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HAL_PX4: added a signature to FRAM

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this makes for more reliable update
This commit is contained in:
Andrew Tridgell 2014-01-14 15:06:51 +11:00
parent 33acce71c8
commit 626086063e
2 changed files with 49 additions and 11 deletions
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58
libraries/AP_HAL_PX4/Storage.cpp
View File

@ -24,6 +24,7 @@ using namespace PX4;
#define OLD_STORAGE_FILE STORAGE_DIR "/" SKETCHNAME ".stg"
#define OLD_STORAGE_FILE_BAK STORAGE_DIR "/" SKETCHNAME ".bak"
#define MTD_PARAMS_FILE "/fs/mtd_params"
#define MTD_SIGNATURE 0x14012014
extern const AP_HAL::HAL& hal;
@ -54,25 +55,49 @@ void PX4Storage::_storage_create(void)
}
/*
upgrade from microSD to MTD (FRAM)
get signature from bytes at offset 8192-4
*/
void PX4Storage::_upgrade_to_mtd(void)
uint32_t PX4Storage::_mtd_signature(void)
{
int mtd_fd = open(_storage_name, O_RDONLY);
if (mtd_fd == -1) {
hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
}
uint32_t v;
if (lseek(mtd_fd, 8192-4, SEEK_SET) != 8192-4) {
hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
}
if (read(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
hal.scheduler->panic("Failed to read header of " MTD_PARAMS_FILE);
hal.scheduler->panic("Failed to read signature from " MTD_PARAMS_FILE);
}
close(mtd_fd);
if (v != 0xFFFFFFFF) {
// it has some data in it, don't upgrade
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
return;
}
return v;
}
/*
put signature bytes at offset 8192-4
*/
void PX4Storage::_mtd_write_signature(void)
{
int mtd_fd = open(_storage_name, O_WRONLY);
if (mtd_fd == -1) {
hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
}
uint32_t v = MTD_SIGNATURE;
if (lseek(mtd_fd, 8192-4, SEEK_SET) != 8192-4) {
hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
}
if (write(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
hal.scheduler->panic("Failed to write signature in " MTD_PARAMS_FILE);
}
close(mtd_fd);
}
/*
upgrade from microSD to MTD (FRAM)
*/
void PX4Storage::_upgrade_to_mtd(void)
{
// the MTD is completely uninitialised - try to get a
// copy from OLD_STORAGE_FILE
int old_fd = open(OLD_STORAGE_FILE, O_RDONLY);
@ -81,7 +106,7 @@ void PX4Storage::_upgrade_to_mtd(void)
return;
}
mtd_fd = open(_storage_name, O_WRONLY);
int mtd_fd = open(_storage_name, O_WRONLY);
if (mtd_fd == -1) {
hal.scheduler->panic("Unable to open MTD for upgrade");
}
@ -98,6 +123,7 @@ void PX4Storage::_upgrade_to_mtd(void)
}
close(mtd_fd);
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
::printf("Upgraded MTD from %s\n", OLD_STORAGE_FILE);
}
@ -138,8 +164,18 @@ void PX4Storage::_storage_open(void)
/*
cope with upgrading from OLD_STORAGE_FILE to MTD
*/
if (_have_mtd && stat(OLD_STORAGE_FILE, &st) == 0) {
_upgrade_to_mtd();
if (_have_mtd) {
bool good_signature = (_mtd_signature() == MTD_SIGNATURE);
if (stat(OLD_STORAGE_FILE, &st) == 0) {
if (good_signature) {
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
} else {
_upgrade_to_mtd();
}
}
if (!good_signature) {
_mtd_write_signature();
}
}
/**

2
libraries/AP_HAL_PX4/Storage.h
View File

@ -43,6 +43,8 @@ private:
perf_counter_t _perf_errors;
bool _have_mtd;
void _upgrade_to_mtd(void);
uint32_t _mtd_signature(void);
void _mtd_write_signature(void);
};
#endif // __AP_HAL_PX4_STORAGE_H__