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AP_FlashStorage: added support for STM32F1xx

This commit is contained in:
Andrew Tridgell 2019-05-27 11:39:41 +10:00
parent 0e993dfb1a
commit 01472aa795
3 changed files with 46 additions and 2 deletions
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2
libraries/AP_FlashStorage/AP_FlashStorage.cpp
View File

@ -187,9 +187,11 @@ bool AP_FlashStorage::write(uint16_t offset, uint16_t length)
uint16_t block_ofs = header.block_num*block_size;
uint16_t block_nbytes = (header.num_blocks_minus_one+1)*block_size;
#if AP_FLASHSTORAGE_MULTI_WRITE
if (!flash_write(current_sector, write_offset, (uint8_t*)&header, sizeof(header))) {
return false;
}
#endif
if (!flash_write(current_sector, write_offset+sizeof(header), &mem_buffer[block_ofs], block_nbytes)) {
return false;
}

25
libraries/AP_FlashStorage/AP_FlashStorage.h
View File

@ -39,6 +39,16 @@
#include <AP_HAL/AP_HAL.h>
#if defined(STM32F1)
/*
the STM32F1 can't change individual bits from 1 to 0 unless all bits in
the 16 bit word are 1
*/
#define AP_FLASHSTORAGE_MULTI_WRITE 0
#else
#define AP_FLASHSTORAGE_MULTI_WRITE 1
#endif
/*
The StorageManager holds the layout of non-volatile storeage
*/
@ -99,19 +109,34 @@ private:
bool write_error;
// 24 bit signature
#if AP_FLASHSTORAGE_MULTI_WRITE
static const uint32_t signature = 0x51685B;
#else
static const uint32_t signature = 0x51;
#endif
// 8 bit sector states
enum SectorState {
#if AP_FLASHSTORAGE_MULTI_WRITE
SECTOR_STATE_AVAILABLE = 0xFF,
SECTOR_STATE_IN_USE = 0xFE,
SECTOR_STATE_FULL = 0xFC
#else
SECTOR_STATE_AVAILABLE = 0xFFFFFFFF,
SECTOR_STATE_IN_USE = 0xFFFFFFF1,
SECTOR_STATE_FULL = 0xFFF2FFF1,
#endif
};
// header in first word of each sector
struct sector_header {
#if AP_FLASHSTORAGE_MULTI_WRITE
uint32_t state:8;
uint32_t signature:24;
#else
uint32_t state:32;
uint32_t signature:16;
#endif
};

21
libraries/AP_FlashStorage/examples/FlashTest/FlashTest.cpp
View File

@ -54,8 +54,25 @@ bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data
(unsigned)length);
}
uint8_t *b = &flash[sector][offset];
for (uint16_t i=0; i<length; i++) {
b[i] &= data[i];
if ((offset & 1) || (length & 1)) {
AP_HAL::panic("FATAL: invalid write at %u:%u len=%u\n",
sector, offset, length);
}
const uint16_t *data16 = (const uint16_t *)data;
uint16_t *b16 = (uint16_t *)&b[0];
uint16_t len16 = length/2;
for (uint16_t i=0; i<len16; i++) {
if (data16[i] & !b16[i]) {
AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
sector, offset+i, b[i], data[i]);
}
#if !AP_FLASHSTORAGE_MULTI_WRITE
if (data16[i] != b16[i] && data16[i] != 0xFFFF && b16[i] != 0xFFFF) {
AP_HAL::panic("FATAL: invalid write16 at %u:%u 0x%04x 0x%04x\n",
sector, offset+i, b[i], data[i]);
}
#endif
b16[i] &= data16[i];
}
return true;
}