ardupilot/libraries/AP_HAL_ChibiOS/Storage.h

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/*
* This file 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, either version 3 of the License, or
* (at your option) any later version.
*
* This file 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/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_ChibiOS_Namespace.h"
#include <AP_Common/Bitmask.h>
#include <AP_FlashStorage/AP_FlashStorage.h>
#include "hwdef/common/flash.h"
#include <AP_RAMTRON/AP_RAMTRON.h>
#define CH_STORAGE_SIZE HAL_STORAGE_SIZE
#ifndef HAL_USE_EMPTY_STORAGE
// when using flash storage we use a small line size to make storage
// compact and minimise the number of erase cycles needed
#define CH_STORAGE_LINE_SHIFT 3
#define CH_STORAGE_LINE_SIZE (1<<CH_STORAGE_LINE_SHIFT)
#define CH_STORAGE_NUM_LINES (CH_STORAGE_SIZE/CH_STORAGE_LINE_SIZE)
static_assert(CH_STORAGE_SIZE % CH_STORAGE_LINE_SIZE == 0,
"Storage is not multiple of line size");
class ChibiOS::Storage : public AP_HAL::Storage {
public:
void init() override {}
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bool erase() override;
void read_block(void *dst, uint16_t src, size_t n) override;
void write_block(uint16_t dst, const void* src, size_t n) override;
void _timer_tick(void) override;
bool healthy(void) override;
private:
enum class StorageBackend: uint8_t {
None,
FRAM,
Flash,
SDCard,
};
StorageBackend _initialisedType = StorageBackend::None;
void _storage_create(void);
void _storage_open(void);
void _save_backup(void);
void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[CH_STORAGE_SIZE] __attribute__((aligned(4)));
Bitmask<CH_STORAGE_NUM_LINES> _dirty_mask;
HAL_Semaphore sem;
uint8_t tmpline[CH_STORAGE_LINE_SIZE];
bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
bool _flash_erase_sector(uint8_t sector);
bool _flash_erase_ok(void);
uint8_t _flash_page;
bool _flash_failed;
uint32_t _last_re_init_ms;
uint32_t _last_empty_ms;
#ifdef STORAGE_FLASH_PAGE
AP_FlashStorage _flash{_buffer,
stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
#endif
void _flash_load(void);
bool _flash_write(uint16_t line);
#if HAL_WITH_RAMTRON
AP_RAMTRON fram;
#endif
#ifdef USE_POSIX
int log_fd;
#endif
};
#endif // HAL_USE_EMPTY_STORAGE