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StorageManager: added support for 32k storage with param backup

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when HAL_STORAGE_SIZE == 32768 then add:

 - 1280 more bytes for params
 - double waypoint space
 - add a parameter backup area
This commit is contained in:
Andrew Tridgell 2021-01-13 10:09:53 +11:00
parent cd8a393ac2
commit 03a033c5c4
2 changed files with 43 additions and 2 deletions
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35
libraries/StorageManager/StorageManager.cpp
View File

@ -21,6 +21,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Math/AP_Math.h>
#include "StorageManager.h"
@ -76,6 +77,12 @@ const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
{ StorageFence, 9772, 256},
{ StorageMission, 10028, 5204}, // leave 128 byte gap for expansion
{ StorageCANDNA, 15232, 1024},
// 128 byte gap at end of first 16k
#endif
#if STORAGE_NUM_AREAS >= 19
{ StorageParam, 16384, 1280},
{ StorageMission, 17664, 9842},
{ StorageParamBak, 27506, 5376},
#endif
};
@ -113,6 +120,12 @@ const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
{ StorageFence, 9772, 256},
{ StorageMission, 10028, 5204}, // leave 128 byte gap for expansion
{ StorageCANDNA, 15232, 1024},
// 128 byte gap at end of first 16k
#endif
#if STORAGE_NUM_AREAS >= 19
{ StorageParam, 16384, 1280},
{ StorageMission, 17664, 9842},
{ StorageParamBak, 27506, 5376},
#endif
};
#endif // STORAGE_NUM_AREAS == 1
@ -275,3 +288,25 @@ void StorageAccess::write_uint32(uint16_t loc, uint32_t value) const
{
write_block(loc, &value, sizeof(value));
}
/*
copy one area to another
*/
bool StorageAccess::copy_area(const StorageAccess &source)
{
// we deliberately allow for copies from smaller areas. This
// allows for a partial backup region for parameters
uint16_t total = MIN(source.size(), size());
uint16_t ofs = 0;
while (total > 0) {
uint8_t block[32];
uint16_t n = MIN(sizeof(block), total);
if (!source.read_block(block, ofs, n) ||
!write_block(ofs, block, n)) {
return false;
}
total -= n;
ofs += n;
}
return true;
}

10
libraries/StorageManager/StorageManager.h
View File

@ -26,7 +26,9 @@
use just one area per storage type for boards with 4k of
storage. Use larger areas for other boards
*/
#if HAL_STORAGE_SIZE >= 16384
#if HAL_STORAGE_SIZE >= 32768
#define STORAGE_NUM_AREAS 19
#elif HAL_STORAGE_SIZE >= 16384
#define STORAGE_NUM_AREAS 15
#elif HAL_STORAGE_SIZE >= 15360 && defined(HAL_NUM_CAN_IFACES)
#define STORAGE_NUM_AREAS 12
@ -55,7 +57,8 @@ public:
StorageMission = 3,
StorageKeys = 4,
StorageBindInfo= 5,
StorageCANDNA = 6
StorageCANDNA = 6,
StorageParamBak = 7
};
// erase whole of storage
@ -98,6 +101,9 @@ public:
void write_uint16(uint16_t loc, uint16_t value) const;
void write_uint32(uint16_t loc, uint32_t value) const;
// copy from one storage area to another
bool copy_area(const StorageAccess &source);
private:
const StorageManager::StorageType type;
uint16_t total_size;