amiro-os / include / amiro / memoryLayout.h @ bc91a128
History | View | Annotate | Download (8.902 KB)
| 1 | 58fe0e0b | Thomas Schöpping | #ifndef AMIRO_FILESYSTEMIO_H_
|
|---|---|---|---|
| 2 | #define AMIRO_FILESYSTEMIO_H_
|
||
| 3 | |||
| 4 | /*! \brief memory layouts for the eeproms
|
||
| 5 | *
|
||
| 6 | * This header defines the memory layout.
|
||
| 7 | * Every memory layout starts with a preamble
|
||
| 8 | * of 3 byte. The first one is a magic byte
|
||
| 9 | * for checking purpose. The second one declares
|
||
| 10 | * the byte structure major version (BSMV) and the third
|
||
| 11 | * the byte structure minor version (bsmv) of the subsequently
|
||
| 12 | * bytes in the memory. With different major versions, the
|
||
| 13 | * layout of the memory may totaly change, so one should
|
||
| 14 | * not read from such a different layout if the version
|
||
| 15 | * differs from the expected one. With greater minor
|
||
| 16 | * versions the old memory layout may not change, but
|
||
| 17 | * new elements emerge.
|
||
| 18 | */
|
||
| 19 | |||
| 20 | #include <amiro/eeprom/at24.hpp> |
||
| 21 | #include <chprintf.h> |
||
| 22 | |||
| 23 | namespace amiro {
|
||
| 24 | namespace fileSystemIo {
|
||
| 25 | |||
| 26 | class FileSystemIoBase {
|
||
| 27 | |||
| 28 | public:
|
||
| 29 | AT24 *at24c01; |
||
| 30 | const uint8_t BSMV;
|
||
| 31 | const uint8_t bsmv;
|
||
| 32 | const uint8_t HMV;
|
||
| 33 | const uint8_t hmv;
|
||
| 34 | const uint8_t magicByteValue = 0xAAu; |
||
| 35 | |||
| 36 | // TODO implement CRC check
|
||
| 37 | struct preamble {
|
||
| 38 | uint8_t magicByte; |
||
| 39 | uint8_t byteStructureMajorVersion; |
||
| 40 | uint8_t byteStructureMinorVersion; |
||
| 41 | uint8_t hardwareMajorVersion; |
||
| 42 | uint8_t hardwareMinorVersion; |
||
| 43 | uint8_t reserved_0x04_0x14[15];
|
||
| 44 | }; |
||
| 45 | |||
| 46 | enum{
|
||
| 47 | OK = 0x00u,
|
||
| 48 | NOT_IMPLEMENTED = 0x01u,
|
||
| 49 | WRONG_BSMV = 0x02u,
|
||
| 50 | WRONG_bsmv = 0x03u,
|
||
| 51 | IO_ERROR = 0x04u,
|
||
| 52 | WRONG_MAGICBYTE_VALUE = 0x05u,
|
||
| 53 | WRONG_INDEX = 0x06u,
|
||
| 54 | WRONG_HMV = 0x07u,
|
||
| 55 | WRONG_hmv = 0x08u,
|
||
| 56 | }; |
||
| 57 | |||
| 58 | public:
|
||
| 59 | |||
| 60 | FileSystemIoBase(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
||
| 61 | : at24c01(at24c01), |
||
| 62 | BSMV(BSMV), |
||
| 63 | bsmv(bsmv), |
||
| 64 | HMV(HMV), |
||
| 65 | hmv(hmv) {
|
||
| 66 | } |
||
| 67 | |||
| 68 | msg_t getCheck(){
|
||
| 69 | |||
| 70 | // Get the preamble
|
||
| 71 | const uint8_t bufferSize = sizeof(FileSystemIoBase::preamble); |
||
| 72 | uint8_t buffer[bufferSize]; |
||
| 73 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(FileSystemIoBase::preamble, magicByte)); |
||
| 74 | msg_t bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, sizeof(FileSystemIoBase::preamble));
|
||
| 75 | |||
| 76 | if (bytesWritten != bufferSize) {
|
||
| 77 | return IO_ERROR;
|
||
| 78 | } else if (buffer[offsetof(FileSystemIoBase::preamble, magicByte)] != magicByteValue) { |
||
| 79 | return WRONG_MAGICBYTE_VALUE;
|
||
| 80 | } else if (buffer[offsetof(FileSystemIoBase::preamble, byteStructureMajorVersion)] != BSMV) { |
||
| 81 | return WRONG_BSMV;
|
||
| 82 | } else if (buffer[offsetof(FileSystemIoBase::preamble, byteStructureMinorVersion)] < bsmv) { |
||
| 83 | return WRONG_bsmv;
|
||
| 84 | } else if (buffer[offsetof(FileSystemIoBase::preamble, hardwareMajorVersion)] != HMV) { |
||
| 85 | return WRONG_HMV;
|
||
| 86 | } else if (buffer[offsetof(FileSystemIoBase::preamble, hardwareMinorVersion)] < hmv) { |
||
| 87 | return WRONG_hmv;
|
||
| 88 | } else {
|
||
| 89 | return OK;
|
||
| 90 | } |
||
| 91 | } |
||
| 92 | |||
| 93 | msg_t initMemory(){
|
||
| 94 | |||
| 95 | // Get the preamble
|
||
| 96 | const uint8_t bufferSize = offsetof(FileSystemIoBase::preamble, hardwareMinorVersion) + 1; |
||
| 97 | uint8_t buffer[bufferSize]; |
||
| 98 | |||
| 99 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(FileSystemIoBase::preamble, magicByte)); |
||
| 100 | |||
| 101 | buffer[offsetof(FileSystemIoBase::preamble, magicByte)] = magicByteValue; |
||
| 102 | buffer[offsetof(FileSystemIoBase::preamble, byteStructureMajorVersion)] = BSMV; |
||
| 103 | buffer[offsetof(FileSystemIoBase::preamble, byteStructureMinorVersion)] = bsmv; |
||
| 104 | buffer[offsetof(FileSystemIoBase::preamble, hardwareMajorVersion)] = HMV; |
||
| 105 | buffer[offsetof(FileSystemIoBase::preamble, hardwareMinorVersion)] = hmv; |
||
| 106 | |||
| 107 | msg_t bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
||
| 108 | |||
| 109 | if (bytesWritten != bufferSize) {
|
||
| 110 | return IO_ERROR;
|
||
| 111 | } else {
|
||
| 112 | return OK;
|
||
| 113 | } |
||
| 114 | } |
||
| 115 | |||
| 116 | |||
| 117 | |||
| 118 | }; |
||
| 119 | |||
| 120 | |||
| 121 | class DiWheelDriveFSIO : public FileSystemIoBase {
|
||
| 122 | private:
|
||
| 123 | |||
| 124 | /** \brief Layout for DiWheelDriveFSIO with BSMV 1 and bsmv 1*/
|
||
| 125 | struct DiWheelDrive_1_1 {
|
||
| 126 | uint8_t reserved_0x00_0x14[20];
|
||
| 127 | uint16_t vcnl4020offset[4]; // U [12, 13, 15, 16] |
||
| 128 | uint8_t generalPurpose[96]; // 1Cx_7Cx |
||
| 129 | uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
||
| 130 | }; |
||
| 131 | |||
| 132 | public:
|
||
| 133 | DiWheelDriveFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
||
| 134 | : FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
|
||
| 135 | |||
| 136 | } |
||
| 137 | |||
| 138 | msg_t getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
|
||
| 139 | |||
| 140 | msg_t bytesWritten; |
||
| 141 | const uint8_t bufferSize = sizeof(uint16_t); |
||
| 142 | |||
| 143 | // Check if the vcnl index is in a valid range
|
||
| 144 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
||
| 145 | return WRONG_INDEX;
|
||
| 146 | } |
||
| 147 | |||
| 148 | // Get the data out of the memory
|
||
| 149 | switch (this->BSMV) {
|
||
| 150 | case 0x01u: |
||
| 151 | // Set the pointer to the address
|
||
| 152 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(DiWheelDriveFSIO::DiWheelDrive_1_1, vcnl4020offset[idx])); |
||
| 153 | switch (this->bsmv) {
|
||
| 154 | default:
|
||
| 155 | bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
||
| 156 | break;
|
||
| 157 | } |
||
| 158 | break;
|
||
| 159 | } |
||
| 160 | |||
| 161 | if (bytesWritten != bufferSize) {
|
||
| 162 | return IO_ERROR;
|
||
| 163 | } else {
|
||
| 164 | return OK;
|
||
| 165 | } |
||
| 166 | } |
||
| 167 | |||
| 168 | msg_t setVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
|
||
| 169 | |||
| 170 | msg_t bytesWritten; |
||
| 171 | const uint8_t bufferSize = sizeof(uint16_t); |
||
| 172 | |||
| 173 | // Check if the vcnl index is in a valid range
|
||
| 174 | if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
||
| 175 | return WRONG_INDEX;
|
||
| 176 | } |
||
| 177 | |||
| 178 | // Get the data out of the memory
|
||
| 179 | switch (this->BSMV) {
|
||
| 180 | case 0x01u: |
||
| 181 | // Set the pointer to the address
|
||
| 182 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(DiWheelDriveFSIO::DiWheelDrive_1_1, vcnl4020offset[idx])); |
||
| 183 | switch (this->bsmv) {
|
||
| 184 | default:
|
||
| 185 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (const uint8_t*) buffer, bufferSize);
|
||
| 186 | break;
|
||
| 187 | } |
||
| 188 | break;
|
||
| 189 | } |
||
| 190 | |||
| 191 | if (bytesWritten != bufferSize) {
|
||
| 192 | return IO_ERROR;
|
||
| 193 | } else {
|
||
| 194 | return OK;
|
||
| 195 | } |
||
| 196 | } |
||
| 197 | }; |
||
| 198 | |||
| 199 | class PowerBoardFSIO : public FileSystemIoBase {
|
||
| 200 | private:
|
||
| 201 | |||
| 202 | /** \brief Layout for PowerBoardFSIO with BSMV 1 and bsmv 1*/
|
||
| 203 | struct PowerBoard_1_1 {
|
||
| 204 | uint8_t reserved_0x00_0x14[20];
|
||
| 205 | uint16_t vcnl4020offset[8]; // U1.Proximity [11, 21, 31, 41, 12, 22, 32, 42] |
||
| 206 | uint8_t generalPurpose[88]; // 24x_7Cx |
||
| 207 | uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
||
| 208 | }; |
||
| 209 | |||
| 210 | public:
|
||
| 211 | PowerBoardFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
||
| 212 | : FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
|
||
| 213 | |||
| 214 | } |
||
| 215 | |||
| 216 | msg_t getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
|
||
| 217 | |||
| 218 | msg_t bytesWritten; |
||
| 219 | const uint8_t bufferSize = sizeof(uint16_t); |
||
| 220 | |||
| 221 | // Check if the vcnl index is in a valid range
|
||
| 222 | if (idx >= sizeof(PowerBoard_1_1::vcnl4020offset)) { |
||
| 223 | return WRONG_INDEX;
|
||
| 224 | } |
||
| 225 | |||
| 226 | // Get the data out of the memory
|
||
| 227 | switch (this->BSMV) {
|
||
| 228 | case 0x01u: |
||
| 229 | // Set the pointer to the address
|
||
| 230 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(PowerBoardFSIO::PowerBoard_1_1, vcnl4020offset[idx])); |
||
| 231 | switch (this->bsmv) {
|
||
| 232 | default:
|
||
| 233 | bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
||
| 234 | break;
|
||
| 235 | } |
||
| 236 | break;
|
||
| 237 | } |
||
| 238 | |||
| 239 | if (bytesWritten != bufferSize) {
|
||
| 240 | return IO_ERROR;
|
||
| 241 | } else {
|
||
| 242 | return OK;
|
||
| 243 | } |
||
| 244 | } |
||
| 245 | |||
| 246 | msg_t setVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
|
||
| 247 | |||
| 248 | msg_t bytesWritten; |
||
| 249 | const uint8_t bufferSize = sizeof(uint16_t); |
||
| 250 | |||
| 251 | // Check if the vcnl index is in a valid range
|
||
| 252 | if (idx >= sizeof(PowerBoard_1_1::vcnl4020offset)) { |
||
| 253 | return WRONG_INDEX;
|
||
| 254 | } |
||
| 255 | |||
| 256 | // Get the data out of the memory
|
||
| 257 | switch (this->BSMV) {
|
||
| 258 | case 0x01u: |
||
| 259 | // Set the pointer to the address
|
||
| 260 | chFileStreamSeek((BaseFileStream*)at24c01, offsetof(PowerBoardFSIO::PowerBoard_1_1, vcnl4020offset[idx])); |
||
| 261 | switch (this->bsmv) {
|
||
| 262 | default:
|
||
| 263 | bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (const uint8_t*) buffer, bufferSize);
|
||
| 264 | break;
|
||
| 265 | } |
||
| 266 | break;
|
||
| 267 | } |
||
| 268 | |||
| 269 | if (bytesWritten != bufferSize) {
|
||
| 270 | return IO_ERROR;
|
||
| 271 | } else {
|
||
| 272 | return OK;
|
||
| 273 | } |
||
| 274 | } |
||
| 275 | }; |
||
| 276 | |||
| 277 | class LightRingFSIO : public FileSystemIoBase {
|
||
| 278 | private:
|
||
| 279 | |||
| 280 | /** \brief Layout for LightRingFSIO with BSMV 1 and bsmv 1*/
|
||
| 281 | struct LightRing_1_1 {
|
||
| 282 | uint8_t reserved_0x00_0x14[20];
|
||
| 283 | uint8_t generalPurpose[104]; // 15x_80x |
||
| 284 | uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
||
| 285 | }; |
||
| 286 | |||
| 287 | public:
|
||
| 288 | LightRingFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
||
| 289 | : FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
|
||
| 290 | |||
| 291 | } |
||
| 292 | }; |
||
| 293 | |||
| 294 | } |
||
| 295 | } |
||
| 296 | |||
| 297 | #endif /* AMIRO_FILESYSTEMIO_H_ */ |