amiro-os / include / amiro / memoryLayout.h @ e0c5d17a
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#ifndef AMIRO_FILESYSTEMIO_H_
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#define AMIRO_FILESYSTEMIO_H_
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/*! \brief memory layouts for the eeproms
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*
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* This header defines the memory layout.
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* Every memory layout starts with a preamble
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* of 3 byte. The first one is a magic byte
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* for checking purpose. The second one declares
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* the byte structure major version (BSMV) and the third
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* the byte structure minor version (bsmv) of the subsequently
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* bytes in the memory. With different major versions, the
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* layout of the memory may totaly change, so one should
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* not read from such a different layout if the version
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* differs from the expected one. With greater minor
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* versions the old memory layout may not change, but
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* new elements emerge.
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*/
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#include <amiro/eeprom/at24.hpp> |
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#include <chprintf.h> |
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namespace amiro {
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namespace fileSystemIo {
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class FileSystemIoBase {
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public:
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AT24 *at24c01; |
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const uint8_t BSMV;
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const uint8_t bsmv;
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const uint8_t HMV;
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const uint8_t hmv;
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const uint8_t magicByteValue = 0xAAu; |
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// TODO implement CRC check
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struct preamble {
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uint8_t magicByte; |
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uint8_t byteStructureMajorVersion; |
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uint8_t byteStructureMinorVersion; |
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uint8_t hardwareMajorVersion; |
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uint8_t hardwareMinorVersion; |
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uint8_t reserved_0x04_0x14[15];
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}; |
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enum{
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OK = 0x00u,
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NOT_IMPLEMENTED = 0x01u,
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WRONG_BSMV = 0x02u,
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WRONG_bsmv = 0x03u,
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IO_ERROR = 0x04u,
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WRONG_MAGICBYTE_VALUE = 0x05u,
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WRONG_INDEX = 0x06u,
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WRONG_HMV = 0x07u,
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WRONG_hmv = 0x08u,
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}; |
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public:
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FileSystemIoBase(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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: at24c01(at24c01), |
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BSMV(BSMV), |
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bsmv(bsmv), |
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HMV(HMV), |
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hmv(hmv) {
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} |
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msg_t getCheck(){
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// Get the preamble
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const uint8_t bufferSize = sizeof(FileSystemIoBase::preamble); |
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uint8_t buffer[bufferSize]; |
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chFileStreamSeek((BaseFileStream*)at24c01, offsetof(FileSystemIoBase::preamble, magicByte)); |
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msg_t bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, sizeof(FileSystemIoBase::preamble));
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if (bytesWritten != bufferSize) {
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return IO_ERROR;
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} else if (buffer[offsetof(FileSystemIoBase::preamble, magicByte)] != magicByteValue) { |
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return WRONG_MAGICBYTE_VALUE;
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} else if (buffer[offsetof(FileSystemIoBase::preamble, byteStructureMajorVersion)] != BSMV) { |
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return WRONG_BSMV;
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} else if (buffer[offsetof(FileSystemIoBase::preamble, byteStructureMinorVersion)] < bsmv) { |
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return WRONG_bsmv;
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} else if (buffer[offsetof(FileSystemIoBase::preamble, hardwareMajorVersion)] != HMV) { |
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return WRONG_HMV;
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} else if (buffer[offsetof(FileSystemIoBase::preamble, hardwareMinorVersion)] < hmv) { |
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return WRONG_hmv;
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} else {
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return OK;
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} |
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} |
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msg_t initMemory(){
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// Get the preamble
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const uint8_t bufferSize = offsetof(FileSystemIoBase::preamble, hardwareMinorVersion) + 1; |
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uint8_t buffer[bufferSize]; |
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chFileStreamSeek((BaseFileStream*)at24c01, offsetof(FileSystemIoBase::preamble, magicByte)); |
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buffer[offsetof(FileSystemIoBase::preamble, magicByte)] = magicByteValue; |
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buffer[offsetof(FileSystemIoBase::preamble, byteStructureMajorVersion)] = BSMV; |
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buffer[offsetof(FileSystemIoBase::preamble, byteStructureMinorVersion)] = bsmv; |
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buffer[offsetof(FileSystemIoBase::preamble, hardwareMajorVersion)] = HMV; |
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buffer[offsetof(FileSystemIoBase::preamble, hardwareMinorVersion)] = hmv; |
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msg_t bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
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if (bytesWritten != bufferSize) {
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return IO_ERROR;
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} else {
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return OK;
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} |
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} |
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}; |
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class DiWheelDriveFSIO : public FileSystemIoBase {
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private:
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/** \brief Layout for DiWheelDriveFSIO with BSMV 1 and bsmv 1*/
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struct DiWheelDrive_1_1 {
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uint8_t reserved_0x00_0x14[20];
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uint16_t vcnl4020offset[4]; // U [12, 13, 15, 16] |
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uint8_t generalPurpose[96]; // 1Cx_7Cx |
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uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
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}; |
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public:
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DiWheelDriveFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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: FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
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} |
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msg_t getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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msg_t bytesWritten; |
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const uint8_t bufferSize = sizeof(uint16_t); |
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// Check if the vcnl index is in a valid range
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if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
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return WRONG_INDEX;
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} |
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// Get the data out of the memory
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switch (this->BSMV) {
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case 0x01u: |
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// Set the pointer to the address
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chFileStreamSeek((BaseFileStream*)at24c01, offsetof(DiWheelDriveFSIO::DiWheelDrive_1_1, vcnl4020offset[idx])); |
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switch (this->bsmv) {
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default:
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bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
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break;
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} |
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break;
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} |
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if (bytesWritten != bufferSize) {
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return IO_ERROR;
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} else {
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return OK;
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} |
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} |
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msg_t setVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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msg_t bytesWritten; |
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const uint8_t bufferSize = sizeof(uint16_t); |
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// Check if the vcnl index is in a valid range
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if (idx >= sizeof(DiWheelDrive_1_1::vcnl4020offset)) { |
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return WRONG_INDEX;
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} |
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// Get the data out of the memory
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switch (this->BSMV) {
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case 0x01u: |
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// Set the pointer to the address
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chFileStreamSeek((BaseFileStream*)at24c01, offsetof(DiWheelDriveFSIO::DiWheelDrive_1_1, vcnl4020offset[idx])); |
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switch (this->bsmv) {
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default:
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bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (const uint8_t*) buffer, bufferSize);
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break;
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} |
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break;
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} |
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if (bytesWritten != bufferSize) {
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return IO_ERROR;
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} else {
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return OK;
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} |
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} |
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}; |
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class PowerBoardFSIO : public FileSystemIoBase {
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private:
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/** \brief Layout for PowerBoardFSIO with BSMV 1 and bsmv 1*/
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struct PowerBoard_1_1 {
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uint8_t reserved_0x00_0x14[20];
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uint16_t vcnl4020offset[8]; // U1.Proximity [11, 21, 31, 41, 12, 22, 32, 42] |
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uint8_t generalPurpose[88]; // 24x_7Cx |
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uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
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}; |
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public:
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PowerBoardFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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: FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
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} |
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msg_t getVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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msg_t bytesWritten; |
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const uint8_t bufferSize = sizeof(uint16_t); |
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// Check if the vcnl index is in a valid range
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if (idx >= sizeof(PowerBoard_1_1::vcnl4020offset)) { |
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return WRONG_INDEX;
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} |
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// Get the data out of the memory
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switch (this->BSMV) {
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case 0x01u: |
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// Set the pointer to the address
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chFileStreamSeek((BaseFileStream*)at24c01, offsetof(PowerBoardFSIO::PowerBoard_1_1, vcnl4020offset[idx])); |
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switch (this->bsmv) {
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default:
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bytesWritten = chSequentialStreamRead((BaseFileStream*)at24c01, (uint8_t*) buffer, bufferSize); |
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break;
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} |
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break;
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} |
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if (bytesWritten != bufferSize) {
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return IO_ERROR;
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} else {
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return OK;
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} |
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} |
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msg_t setVcnl4020Offset (uint16_t *buffer, uint8_t idx) {
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msg_t bytesWritten; |
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const uint8_t bufferSize = sizeof(uint16_t); |
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// Check if the vcnl index is in a valid range
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if (idx >= sizeof(PowerBoard_1_1::vcnl4020offset)) { |
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return WRONG_INDEX;
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} |
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// Get the data out of the memory
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switch (this->BSMV) {
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case 0x01u: |
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// Set the pointer to the address
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chFileStreamSeek((BaseFileStream*)at24c01, offsetof(PowerBoardFSIO::PowerBoard_1_1, vcnl4020offset[idx])); |
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switch (this->bsmv) {
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default:
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bytesWritten = chSequentialStreamWrite((BaseFileStream*)at24c01, (const uint8_t*) buffer, bufferSize);
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break;
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} |
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break;
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} |
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if (bytesWritten != bufferSize) {
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return IO_ERROR;
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} else {
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return OK;
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} |
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} |
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}; |
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class LightRingFSIO : public FileSystemIoBase {
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private:
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/** \brief Layout for LightRingFSIO with BSMV 1 and bsmv 1*/
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struct LightRing_1_1 {
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uint8_t reserved_0x00_0x14[20];
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uint8_t generalPurpose[104]; // 15x_80x |
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uint8_t reserved_0x7D_0x80[4]; // TODO CRC |
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}; |
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public:
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LightRingFSIO(AT24 *at24c01, uint8_t BSMV, uint8_t bsmv, uint8_t HMV, uint8_t hmv) |
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: FileSystemIoBase(at24c01, BSMV, bsmv, HMV, hmv) {
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} |
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}; |
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} |
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} |
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#endif /* AMIRO_FILESYSTEMIO_H_ */ |