Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: support flash storage with 8k sectors

Browse Source 
this allows for doubling up sectors to give an effective sector size
of 16k, allowing for flash storage with a useful storage size
This commit is contained in:
Andrew Tridgell 2024-01-28 11:22:52 +11:00 committed by Peter Barker
parent 07d0418cf9
commit 3171b5321a
2 changed files with 30 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -330,7 +330,11 @@ void Storage::_flash_load(void)
#ifdef STORAGE_FLASH_PAGE
_flash_page = STORAGE_FLASH_PAGE;
#if AP_FLASH_STORAGE_DOUBLE_PAGE
::printf("Storage: Using flash pages %u to %u\n", _flash_page, _flash_page+3);
#else
::printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
#endif
if (!_flash.init()) {
AP_HAL::panic("Unable to init flash storage");
@ -359,6 +363,9 @@ bool 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
#if AP_FLASH_STORAGE_DOUBLE_PAGE
sector *= 2;
#endif
size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
EXPECT_DELAY_MS(1);
@ -390,6 +397,9 @@ 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)
{
#ifdef STORAGE_FLASH_PAGE
#if AP_FLASH_STORAGE_DOUBLE_PAGE
sector *= 2;
#endif
size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
const uint8_t *b = ((const uint8_t *)base_address)+offset;
memcpy(data, b, length);
@ -405,6 +415,9 @@ bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, u
bool Storage::_flash_erase_sector(uint8_t sector)
{
#ifdef STORAGE_FLASH_PAGE
#if AP_FLASH_STORAGE_DOUBLE_PAGE
sector *= 2;
#endif
// erasing a page can take long enough that USB may not initialise properly if it happens
// while the host is connecting. Only do a flash erase if we have been up for more than 4s
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
@ -415,9 +428,15 @@ bool Storage::_flash_erase_sector(uint8_t sector)
in the main thread
*/
EXPECT_DELAY_MS(1000);
#if AP_FLASH_STORAGE_DOUBLE_PAGE
if (hal.flash->erasepage(_flash_page+sector) && hal.flash->erasepage(_flash_page+sector+1)) {
return true;
}
#else
if (hal.flash->erasepage(_flash_page+sector)) {
return true;
}
#endif
hal.scheduler->delay(1);
}
return false;

11
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -47,6 +47,13 @@
static_assert(CH_STORAGE_SIZE % CH_STORAGE_LINE_SIZE == 0,
"Storage is not multiple of line size");
/*
on boards with 8k sector sizes we double up to treat pairs of sectors as one
*/
#ifndef AP_FLASH_STORAGE_DOUBLE_PAGE
#define AP_FLASH_STORAGE_DOUBLE_PAGE 0
#endif
class ChibiOS::Storage : public AP_HAL::Storage {
public:
void init() override {}
@ -86,7 +93,11 @@ private:
#ifdef STORAGE_FLASH_PAGE
AP_FlashStorage _flash{_buffer,
#if AP_FLASH_STORAGE_DOUBLE_PAGE
stm32_flash_getpagesize(STORAGE_FLASH_PAGE)*2,
#else
stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
#endif
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),