Merge pull request #1249 from bitcraze/krichardsson/mem-refactor

Extracted CRTP for mem subsystem

src/modules/interface/crtp_mem.h

@@ -0,0 +1,34 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2023 BitCraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * mem.h - CRTP implementation of memory sub system
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// Public functions
+void crtpMemInit(void);
+bool crtpMemTest(void);

src/modules/interface/mem.h

@@ -61,8 +61,129 @@ typedef struct {
   bool (*write)(const uint8_t selectedMem, const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
 } MemoryOwHandlerDef_t;
 
-/* Public functions */
+// Public functions
 void memInit(void);
 bool memTest(void);
+
+/**
+ * @brief Register a memory handler
+ *
+ * @param handlerDef A pointer to a memory handler definition
+ */
 void memoryRegisterHandler(const MemoryHandlerDef_t* handlerDef);
+
+/**
+ * @brief Register the One Wire memory handler.
+ * It is only possible to register a single One Wire memory handler.
+ *
+ * @param handlerDef A pointer to a One Wire memory handler definition.
+ */
 void memoryRegisterOwHandler(const MemoryOwHandlerDef_t* handlerDef);
+
+/**
+ * @brief Block the possibility to register any more memory handlers.
+ * This function can be called by a protocol implementation to "freeze" the available set of handlers.
+ */
+void memBlockHandlerRegistration();
+
+/**
+ * @brief Get the number of registered handlers
+ *
+ * @return uint16_t The number of registered memory handlers
+ */
+uint16_t memGetNrOfMems();
+
+/**
+ * @brief Get the number of registered One Wire memory handlers
+ *
+ * @return uint16_t The number of registered handlers
+ */
+uint16_t memGetNrOfOwMems();
+
+/**
+ * @brief Get the type of a specific memory handler
+ *
+ * @param memId The id of the memory handler to get the type for. The id is an index based on the registration order, between 0 and memGetNrOfMems() - 1.
+ * @return MemoryType_t The type of the memory handler
+ */
+MemoryType_t memGetType(const uint16_t memId);
+
+/**
+ * @brief Get the size of the mapped memory for a specific memory handler
+ *
+ * @param memId The id of the memory handler to get the type for. The id is an index based on the registration order, between 0 and memGetNrOfMems() - 1.
+ * @return uint32_t The size of the mapped memory
+ */
+uint32_t memGetSize(const uint16_t memId);
+
+/**
+ * @brief Get the size of a One Wire memory. Note: at the time of writing, only one type of One Wire memory is supported.
+ *
+ * @return uint32_t The size of a One Wire memory
+ */
+uint32_t memGetOwSize();
+
+/**
+ * @brief Read data from a memory handler
+ *
+ * @param memId The id of the memory handler to get the type for. The id is an index based on the registration order, between 0 and memGetNrOfMems() - 1.
+ * @param memAddr The mapped start address to read from. Starts from 0 for each mapped memory.
+ * @param readLen The number of bytes to read
+ * @param buffer The buffer to copy the data into
+ * @return true If successful
+ * @return false If failure
+ */
+bool memRead(const uint16_t memId, const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
+
+/**
+ * @brief Write data to a memory handler
+ *
+ * @param memId The id of the memory handler to get the type for. The id is an index based on the registration order, between 0 and memGetNrOfMems() - 1.
+ * @param memAddr The mapped start address to read from. Starts from 0 for each mapped memory.
+ * @param writeLen The number of bytes to write
+ * @param buffer The buffer to copy data from
+ * @return true If successful
+ * @return false If failure
+ */
+bool memWrite(const uint16_t memId, const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
+
+/**
+ * @brief Read from a One Wire memory
+ *
+ * @param owMemId The id of the one wire memory. The id is an index based on the available One Wire memories on decks for instance, between 0 and memGetNrOfOwMems() - 1.
+ * @param memAddr The address to start reading from
+ * @param readLen The number of bytes to read
+ * @param buffer The buffer to copy data into
+ * @return true If successful
+ * @return false If failure
+ */
+bool memReadOw(const uint16_t owMemId, const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
+
+/**
+ * @brief Get the serial number of a specific One Wire memory
+ *
+ * @param owMemId The id of the one wire memory. The id is an index based on the available One Wire memories on decks for instance, between 0 and memGetNrOfOwMems() - 1.
+ * @param serialNr A buffer of minimum 8 bytes to write the serial number to
+ * @return true If successful
+ * @return false If failure
+ */
+bool memGetOwSerialNr(const uint8_t owMemId, uint8_t* serialNr);
+
+/**
+ * @brief Write to a One Wire
+ *
+ * @param owMemId The id of the one wire memory. The id is an index based on the available One Wire memories on decks for instance, between 0 and memGetNrOfOwMems() - 1.
+ * @param memAddr The address to start writing to
+ * @param writeLen The number of bytes to write
+ * @param buffer The buffer to copy data from
+ * @return true If successful
+ * @return false If failure
+ */
+bool memWriteOw(const uint16_t owMemId, const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
+
+#ifdef UNIT_TEST_MODE
+/**
+ * @brief Reset function for unit testing
+ */
+void memReset();
+#endif

src/modules/src/Kbuild

@@ -31,6 +31,7 @@ obj-$(CONFIG_ESTIMATOR_KALMAN_ENABLE) += kalman_supervisor.o
 obj-y += axis3fSubSampler.o
 obj-y += log.o
 obj-y += mem.o
+obj-y += crtp_mem.o
 obj-y += msp.o
 obj-y += param_logic.o
 obj-y += param_task.o