mirror of https://github.com/ArduPilot/ardupilot
StorageManager: added parameter backup region
This commit is contained in:
Andrew Tridgell
parent
eaf23f2eb4
commit
4b6ec99633
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@ -1,5 +1,5 @@
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/*
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Please contribute your ideas! See http://dev.ardupilot.org for details
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Please contribute your ideas! See https://dev.ardupilot.org for details
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -20,7 +20,11 @@
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Math/AP_Math.h>
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#include "StorageManager.h"
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#include <stdio.h>
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@ -35,17 +39,18 @@ extern const AP_HAL::HAL& hal;
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/*
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layout for peripherals
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*/
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const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_AREAS] = {
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const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
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{ StorageParam, 0, HAL_STORAGE_SIZE}
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};
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#else
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#elif !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
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/*
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layout for fixed wing and rovers
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On PX4v1 this gives 309 waypoints, 30 rally points and 52 fence points
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On Pixhawk this gives 724 waypoints, 50 rally points and 84 fence points
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*/
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const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_AREAS] = {
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const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
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{ StorageParam, 0, 1280}, // 0x500 parameter bytes
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{ StorageMission, 1280, 2506},
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{ StorageRally, 3786, 150}, // 10 rally points
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@ -61,22 +66,34 @@ const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_ARE
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#if STORAGE_NUM_AREAS == 11
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// optimised for lots of parameters for 15k boards with OSD
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{ StorageParam, 8192, 7168},
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#elif STORAGE_NUM_AREAS == 12
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// optimised for lots of parameters for 15k boards with OSD, plus room for CAN DNA
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{ StorageParam, 8192, 6144},
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{ StorageCANDNA, 14336, 1024},
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#endif
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#if STORAGE_NUM_AREAS >= 12
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#if STORAGE_NUM_AREAS >= 13
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{ StorageParam, 8192, 1280},
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{ StorageRally, 9472, 300},
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{ StorageFence, 9772, 256},
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{ StorageMission, 10028, 5204}, // leave 128 byte gap for expansion
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{ StorageCANDNA, 15232, 1024},
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// 128 byte gap at end of first 16k
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#endif
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#if STORAGE_NUM_AREAS >= 19
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{ StorageParam, 16384, 1280},
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{ StorageMission, 17664, 9842},
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{ StorageParamBak, 27506, 5376},
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#endif
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};
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#else
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/*
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layout for copter.
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On PX4v1 this gives 303 waypoints, 26 rally points and 38 fence points
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On Pixhawk this gives 718 waypoints, 46 rally points and 70 fence points
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*/
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const StorageManager::StorageArea StorageManager::layout_copter[STORAGE_NUM_AREAS] = {
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const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
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{ StorageParam, 0, 1536}, // 0x600 param bytes
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{ StorageMission, 1536, 2422},
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{ StorageRally, 3958, 90}, // 6 rally points
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@ -92,20 +109,27 @@ const StorageManager::StorageArea StorageManager::layout_copter[STORAGE_NUM_AREA
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#if STORAGE_NUM_AREAS == 11
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// optimised for lots of parameters for 15k boards with OSD
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{ StorageParam, 8192, 7168},
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#elif STORAGE_NUM_AREAS == 12
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// optimised for lots of parameters for 15k boards with OSD, plus room for CAN DNA
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{ StorageParam, 8192, 6144},
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{ StorageCANDNA, 14336, 1024},
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#endif
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#if STORAGE_NUM_AREAS >= 12
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#if STORAGE_NUM_AREAS >= 13
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{ StorageParam, 8192, 1280},
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{ StorageRally, 9472, 300},
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{ StorageFence, 9772, 256},
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{ StorageMission, 10028, 5204}, // leave 128 byte gap for expansion
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{ StorageCANDNA, 15232, 1024},
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// 128 byte gap at end of first 16k
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#endif
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#if STORAGE_NUM_AREAS >= 19
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{ StorageParam, 16384, 1280},
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{ StorageMission, 17664, 9842},
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{ StorageParamBak, 27506, 5376},
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#endif
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};
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#endif // STORAGE_NUM_AREAS == 1
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// setup default layout
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const StorageManager::StorageArea *StorageManager::layout = layout_default;
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/*
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erase all storage
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*/
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@ -264,3 +288,25 @@ void StorageAccess::write_uint32(uint16_t loc, uint32_t value) const
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{
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write_block(loc, &value, sizeof(value));
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}
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/*
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copy one area to another
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*/
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bool StorageAccess::copy_area(const StorageAccess &source)
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{
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// we deliberately allow for copies from smaller areas. This
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// allows for a partial backup region for parameters
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uint16_t total = MIN(source.size(), size());
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uint16_t ofs = 0;
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while (total > 0) {
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uint8_t block[32];
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uint16_t n = MIN(sizeof(block), total);
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if (!source.read_block(block, ofs, n) ||
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!write_block(ofs, block, n)) {
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return false;
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}
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total -= n;
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ofs += n;
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}
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return true;
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}
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@ -1,5 +1,5 @@
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/*
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Please contribute your ideas! See http://dev.ardupilot.org for details
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Please contribute your ideas! See https://dev.ardupilot.org for details
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -26,8 +26,12 @@
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use just one area per storage type for boards with 4k of
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storage. Use larger areas for other boards
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*/
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#if HAL_STORAGE_SIZE >= 16384
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#if HAL_STORAGE_SIZE >= 32768
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#define STORAGE_NUM_AREAS 19
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#elif HAL_STORAGE_SIZE >= 16384
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#define STORAGE_NUM_AREAS 15
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#elif HAL_STORAGE_SIZE >= 15360 && defined(HAL_NUM_CAN_IFACES)
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#define STORAGE_NUM_AREAS 12
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#elif HAL_STORAGE_SIZE >= 15360
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#define STORAGE_NUM_AREAS 11
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#elif HAL_STORAGE_SIZE >= 8192
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@ -53,15 +57,13 @@ public:
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StorageMission = 3,
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StorageKeys = 4,
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StorageBindInfo= 5,
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StorageCANDNA = 6
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StorageCANDNA = 6,
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StorageParamBak = 7
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};
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// erase whole of storage
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static void erase(void);
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// setup for copter layout of storage
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static void set_layout_copter(void) { layout = layout_copter; }
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private:
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struct StorageArea {
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StorageType type;
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@ -70,9 +72,7 @@ private:
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};
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// available layouts
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static const StorageArea layout_copter[STORAGE_NUM_AREAS];
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static const StorageArea layout_default[STORAGE_NUM_AREAS];
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static const StorageArea *layout;
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static const StorageArea layout[STORAGE_NUM_AREAS];
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};
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/*
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@ -101,6 +101,9 @@ public:
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void write_uint16(uint16_t loc, uint16_t value) const;
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void write_uint32(uint16_t loc, uint32_t value) const;
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// copy from one storage area to another
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bool copy_area(const StorageAccess &source);
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private:
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const StorageManager::StorageType type;
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uint16_t total_size;
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