amiro-os / include / amiro / memoryLayout.h @ 753ccd04
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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_ */ |