriveFSIO : public FileSystemIoBase {
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| 122 | private:
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| 123 | |||
| 124 | /** \brief Layout for DiWheelDriveFSIO with BSMV 1 and bsmv 1*/
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| 125 | struct DiWheelDrive_1_1 {
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| 126 | uint8_t reserved_0x00_0x14[20];
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| 127 | uint16_t vcnl4020offset[4]; // U [12, 13, 15, 16] |
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| 128 | uint8_t generalPurpose[96]; // 1Cx_7Cx |
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| 129 | uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
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| 130 | }; |
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| 131 | |||
| 132 | public:
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| 133 | DiWheelDriveFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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| 134 | : FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
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| 135 | |||
| 136 | } |
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| 137 | |||
| 138 | msg_t getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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| 139 | |||
| 140 | msg_t bytesWritten; |
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| 141 | const uint8_t bufferSize = sizeof(uint16_t); |
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| 142 | |||
| 143 | // Check if the vcnl index is in a valid range
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| 144 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
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| 145 | return WRONG_INDEX;
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| 146 | } |
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| 147 | |||
| 148 | // Get the data out of the memory
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| 149 | switch (this->BSMV) {
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| 150 | case 0x01u: |
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| 151 | // Set the pointer to the address
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| 152 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(DiWheelDriveFSIO::DiWheelDrive_1_1, vcnl4020offset[idx])); |
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| 153 | switch (this->bsmv) {
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| 154 | default:
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| 155 | bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
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| 156 | break;
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| 157 | } |
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| 158 | break;
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| 159 | } |
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| 160 | |||
| 161 | if (bytesWritten != bufferSize) {
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| 162 | return IO_ERROR;
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| 163 | } else {
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| 164 | return OK;
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| 165 | } |
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| 166 | } |
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| 167 | |||
| 168 | msg_t setVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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| 169 | |||
| 170 | msg_t bytesWritten; |
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| 171 | const uint8_t bufferSize = sizeof(uint16_t); |
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| 172 | |||
| 173 | // Check if the vcnl index is in a valid range
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| 174 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
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| 175 | return WRONG_INDEX;
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| 176 | } |
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| 177 | |||
| 178 | // Get the data out of the memory
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| 179 | switch (this->BSMV) {
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| 180 | case 0x01u: |
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| 181 | // Set the pointer to the address
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| 182 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(DiWheelDriveFSIO::DiWheelDrive_1_1, vcnl4020offset[idx])); |
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| 183 | switch (this->bsmv) {
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| 184 | default:
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| 185 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (const uint8_t*) buffer, bufferSize);
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| 186 | break;
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| 187 | } |
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| 188 | break;
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| 189 | } |
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| 190 | |||
| 191 | if (bytesWritten != bufferSize) {
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| 192 | return IO_ERROR;
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| 193 | } else {
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| 194 | return OK;
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| 195 | } |
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| 196 | } |
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| 197 | }; |
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| 198 | |||
| 199 | class PowerBoardFSIO : public FileSystemIoBase {
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| 200 | private:
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| 201 | |||
| 202 | /** \brief Layout for PowerBoardFSIO with BSMV 1 and bsmv 1*/
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| 203 | struct PowerBoard_1_1 {
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| 204 | uint8_t reserved_0x00_0x14[20];
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| 205 | uint16_t vcnl4020offset[8]; // U1.Proximity [11, 21, 31, 41, 12, 22, 32, 42] |
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| 206 | uint8_t generalPurpose[88]; // 24x_7Cx |
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| 207 | uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
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| 208 | }; |
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| 209 | |||
| 210 | public:
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| 211 | PowerBoardFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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| 212 | : FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
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| 213 | |||
| 214 | } |
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| 215 | |||
| 216 | msg_t getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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| 217 | |||
| 218 | msg_t bytesWritten; |
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| 219 | const uint8_t bufferSize = sizeof(uint16_t); |
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| 220 | |||
| 221 | // Check if the vcnl index is in a valid range
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| 222 | if (idx >= sizeof(PowerBoard_1_1::vcnl4020offset)) { |
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| 223 | return WRONG_INDEX;
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| 224 | } |
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| 225 | |||
| 226 | // Get the data out of the memory
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| 227 | switch (this->BSMV) {
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| 228 | case 0x01u: |
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| 229 | // Set the pointer to the address
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| 230 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(PowerBoardFSIO::PowerBoard_1_1, vcnl4020offset[idx])); |
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| 231 | switch (this->bsmv) {
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| 232 | default:
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| 233 | bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
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| 234 | break;
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| 235 | } |
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| 236 | break;
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| 237 | } |
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| 238 | |||
| 239 | if (bytesWritten != bufferSize) {
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| 240 | return IO_ERROR;
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| 241 | } else {
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| 242 | return OK;
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| 243 | } |
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| 244 | } |
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| 245 | |||
| 246 | msg_t setVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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| 247 | |||
| 248 | msg_t bytesWritten; |
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| 249 | const uint8_t bufferSize = sizeof(uint16_t); |
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| 250 | |||
| 251 | // Check if the vcnl index is in a valid range
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| 252 | if (idx >= sizeof(PowerBoard_1_1::vcnl4020offset)) { |
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| 253 | return WRONG_INDEX;
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| 254 | } |
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| 255 | |||
| 256 | // Get the data out of the memory
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| 257 | switch (this->BSMV) {
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| 258 | case 0x01u: |
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| 259 | // Set the pointer to the address
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| 260 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(PowerBoardFSIO::PowerBoard_1_1, vcnl4020offset[idx])); |
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| 261 | switch (this->bsmv) {
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| 262 | default:
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| 263 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (const uint8_t*) buffer, bufferSize);
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| 264 | break;
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| 265 | } |
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| 266 | break;
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| 267 | } |
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| 268 | |||
| 269 | if (bytesWritten != bufferSize) {
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| 270 | return IO_ERROR;
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| 271 | } else {
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| 272 | return OK;
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| 273 | } |
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| 274 | } |
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| 275 | }; |
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| 276 | |||
| 277 | class LightRingFSIO : public FileSystemIoBase {
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| 278 | private:
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| 279 | |||
| 280 | /** \brief Layout for LightRingFSIO with BSMV 1 and bsmv 1*/
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| 281 | struct LightRing_1_1 {
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| 282 | uint8_t reserved_0x00_0x14[20];
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| 283 | uint8_t generalPurpose[104]; // 15x_80x |
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| 284 | uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
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| 285 | }; |
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| 286 | |||
| 287 | public:
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| 288 | LightRingFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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| 289 | : FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
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| 290 | |||
| 291 | } |
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| 292 | }; |
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| 293 | |||
| 294 | } |
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| 295 | } |
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| 296 | |||
| 297 | #endif /* AMIRO_FILESYSTEMIO_H_ */ |