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HAL_ChibiOS: improved selection of storage backend

This commit is contained in:
Nick Exton 2020-02-20 15:08:23 +11:00 committed by Andrew Tridgell
parent f9ec9c037a
commit 4cd39a4619
2 changed files with 94 additions and 67 deletions
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151
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -42,66 +42,77 @@ extern const AP_HAL::HAL& hal;
#define STORAGE_FLASH_RETRIES 5
// by default don't allow fallback to sdcard for storage
#ifndef HAL_RAMTRON_ALLOW_FALLBACK
#define HAL_RAMTRON_ALLOW_FALLBACK 0
#endif
void Storage::_storage_open(void)
{
if (_initialised) {
if (_initialisedType != StorageBackend::None) {
return;
}
#ifdef USE_POSIX
// if we have failed filesystem init don't try again
if (log_fd == -1) {
return;
}
#endif
_dirty_mask.clearall();
#if HAL_WITH_RAMTRON
using_fram = fram.init();
if (using_fram) {
if (!fram.read(0, _buffer, CH_STORAGE_SIZE)) {
if (fram.init() && fram.read(0, _buffer, CH_STORAGE_SIZE)) {
_save_backup();
_initialisedType = StorageBackend::FRAM;
::printf("Initialised Storage type=%d\n", _initialisedType);
return;
}
#if !HAL_RAMTRON_ALLOW_FALLBACK
AP_HAL::panic("Unable to init RAMTRON storage");
#endif
#endif // HAL_WITH_RAMTRON
// allow for devices with no FRAM chip to fall through to other storage
#ifdef STORAGE_FLASH_PAGE
// load from storage backend
_flash_load();
_save_backup();
_initialisedType = StorageBackend::Flash;
#elif defined(USE_POSIX)
// if we have failed filesystem init don't try again
if (log_fd == -1) {
return;
}
_save_backup();
_initialised = true;
return;
}
// allow for FMUv3 with no FRAM chip, fall through to flash storage
// use microSD based storage
if (sdcard_retry()) {
log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) {
::printf("open failed of " HAL_STORAGE_FILE "\n");
return;
}
int ret = AP::FS().read(log_fd, _buffer, CH_STORAGE_SIZE);
if (ret < 0) {
::printf("read failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
// pre-fill to full size
if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret ||
AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
::printf("setup failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
_save_backup();
_initialisedType = StorageBackend::SDCard;
}
#endif
#ifdef STORAGE_FLASH_PAGE
// load from storage backend
_flash_load();
#elif defined(USE_POSIX)
// allow for fallback to microSD based storage
sdcard_retry();
log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) {
::printf("open failed of " HAL_STORAGE_FILE "\n");
return;
if (_initialisedType != StorageBackend::None) {
::printf("Initialised Storage type=%d\n", _initialisedType);
} else {
AP_HAL::panic("Unable to init Storage backend");
}
int ret = AP::FS().read(log_fd, _buffer, CH_STORAGE_SIZE);
if (ret < 0) {
::printf("read failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
// pre-fill to full size
if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret ||
AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
::printf("setup failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
using_filesystem = true;
#endif
_save_backup();
_initialised = true;
}
/*
@ -113,11 +124,12 @@ void Storage::_save_backup(void)
{
#ifdef USE_POSIX
// allow for fallback to microSD based storage
sdcard_retry();
int fd = AP::FS().open(HAL_STORAGE_BACKUP_FILE, O_WRONLY|O_CREAT|O_TRUNC);
if (fd != -1) {
AP::FS().write(fd, _buffer, CH_STORAGE_SIZE);
AP::FS().close(fd);
if (sdcard_retry()) {
int fd = AP::FS().open(HAL_STORAGE_BACKUP_FILE, O_WRONLY|O_CREAT|O_TRUNC);
if (fd != -1) {
AP::FS().write(fd, _buffer, CH_STORAGE_SIZE);
AP::FS().close(fd);
}
}
#endif
}
@ -144,7 +156,7 @@ void Storage::_mark_dirty(uint16_t loc, uint16_t length)
void Storage::read_block(void *dst, uint16_t loc, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
if ((n > sizeof(_buffer)) || (loc > (sizeof(_buffer) - n))) {
return;
}
_storage_open();
@ -153,7 +165,7 @@ void Storage::read_block(void *dst, uint16_t loc, size_t n)
void Storage::write_block(uint16_t loc, const void *src, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
if ((n > sizeof(_buffer)) || (loc > (sizeof(_buffer) - n))) {
return;
}
if (memcmp(src, &_buffer[loc], n) != 0) {
@ -165,7 +177,7 @@ void Storage::write_block(uint16_t loc, const void *src, size_t n)
void Storage::_timer_tick(void)
{
if (!_initialised) {
if (_initialisedType == StorageBackend::None) {
return;
}
if (_dirty_mask.empty()) {
@ -187,7 +199,7 @@ void Storage::_timer_tick(void)
}
#if HAL_WITH_RAMTRON
if (using_fram) {
if (_initialisedType == StorageBackend::FRAM) {
if (fram.write(CH_STORAGE_LINE_SIZE*i, &_buffer[CH_STORAGE_LINE_SIZE*i], CH_STORAGE_LINE_SIZE)) {
_dirty_mask.clear(i);
}
@ -196,7 +208,7 @@ void Storage::_timer_tick(void)
#endif
#ifdef USE_POSIX
if (using_filesystem && log_fd != -1) {
if ((_initialisedType == StorageBackend::SDCard) && log_fd != -1) {
uint32_t offset = CH_STORAGE_LINE_SIZE*i;
if (AP::FS().lseek(log_fd, offset, SEEK_SET) != offset) {
return;
@ -213,8 +225,10 @@ void Storage::_timer_tick(void)
#endif
#ifdef STORAGE_FLASH_PAGE
// save to storage backend
_flash_write(i);
if (_initialisedType == StorageBackend::Flash) {
// save to storage backend
_flash_write(i);
}
#endif
}
@ -229,10 +243,10 @@ void Storage::_flash_load(void)
::printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
if (!_flash.init()) {
AP_HAL::panic("unable to init flash storage");
AP_HAL::panic("Unable to init flash storage");
}
#else
AP_HAL::panic("unable to init storage");
AP_HAL::panic("Unable to init storage");
#endif
}
@ -284,10 +298,14 @@ 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
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;
#else
return false;
#endif
}
/*
@ -295,6 +313,7 @@ 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
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
if (hal.flash->erasepage(_flash_page+sector)) {
return true;
@ -302,6 +321,9 @@ bool Storage::_flash_erase_sector(uint8_t sector)
hal.scheduler->delay(1);
}
return false;
#else
return false;
#endif
}
/*
@ -319,7 +341,8 @@ bool Storage::_flash_erase_ok(void)
*/
bool Storage::healthy(void)
{
return _initialised && AP_HAL::millis() - _last_empty_ms < 2000;
return ((_initialisedType != StorageBackend::None) &&
(AP_HAL::millis() - (_last_empty_ms < 2000)));
}
/*
@ -328,12 +351,12 @@ bool Storage::healthy(void)
bool Storage::erase(void)
{
#if HAL_WITH_RAMTRON
if (using_fram) {
if (_initialisedType == StorageBackend::FRAM) {
return AP_HAL::Storage::erase();
}
#endif
#ifdef USE_POSIX
if (using_filesystem) {
if (_initialisedType == StorageBackend::SDCard) {
return AP_HAL::Storage::erase();
}
#endif

10
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -48,7 +48,13 @@ public:
bool healthy(void) override;
private:
volatile bool _initialised;
enum class StorageBackend: uint8_t {
None,
FRAM,
Flash,
SDCard,
};
StorageBackend _initialisedType = StorageBackend::None;
void _storage_create(void);
void _storage_open(void);
void _save_backup(void);
@ -79,10 +85,8 @@ private:
#if HAL_WITH_RAMTRON
AP_RAMTRON fram;
bool using_fram;
#endif
#ifdef USE_POSIX
bool using_filesystem;
int log_fd;
#endif
};