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HAL_SITL: added checks for flash storage

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This commit is contained in:
Andrew Tridgell 2020-04-12 12:16:40 +10:00
parent efe78fe3e1
commit 5125fc1a64
2 changed files with 33 additions and 1 deletions
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32
libraries/AP_HAL_SITL/Storage.cpp
View File

@ -26,6 +26,14 @@ extern const AP_HAL::HAL& hal;
#endif
#endif
#ifndef HAL_FLASH_MIN_WRITE_SIZE
#define HAL_FLASH_MIN_WRITE_SIZE 1
#endif
#ifndef HAL_FLASH_ALLOW_UPDATE
#define HAL_FLASH_ALLOW_UPDATE 1
#endif
void Storage::_storage_open(void)
{
if (_initialised) {
@ -225,12 +233,36 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
if (pread(flash_fd, old, length, addr) != length) {
AP_HAL::panic("Failed to read flash.dat at %u len=%u", unsigned(addr), unsigned(length));
}
#if defined(HAL_FLASH_MIN_WRITE_SIZE) && HAL_FLASH_MIN_WRITE_SIZE == 32
if ((length % HAL_FLASH_MIN_WRITE_SIZE) != 0 || (addr % HAL_FLASH_MIN_WRITE_SIZE) != 0) {
AP_HAL::panic("Attempt to write flash at %u length %u\n", addr, length);
}
// emulate H7 requirement that writes be to untouched bytes
for (uint32_t i=0; i<length; i+= 32) {
if (memcmp(&old[i], &data[i], 32) == 0) {
continue;
}
for (uint32_t j=0; j<32; j++) {
if (old[i+j] != 0xFF) {
AP_HAL::panic("Attempt to write modified flash at %u length %u\n", addr+i+j, length);
}
}
}
#endif
// check that we are only ever clearing bits (real flash storage can only ever clear bits,
// except for an erase
for (uint32_t i=0; i<length; i++) {
#if HAL_FLASH_ALLOW_UPDATE
// emulating flash that allows setting any bit from 1 to 0
if (data[i] & ~old[i]) {
AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u\n", data[i], old[i], addr+i);
}
#else
// emulating flash that only allows update if whole byte is 0xFF
if (data[i] != old[i] && old[i] != 0xFF) {
AP_HAL::panic("Attempt to set flash byte 0x%02x from 0x%02x at %u\n", data[i], old[i], addr+i);
}
#endif
}
return pwrite(flash_fd, data, length, addr) == length;
}

2
libraries/AP_HAL_SITL/Storage.h
View File

@ -53,7 +53,7 @@ private:
#if STORAGE_USE_FLASH
AP_FlashStorage _flash{_buffer,
HAL_STORAGE_SIZE,
HAL_FLASH_SECTOR_SIZE,
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),