mirror of https://github.com/ArduPilot/ardupilot
HAL_Linux: Add FRAM HAL driver support for non-volatile storage
Support for File System starage mode is retained, appropriate Storage mode can be set by defining USE_FS_STORAGE for File System storage aand US_FRAM_STORAGE for FRAM storage. Note: FS storage and FRAM storage are never synced as of now.
This commit is contained in:
bugobliterator
Andrew Tridgell
parent
04a8377462
commit
4b2f7cd163
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@ -1,38 +1,10 @@
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#ifndef __AP_HAL_LINUX_STORAGE_H__
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#define __AP_HAL_LINUX_STORAGE_H__
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#include <AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#if HAL_STORAGE == USE_FRAM
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#include "Storage_FRAM.h"
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#else
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#include "Storage_FS.h"
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#endif
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#define LINUX_STORAGE_SIZE 4096
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#define LINUX_STORAGE_MAX_WRITE 512
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#define LINUX_STORAGE_LINE_SHIFT 9
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#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
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#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
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class Linux::LinuxStorage : public AP_HAL::Storage
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{
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public:
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LinuxStorage() :
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_fd(-1),
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_dirty_mask(0)
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{}
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void init(void* machtnichts) {}
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void read_block(void *dst, uint16_t src, size_t n);
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void write_block(uint16_t dst, const void* src, size_t n);
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void _timer_tick(void);
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private:
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int _fd;
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volatile bool _initialised;
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void _storage_create(void);
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void _storage_open(void);
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void _mark_dirty(uint16_t loc, uint16_t length);
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uint8_t _buffer[LINUX_STORAGE_SIZE];
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volatile uint32_t _dirty_mask;
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};
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#endif // __AP_HAL_LINUX_STORAGE_H__
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#endif
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@ -0,0 +1,371 @@
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && HAL_STORAGE == USE_FRAM
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#include <assert.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <errno.h>
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#include <stdio.h>
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#include "Storage_FRAM.h"
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using namespace Linux;
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/*
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This stores 'eeprom' data on the FRAM, with a 4k size, and a
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in-memory buffer. This keeps the latency down.
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*/
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// name the storage file after the sketch so you can use the same board
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// card for ArduCopter and ArduPlane
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extern const AP_HAL::HAL& hal;
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LinuxStorage::LinuxStorage():
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_fd(-1),
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_dirty_mask(0),
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_spi(NULL),
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_spi_sem(NULL),
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_initialised(false)
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{}
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void LinuxStorage::_storage_create(void)
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{
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int fd = open();
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hal.console->println("Storage: FRAM is getting reset to default values");
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if (fd == -1) {
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hal.scheduler->panic("Failed to load FRAM");
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}
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for (uint16_t loc=0; loc<sizeof(_buffer); loc += LINUX_STORAGE_MAX_WRITE) {
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if (write(fd, &_buffer[loc], LINUX_STORAGE_MAX_WRITE) != LINUX_STORAGE_MAX_WRITE) {
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hal.scheduler->panic("Error filling FRAM");
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}
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}
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// ensure the directory is updated with the new size
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fsync(fd);
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close(fd);
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}
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void LinuxStorage::_storage_open(void)
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{
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if (_initialised) {
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return;
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}
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_dirty_mask = 0;
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int fd = open();
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if (fd == -1) {
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_storage_create();
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fd = open();
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if (fd == -1) {
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hal.scheduler->panic("Failed to access FRAM");
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}
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}
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if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
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_storage_create();
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fd = open();
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if (fd == -1) {
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hal.scheduler->panic("Failed to access FRAM");
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}
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if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
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hal.scheduler->panic("Failed to read FRAM");
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}
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}
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_initialised = true;
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}
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/*
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mark some lines as dirty. Note that there is no attempt to avoid
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the race condition between this code and the _timer_tick() code
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below, which both update _dirty_mask. If we lose the race then the
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result is that a line is written more than once, but it won't result
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in a line not being written.
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*/
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void LinuxStorage::_mark_dirty(uint16_t loc, uint16_t length)
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{
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uint16_t end = loc + length;
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while (loc < end) {
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uint8_t line = (loc >> LINUX_STORAGE_LINE_SHIFT);
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_dirty_mask |= 1 << line;
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loc += LINUX_STORAGE_LINE_SIZE;
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}
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}
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uint8_t LinuxStorage::read_byte(uint16_t loc)
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{
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if (loc >= sizeof(_buffer)) {
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return 0;
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}
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_storage_open();
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return _buffer[loc];
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}
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uint16_t LinuxStorage::read_word(uint16_t loc)
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{
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uint16_t value;
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if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
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return 0;
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}
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_storage_open();
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memcpy(&value, &_buffer[loc], sizeof(value));
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return value;
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}
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uint32_t LinuxStorage::read_dword(uint16_t loc)
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{
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uint32_t value;
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if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
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return 0;
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}
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_storage_open();
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memcpy(&value, &_buffer[loc], sizeof(value));
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return value;
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}
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void LinuxStorage::read_block(void *dst, uint16_t loc, size_t n)
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{
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if (loc >= sizeof(_buffer)-(n-1)) {
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return;
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}
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_storage_open();
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memcpy(dst, &_buffer[loc], n);
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}
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void LinuxStorage::write_byte(uint16_t loc, uint8_t value)
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{
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if (loc >= sizeof(_buffer)) {
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return;
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}
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if (_buffer[loc] != value) {
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_storage_open();
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_buffer[loc] = value;
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_mark_dirty(loc, sizeof(value));
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}
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}
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void LinuxStorage::write_word(uint16_t loc, uint16_t value)
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{
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if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
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return;
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}
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if (memcmp(&value, &_buffer[loc], sizeof(value)) != 0) {
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_storage_open();
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memcpy(&_buffer[loc], &value, sizeof(value));
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_mark_dirty(loc, sizeof(value));
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}
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}
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void LinuxStorage::write_dword(uint16_t loc, uint32_t value)
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{
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if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
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return;
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}
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if (memcmp(&value, &_buffer[loc], sizeof(value)) != 0) {
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_storage_open();
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memcpy(&_buffer[loc], &value, sizeof(value));
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_mark_dirty(loc, sizeof(value));
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}
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}
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void LinuxStorage::write_block(uint16_t loc, const void *src, size_t n)
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{
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if (loc >= sizeof(_buffer)-(n-1)) {
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return;
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}
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if (memcmp(src, &_buffer[loc], n) != 0) {
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_storage_open();
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memcpy(&_buffer[loc], src, n);
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_mark_dirty(loc, n);
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}
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}
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void LinuxStorage::_timer_tick(void)
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{
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if (!_initialised || _dirty_mask == 0) {
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return;
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}
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if (_fd == -1) {
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_fd = open();
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if (_fd == -1) {
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return;
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}
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}
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// write out the first dirty set of lines. We don't write more
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// than one to keep the latency of this call to a minimum
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uint8_t i, n;
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for (i=0; i<LINUX_STORAGE_NUM_LINES; i++) {
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if (_dirty_mask & (1<<i)) {
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break;
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}
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}
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if (i == LINUX_STORAGE_NUM_LINES) {
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// this shouldn't be possible
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return;
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}
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uint32_t write_mask = (1U<<i);
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// see how many lines to write
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for (n=1; (i+n) < LINUX_STORAGE_NUM_LINES &&
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n < (LINUX_STORAGE_MAX_WRITE>>LINUX_STORAGE_LINE_SHIFT); n++) {
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if (!(_dirty_mask & (1<<(n+i)))) {
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break;
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}
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// mark that line clean
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write_mask |= (1<<(n+i));
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}
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/*
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write the lines. This also updates _dirty_mask. Note that
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because this is a SCHED_FIFO thread it will not be preempted
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by the main task except during blocking calls. This means we
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don't need a semaphore around the _dirty_mask updates.
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*/
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if (lseek(_fd, i<<LINUX_STORAGE_LINE_SHIFT, SEEK_SET) == (i<<LINUX_STORAGE_LINE_SHIFT)) {
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_dirty_mask &= ~write_mask;
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if (write(_fd, &_buffer[i<<LINUX_STORAGE_LINE_SHIFT], n<<LINUX_STORAGE_LINE_SHIFT) != n<<LINUX_STORAGE_LINE_SHIFT) {
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// write error - likely EINTR
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_dirty_mask |= write_mask;
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_fd = -1;
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}
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}
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}
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//File control function overloads
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int8_t LinuxStorage::open()
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{
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if(_initialised){
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return 0;
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}
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uint8_t manufacturerID;
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_spi = hal.spi->device(AP_HAL::SPIDevice_Dataflash);
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uint8_t signature[4] = {0x00,0xaf,0xf0,0x0f};
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uint8_t j = 0;
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for(int i=0;true;i++){
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manufacturerID = _register_read(0,OPCODE_RDID);
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if(manufacturerID == 0x7F){
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break;
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}
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else{
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hal.scheduler->delay(1000);
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}
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if(i==4){
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hal.scheduler->panic(PSTR("FRAM: Failed to receive Manufacturer ID 5 times"));
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}
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}
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while(j<4){
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if(_register_read(j+4100,OPCODE_READ) == -1){
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continue;
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}
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else if((uint8_t)_register_read(j+4100,OPCODE_READ) != signature[j]){
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while(_register_write(signature,4100,4) == -1);
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return -1;
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}
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else{
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j++;
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}
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}
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_initialised = true;
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hal.console->println("FRAM: Online");
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return 0;
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}
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int32_t LinuxStorage::write(uint16_t fd,uint8_t *Buff, uint16_t NumBytes){
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if( _register_write(Buff,fptr,NumBytes) == -1){
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return -1;
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}
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return NumBytes;
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}
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int32_t LinuxStorage::read(uint16_t fd, uint8_t *Buff, uint16_t NumBytes){
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for(uint16_t i=fptr;i<(fptr+NumBytes);i++){
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Buff[i-fptr]= _register_read(i,OPCODE_READ);
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if(Buff[i-fptr]==-1){
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return -1;
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}
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}
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fptr+=NumBytes;
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return NumBytes;
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}
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uint32_t LinuxStorage::lseek(uint16_t fd,uint32_t offset,uint16_t whence){
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fptr = offset;
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return offset;
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}
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//FRAM I/O functions
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int8_t LinuxStorage::_register_write( uint8_t* src, uint16_t addr, uint16_t len ){
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uint8_t *tx;
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uint8_t *rx;
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uint16_t i;
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tx = new uint8_t[len+3];
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rx = new uint8_t[len+3];
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_write_enable(true);
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tx[0] = OPCODE_WRITE;
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tx[1] = addr>>8;
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tx[2] = addr;
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for(i=0;i<len;i++){
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tx[i+3] = src[i];
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}
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if(transaction(tx, rx, len+3) == -1){
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return -1;
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}
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if(_write_enable(false) == -1){
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return -1;
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}
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return len;
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}
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int8_t LinuxStorage::_write_enable(bool enable)
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{
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uint8_t tx[2];
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uint8_t rx[2];
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if(enable){
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tx[0] = OPCODE_WREN;
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tx[1] = 0;
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return transaction(tx, rx, 2);
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}
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else{
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tx[0] = OPCODE_WRDI;
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tx[1] = 0;
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return transaction(tx, rx, 2);
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}
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}
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int8_t LinuxStorage::_register_read( uint16_t addr, uint8_t opcode )
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{
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uint8_t tx[4] = {opcode, addr>>8, addr, 0};
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uint8_t rx[4];
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if(transaction(tx, rx, 4) == -1){
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return -1;
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}
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return rx[3];
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}
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int8_t LinuxStorage::transaction(uint8_t* tx, uint8_t* rx, uint16_t len){
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_spi_sem = _spi->get_semaphore();
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if (!_spi_sem->take(100)) {
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// FRAM: Unable to get semaphore
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return -1;
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}
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_spi->transaction(tx, rx, len);
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_spi_sem->give();
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return 0;
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}
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#endif // CONFIG_HAL_BOARD
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@ -0,0 +1,64 @@
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#ifndef __AP_HAL_LINUX_STORAGE_FRAM_H__
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#define __AP_HAL_LINUX_STORAGE_FRAM_H__
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#include <AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#define OPCODE_WREN 0b0110 /* Write Enable Latch */
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#define OPCODE_WRDI 0b0100 /* Reset Write Enable Latch */
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#define OPCODE_RDSR 0b0101 /* Read Status Register */
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#define OPCODE_WRSR 0b0001 /* Write Status Register */
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#define OPCODE_READ 0b0011 /* Read Memory */
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#define OPCODE_WRITE 0b0010 /* Write Memory */
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#define OPCODE_RDID 0b10011111 /* Read Device ID */
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#define LINUX_STORAGE_SIZE 4096
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#define LINUX_STORAGE_MAX_WRITE 512
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#define LINUX_STORAGE_LINE_SHIFT 9
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#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
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#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
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class Linux::LinuxStorage : public AP_HAL::Storage
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{
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public:
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LinuxStorage();
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void init(void* machtnichts) {}
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uint8_t read_byte(uint16_t loc);
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uint16_t read_word(uint16_t loc);
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uint32_t read_dword(uint16_t loc);
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void read_block(void *dst, uint16_t src, size_t n);
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void write_byte(uint16_t loc, uint8_t value);
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void write_word(uint16_t loc, uint16_t value);
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void write_dword(uint16_t loc, uint32_t value);
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void write_block(uint16_t dst, const void* src, size_t n);
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void _timer_tick(void);
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private:
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uint32_t fptr;
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int _fd;
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volatile bool _initialised;
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int32_t write(uint16_t fd, uint8_t *Buff, uint16_t NumBytes);
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int32_t read(uint16_t fd, uint8_t *Buff, uint16_t NumBytes);
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uint32_t lseek(uint16_t fd,uint32_t offset,uint16_t whence);
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int8_t open();
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int8_t _register_write( uint8_t* src, uint16_t addr, uint16_t len );
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int8_t _register_read( uint16_t addr, uint8_t opcode );
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int8_t _write_enable(bool enable);
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int8_t transaction(uint8_t* tx, uint8_t* rx, uint16_t len);
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void _storage_create(void);
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void _storage_open(void);
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void _mark_dirty(uint16_t loc, uint16_t length);
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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uint8_t _buffer[LINUX_STORAGE_SIZE];
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volatile uint32_t _dirty_mask;
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};
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#endif // __AP_HAL_LINUX_STORAGE_H__
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|
|
@ -1,5 +1,5 @@
|
|||
#include <AP_HAL.h>
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && HAL_STORAGE == USE_FS
|
||||
|
||||
#include <assert.h>
|
||||
#include <sys/types.h>
|
||||
|
|
@ -9,7 +9,7 @@
|
|||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "Storage.h"
|
||||
#include "Storage_FS.h"
|
||||
using namespace Linux;
|
||||
|
||||
/*
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
|
||||
|
||||
#ifndef __AP_HAL_LINUX_STORAGE_FS_H__
|
||||
#define __AP_HAL_LINUX_STORAGE_FS_H__
|
||||
|
||||
#include <AP_HAL.h>
|
||||
#include "AP_HAL_Linux_Namespace.h"
|
||||
|
||||
#define LINUX_STORAGE_SIZE 4096
|
||||
#define LINUX_STORAGE_MAX_WRITE 512
|
||||
#define LINUX_STORAGE_LINE_SHIFT 9
|
||||
#define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
|
||||
#define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
|
||||
|
||||
class Linux::LinuxStorage : public AP_HAL::Storage
|
||||
{
|
||||
public:
|
||||
LinuxStorage() :
|
||||
_fd(-1),
|
||||
_dirty_mask(0)
|
||||
{}
|
||||
void init(void* machtnichts) {}
|
||||
uint8_t read_byte(uint16_t loc);
|
||||
uint16_t read_word(uint16_t loc);
|
||||
uint32_t read_dword(uint16_t loc);
|
||||
void read_block(void *dst, uint16_t src, size_t n);
|
||||
|
||||
void write_byte(uint16_t loc, uint8_t value);
|
||||
void write_word(uint16_t loc, uint16_t value);
|
||||
void write_dword(uint16_t loc, uint32_t value);
|
||||
void write_block(uint16_t dst, const void* src, size_t n);
|
||||
|
||||
void _timer_tick(void);
|
||||
|
||||
private:
|
||||
int _fd;
|
||||
volatile bool _initialised;
|
||||
void _storage_create(void);
|
||||
void _storage_open(void);
|
||||
void _mark_dirty(uint16_t loc, uint16_t length);
|
||||
uint8_t _buffer[LINUX_STORAGE_SIZE];
|
||||
volatile uint32_t _dirty_mask;
|
||||
};
|
||||
|
||||
#endif // __AP_HAL_LINUX_STORAGE_H__
|
||||
Loading…
Reference in New Issue