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AP_HAL_ChibiOS: add support for littlefs

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This commit is contained in:
Andy Piper 2023-06-12 11:27:24 -04:00 committed by Andrew Tridgell
parent 7c101a0846
commit 25e8277fda
5 changed files with 32 additions and 13 deletions
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2
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
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@ -21,7 +21,7 @@
#include <AP_HAL_Empty/AP_HAL_Empty_Namespace.h>
#include <AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h>
#include "hwdef/common/halconf.h"
#ifdef USE_POSIX
#ifdef USE_POSIX_FATFS
#include <ff.h>
#endif
#include <stdio.h>

2
libraries/AP_HAL_ChibiOS/Storage.cpp
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@ -128,7 +128,7 @@ void Storage::_storage_open(void)
void Storage::_save_backup(void)
{
#ifdef USE_POSIX
// allow for fallback to microSD based storage
// allow for fallback to microSD or dataflash based storage
// create the backup directory if need be
int ret;
const char* _storage_bak_directory = HAL_STORAGE_BACKUP_FOLDER;

4
libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
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@ -585,7 +585,7 @@ void __wrap__free_r(void *rptr, void *ptr)
return free(ptr);
}
#ifdef USE_POSIX
#ifdef USE_POSIX_FATFS
/*
allocation functions for FATFS
*/
@ -615,7 +615,7 @@ void ff_memfree(void* mblock)
{
free(mblock);
}
#endif // USE_POSIX
#endif // USE_POSIX_FATFS
/*
return true if a memory region is safe for a DMA operation

27
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -762,6 +762,13 @@ class ChibiOSHWDef(object):
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
self.env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
def has_dataflash_spi(self):
'''check for dataflash connected to spi bus'''
for dev in self.spidev:
if(dev[0] == 'dataflash'):
return True
return False
def has_sdcard_spi(self):
'''check for sdcard connected to spi bus'''
for dev in self.spidev:
@ -943,13 +950,15 @@ class ChibiOSHWDef(object):
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % self.get_config('STDOUT_BAUDRATE', type=int))
if self.have_type_prefix('SDIO'):
f.write('// SDIO available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.have_type_prefix('SDMMC2'):
f.write('// SDMMC2 available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
f.write('#define STM32_SDC_USE_SDMMC2 TRUE\n')
f.write('#define HAL_USE_SDMMC 1\n')
@ -957,7 +966,8 @@ class ChibiOSHWDef(object):
self.env_vars['WITH_FATFS'] = "1"
elif self.have_type_prefix('SDMMC'):
f.write('// SDMMC available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
f.write('#define STM32_SDC_USE_SDMMC1 TRUE\n')
f.write('#define HAL_USE_SDMMC 1\n')
@ -965,12 +975,21 @@ class ChibiOSHWDef(object):
self.env_vars['WITH_FATFS'] = "1"
elif self.has_sdcard_spi():
f.write('// MMC via SPI available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_USE_MMC_SPI TRUE\n')
f.write('#define HAL_USE_SDC FALSE\n')
f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.has_dataflash_spi():
f.write('// Dataflash memory via SPI available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_LITTLEFS\n\n')
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')
self.env_vars['WITH_LITTLEFS'] = "1"
self.env_vars['DISABLE_SCRIPTING'] = True
else:
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')

10
libraries/AP_HAL_ChibiOS/sdcard.cpp
View File

@ -26,7 +26,7 @@
extern const AP_HAL::HAL& hal;
#ifdef USE_POSIX
#ifdef USE_POSIX_FATFS
static FATFS SDC_FS; // FATFS object
#ifndef HAL_BOOTLOADER_BUILD
static HAL_Semaphore sem;
@ -54,7 +54,7 @@ static SPIConfig highspeed;
*/
bool sdcard_init()
{
#ifdef USE_POSIX
#ifdef USE_POSIX_FATFS
#ifndef HAL_BOOTLOADER_BUILD
WITH_SEMAPHORE(sem);
@ -150,7 +150,7 @@ bool sdcard_init()
}
#endif
sdcard_running = false;
#endif // USE_POSIX
#endif // USE_POSIX_FATFS
return false;
}
@ -159,7 +159,7 @@ bool sdcard_init()
*/
void sdcard_stop(void)
{
#ifdef USE_POSIX
#ifdef USE_POSIX_FATFS
// unmount
f_mount(nullptr, "/", 1);
#endif
@ -185,7 +185,7 @@ void sdcard_stop(void)
bool sdcard_retry(void)
{
#ifdef USE_POSIX
#ifdef USE_POSIX_FATFS
if (!sdcard_running) {
if (sdcard_init()) {
#if AP_FILESYSTEM_FILE_WRITING_ENABLED