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HAL_PX4: use eeprom on PX4 FMUv1 as well

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this means we no longer store params on SD at all
This commit is contained in:
Andrew Tridgell 2014-01-15 19:32:32 +11:00
parent ae4f368f16
commit 64fbadcc21
2 changed files with 24 additions and 90 deletions
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113
libraries/AP_HAL_PX4/Storage.cpp
View File

@ -14,8 +14,8 @@
using namespace PX4;
/*
This stores 'eeprom' data on the SD card, with a 4k size, and a
in-memory buffer. This keeps the latency down.
This stores eeprom data in the PX4 MTD interface with a 4k size, and
a in-memory buffer. This keeps the latency and devices IOs down.
*/
// name the storage file after the sketch so you can use the same sd
@ -23,8 +23,9 @@ using namespace PX4;
#define STORAGE_DIR "/fs/microsd/APM"
#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_PARAMS_FILE "/fs/mtd"
#define MTD_SIGNATURE 0x14012014
#define MTD_SIGNATURE_OFFSET (8192-4)
#define STORAGE_RENAME_OLD_FILE 0
extern const AP_HAL::HAL& hal;
@ -37,35 +38,17 @@ PX4Storage::PX4Storage(void) :
{
}
void PX4Storage::_storage_create(void)
{
mkdir(STORAGE_DIR, 0777);
unlink(_storage_name);
int fd = open(_storage_name, O_RDWR|O_CREAT, 0666);
if (fd == -1) {
hal.scheduler->panic("Failed to create " OLD_STORAGE_FILE);
}
for (uint16_t loc=0; loc<sizeof(_buffer); loc += PX4_STORAGE_MAX_WRITE) {
if (write(fd, &_buffer[loc], PX4_STORAGE_MAX_WRITE) != PX4_STORAGE_MAX_WRITE) {
hal.scheduler->panic("Error filling " OLD_STORAGE_FILE);
}
}
// ensure the directory is updated with the new size
fsync(fd);
close(fd);
}
/*
get signature from bytes at offset 8192-4
get signature from bytes at offset MTD_SIGNATURE_OFFSET
*/
uint32_t PX4Storage::_mtd_signature(void)
{
int mtd_fd = open(_storage_name, O_RDONLY);
int mtd_fd = open(MTD_PARAMS_FILE, 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) {
if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
}
if (read(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
@ -76,16 +59,16 @@ uint32_t PX4Storage::_mtd_signature(void)
}
/*
put signature bytes at offset 8192-4
put signature bytes at offset MTD_SIGNATURE_OFFSET
*/
void PX4Storage::_mtd_write_signature(void)
{
int mtd_fd = open(_storage_name, O_WRONLY);
int mtd_fd = open(MTD_PARAMS_FILE, 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) {
if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
}
if (write(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
@ -107,7 +90,7 @@ void PX4Storage::_upgrade_to_mtd(void)
return;
}
int mtd_fd = open(_storage_name, O_WRONLY);
int mtd_fd = open(MTD_PARAMS_FILE, O_WRONLY);
if (mtd_fd == -1) {
hal.scheduler->panic("Unable to open MTD for upgrade");
}
@ -139,83 +122,35 @@ void PX4Storage::_storage_open(void)
struct stat st;
_have_mtd = (stat(MTD_PARAMS_FILE, &st) == 0);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
// FMUv2 should always have /fs/mtd_params
// PX4 should always have /fs/mtd_params
if (!_have_mtd) {
hal.scheduler->panic("Failed to find " MTD_PARAMS_FILE);
}
#endif
if (_have_mtd) {
_storage_name = MTD_PARAMS_FILE;
} else {
// NuttX seems to be happier not having the extra directory
// entries for mapping the case of filenames. Keeping it all
// uppercase seems to reduce meta-data corruption when rebooting
// while writing
if (strcmp(SKETCHNAME, "ArduPlane") == 0) {
_storage_name = STORAGE_DIR "/" "PLANE.STG";
} else if (strcmp(SKETCHNAME, "ArduCopter") == 0) {
_storage_name = STORAGE_DIR "/" "COPTER.STG";
} else if (strcmp(SKETCHNAME, "APMrover2") == 0) {
_storage_name = STORAGE_DIR "/" "ROVER.STG";
} else {
_storage_name = OLD_STORAGE_FILE;
}
}
/*
cope with upgrading from OLD_STORAGE_FILE to MTD
*/
if (_have_mtd) {
bool good_signature = (_mtd_signature() == MTD_SIGNATURE);
if (stat(OLD_STORAGE_FILE, &st) == 0) {
if (good_signature) {
bool good_signature = (_mtd_signature() == MTD_SIGNATURE);
if (stat(OLD_STORAGE_FILE, &st) == 0) {
if (good_signature) {
#if STORAGE_RENAME_OLD_FILE
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
#endif
} else {
_upgrade_to_mtd();
}
}
if (!good_signature) {
_mtd_write_signature();
} else {
_upgrade_to_mtd();
}
}
/**
NuttX is not properly case insensitive on VFAT. We will create
the file as uppercase, but if the file already exists we need
to rename it first
*/
if (!_have_mtd && stat(_storage_name, &st) == -1 && stat(OLD_STORAGE_FILE, &st) == 0) {
::printf("Renaming %s to %s\n", OLD_STORAGE_FILE, _storage_name);
if (rename(OLD_STORAGE_FILE, _storage_name) != 0) {
unlink(OLD_STORAGE_FILE);
}
if (!good_signature) {
_mtd_write_signature();
}
_dirty_mask = 0;
int fd = open(_storage_name, O_RDONLY);
int fd = open(MTD_PARAMS_FILE, O_RDONLY);
if (fd == -1) {
_storage_create();
fd = open(_storage_name, O_RDONLY);
if (fd == -1) {
hal.scheduler->panic("Failed to open " OLD_STORAGE_FILE);
}
hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
close(fd);
_storage_create();
fd = open(_storage_name, O_RDONLY);
if (fd == -1) {
hal.scheduler->panic("Failed to open " OLD_STORAGE_FILE);
}
ssize_t ret;
if ((ret=read(fd, _buffer, sizeof(_buffer))) != sizeof(_buffer)) {
::printf("read: %d errno=%d\n", (int)ret, (int)errno);
hal.scheduler->panic("Failed to read " OLD_STORAGE_FILE);
}
hal.scheduler->panic("Failed to read " MTD_PARAMS_FILE);
}
close(fd);
_initialised = true;
@ -334,7 +269,7 @@ void PX4Storage::_timer_tick(void)
perf_begin(_perf_storage);
if (_fd == -1) {
_fd = open(_storage_name, O_WRONLY);
_fd = open(MTD_PARAMS_FILE, O_WRONLY);
if (_fd == -1) {
perf_end(_perf_storage);
perf_count(_perf_errors);

1
libraries/AP_HAL_PX4/Storage.h
View File

@ -31,7 +31,6 @@ public:
void _timer_tick(void);
private:
const char *_storage_name;
int _fd;
volatile bool _initialised;
void _storage_create(void);