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HAL_ChibiOS: use hal.flash API

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# Conflicts:
#	libraries/AP_HAL_ChibiOS/Storage.cpp
#	libraries/AP_HAL_ChibiOS/Util.cpp
This commit is contained in:
Andrew Tridgell 2019-04-22 09:16:26 +10:00 committed by Randy Mackay
parent 51223409be
commit 0e3183b3cf
4 changed files with 52 additions and 9 deletions
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30
libraries/AP_HAL_ChibiOS/Flash.h Normal file
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@ -0,0 +1,30 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_ChibiOS_Namespace.h"
#include "Semaphores.h"
#include "hwdef/common/flash.h"
class ChibiOS::Flash : public AP_HAL::Flash {
public:
uint32_t getpageaddr(uint32_t page) override { return stm32_flash_getpageaddr(page); }
uint32_t getpagesize(uint32_t page) override { return stm32_flash_getpagesize(page); }
uint32_t getnumpages(void) override { return stm32_flash_getnumpages(); }
bool erasepage(uint32_t page) override {
chMtxLock(&sem);
bool ret = stm32_flash_erasepage(page);
chMtxUnlock(&sem);
return ret;
}
bool write(uint32_t addr, const void *buf, uint32_t count) override {
chMtxLock(&sem);
bool ret = (stm32_flash_write(addr, buf, count) == count);
chMtxUnlock(&sem);
return ret;
}
void keep_unlocked(bool set) override { stm32_flash_keep_unlocked(set); }
bool ispageerased(uint32_t page) override { return stm32_flash_ispageerased(page); }
private:
mutex_t sem;
};

23
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -39,6 +39,8 @@ extern const AP_HAL::HAL& hal;
#define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak"
#endif
#define STORAGE_FLASH_RETRIES 5
void Storage::_storage_open(void)
{
if (_initialised) {
@ -249,9 +251,14 @@ void Storage::_flash_write(uint16_t line)
bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
{
#ifdef STORAGE_FLASH_PAGE
size_t base_address = stm32_flash_getpageaddr(_flash_page+sector);
bool ret = stm32_flash_write(base_address+offset, data, length) == length;
if (!ret && _flash_erase_ok()) {
size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
if (hal.flash->write(base_address+offset, data, length)) {
return true;
}
hal.scheduler->delay(1);
}
if (_flash_erase_ok()) {
// we are getting flash write errors while disarmed. Try
// re-writing all of flash
uint32_t now = AP_HAL::millis();
@ -273,7 +280,7 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
*/
bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
{
size_t base_address = stm32_flash_getpageaddr(_flash_page+sector);
size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
const uint8_t *b = ((const uint8_t *)base_address)+offset;
memcpy(data, b, length);
return true;
@ -284,7 +291,13 @@ bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, u
*/
bool Storage::_flash_erase_sector(uint8_t sector)
{
return stm32_flash_erasepage(_flash_page+sector);
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
if (hal.flash->erasepage(_flash_page+sector)) {
return true;
}
hal.scheduler->delay(1);
}
return false;
}
/*

2
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -63,7 +63,7 @@ private:
#ifdef STORAGE_FLASH_PAGE
AP_FlashStorage _flash{_buffer,
stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
hal.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),

6
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -198,7 +198,7 @@ bool Util::flash_bootloader()
return false;
}
const uint32_t addr = stm32_flash_getpageaddr(0);
const uint32_t addr = hal.flash->getpageaddr(0);
if (!memcmp(fw, (const void*)addr, fw_size)) {
hal.console->printf("Bootloader up-to-date\n");
free(fw);
@ -207,7 +207,7 @@ bool Util::flash_bootloader()
}
hal.console->printf("Erasing\n");
if (!stm32_flash_erasepage(0)) {
if (!hal.flash->erasepage(0)) {
hal.console->printf("Erase failed\n");
free(fw);
hal.scheduler->expect_delay_ms(0);
@ -217,7 +217,7 @@ bool Util::flash_bootloader()
const uint8_t max_attempts = 10;
for (uint8_t i=0; i<max_attempts; i++) {
void *context = hal.scheduler->disable_interrupts_save();
const int32_t written = stm32_flash_write(addr, fw, fw_size);
bool ok = hal.flash->write(addr, fw, fw_size);
hal.scheduler->restore_interrupts(context);
if (written == -1 || written < fw_size) {
hal.console->printf("Flash failed! (attempt=%u/%u)\n",