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AP_Param: support restoring from parameter backup region 

if header on primary parameter storage is corrupt then restore from
backup
This commit is contained in:
Andrew Tridgell 2021-01-13 10:10:27 +11:00
parent 03a033c5c4
commit 4d58bcb321
2 changed files with 20 additions and 1 deletions
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20
libraries/AP_Param/AP_Param.cpp
View File

@ -32,6 +32,7 @@
#include <GCS_MAVLink/GCS.h>
#include <StorageManager/StorageManager.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_InternalError/AP_InternalError.h>
#include <stdio.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
@ -110,6 +111,9 @@ const AP_Param::param_defaults_struct AP_Param::param_defaults_data = {
// storage object
StorageAccess AP_Param::_storage(StorageManager::StorageParam);
// backup storage object
StorageAccess AP_Param::_storage_bak(StorageManager::StorageParamBak);
// flags indicating frame type
uint16_t AP_Param::_frame_type_flags;
@ -117,6 +121,7 @@ uint16_t AP_Param::_frame_type_flags;
void AP_Param::eeprom_write_check(const void *ptr, uint16_t ofs, uint8_t size)
{
_storage.write_block(ofs, ptr, size);
_storage_bak.write_block(ofs, ptr, size);
}
bool AP_Param::_hide_disabled_groups = true;
@ -323,19 +328,32 @@ bool AP_Param::check_var_info(void)
// setup the _var_info[] table
bool AP_Param::setup(void)
{
struct EEPROM_header hdr;
struct EEPROM_header hdr {};
struct EEPROM_header hdr2 {};
// check the header
_storage.read_block(&hdr, 0, sizeof(hdr));
_storage_bak.read_block(&hdr2, 0, sizeof(hdr2));
if (hdr.magic[0] != k_EEPROM_magic0 ||
hdr.magic[1] != k_EEPROM_magic1 ||
hdr.revision != k_EEPROM_revision) {
if (hdr2.magic[0] == k_EEPROM_magic0 &&
hdr2.magic[1] == k_EEPROM_magic1 &&
hdr2.revision == k_EEPROM_revision &&
_storage.copy_area(_storage_bak)) {
// restored from backup
INTERNAL_ERROR(AP_InternalError::error_t::params_restored);
return true;
}
// header doesn't match. We can't recover any variables. Wipe
// the header and setup the sentinal directly after the header
Debug("bad header in setup - erasing");
erase_all();
}
// ensure that backup is in sync with primary
_storage_bak.copy_area(_storage);
return true;
}

1
libraries/AP_Param/AP_Param.h
View File

@ -678,6 +678,7 @@ private:
void send_parameter(const char *name, enum ap_var_type param_header_type, uint8_t idx) const;
static StorageAccess _storage;
static StorageAccess _storage_bak;
static uint16_t _num_vars;
static uint16_t _parameter_count;
static uint16_t _count_marker;