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AP_HAL_FLYMAPLE: Improvements to FLYMAPLEStorage

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Fix a number of bugs and expand storage to an emulated 4kb, as needed by AP.
This commit is contained in:
Mike McCauley 2013-09-29 13:31:44 +10:00 committed by Andrew Tridgell
parent 29707f4401
commit 68a7cac9a2
2 changed files with 80 additions and 20 deletions
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95
libraries/AP_HAL_FLYMAPLE/Storage.cpp
View File

@ -14,6 +14,10 @@
*/
/*
Flymaple port by Mike McCauley
Partly based on EEPROM.*, flash_stm* copied from AeroQuad_v3.2
This uses n*2*2k pages of FLASH ROM to emulate an EEPROM
This storage is retained after power down, and survives reloading of firmware
All multi-byte accesses are reduced to single byte access so that can span EEPROM block boundaries
*/
#include <AP_HAL.h>
@ -22,43 +26,85 @@
#include <string.h>
#include "Storage.h"
#include "FlymapleWirish.h"
// EEPROM.*, flash_stm* copied from AeroQuad_v3.2
#include "utility/EEPROM.h"
using namespace AP_HAL_FLYMAPLE_NS;
static EEPROMClass eeprom;
extern const AP_HAL::HAL& hal;
// The EEPROM class uses 2x2k FLASH ROM pages to emulate 1k of EEPROM.
// AP needs at last 4k of EEPROM, so we define multiple EEPROMClass, one for each
// 1k of EEPROM address space
// This is the number of 1k EEPROM blocks we need
const uint8_t num_eeprom_blocks = 4;
// This is the addres of the LAST 2k FLASH ROM page to be used to implement the EEPROM
// FLASH ROM page use grows downwards from here
// It is in fact the lat page in the available FLASH ROM
const uint32_t last_flash_page = 0x0807F800;
// This is the size of each FLASH ROM page
const uint32 pageSize = 0x800;
// This defines the base addresses of the 2 FLASH ROM pages that will be used to emulate EEPROM
// These are the last 2 2k pages in the FLASH ROM address space on the RET6 used by Flymaple
// This will effectively provide a total of 1kb of emulated EEPROM storage
const uint32 pageBase0 = 0x0807F000;
const uint32 pageBase1 = 0x0807F800;
static EEPROMClass eeprom[num_eeprom_blocks];
FLYMAPLEStorage::FLYMAPLEStorage()
{}
void FLYMAPLEStorage::init(void*)
{
eeprom.init(0x801F000, 0x801F800, 0x800);
for (int i = 0; i < num_eeprom_blocks; i++)
{
uint16 result = eeprom[i].init(last_flash_page - (2*i * pageSize),
last_flash_page - (((2*i)+1) * pageSize),
pageSize);
if (result != EEPROM_OK)
hal.console->printf("FLYMAPLEStorage::init eeprom.init[%d] failed: %x\n", i, result);
}
}
uint8_t FLYMAPLEStorage::read_byte(uint16_t loc){
//hal.console->printf("read_byte %d\n", loc);
uint16_t eeprom_index = loc >> 10;
uint16_t eeprom_offset = loc & 0x3ff;
if (eeprom_index >= num_eeprom_blocks)
{
hal.console->printf("FLYMAPLEStorage::read_byte loc %d out of range\n", loc);
return 0xff; // What else?
}
// 'bytes' are packed 2 per word
// Read existing dataword and change upper or lower byte
uint16_t data = eeprom.read(loc >> 1);
if (loc & 1)
return data >> 8;
uint16_t data = eeprom[eeprom_index].read(eeprom_offset >> 1);
if (eeprom_offset & 1)
return data >> 8; // Odd, upper byte
else
return data & 0xff;
return data & 0xff; // Even lower byte
}
uint16_t FLYMAPLEStorage::read_word(uint16_t loc){
return eeprom.read(loc);
//hal.console->printf("read_word %d\n", loc);
uint16_t value;
read_block(&value, loc, sizeof(value));
return value;
}
uint32_t FLYMAPLEStorage::read_dword(uint16_t loc){
loc <<= 1;
uint32_t data = eeprom.read(loc);
data |= (eeprom.read(loc+1) << 16); // second word is the high word
return data;
//hal.console->printf("read_dword %d\n", loc);
uint32_t value;
read_block(&value, loc, sizeof(value));
return value;
}
void FLYMAPLEStorage::read_block(void* dst, uint16_t src, size_t n) {
// hal.console->printf("read_block %d %d\n", src, n);
// Treat as a block of bytes
for (size_t i = 0; i < n; i++)
((uint8_t*)dst)[i] = read_byte(src+i);
@ -66,30 +112,41 @@ void FLYMAPLEStorage::read_block(void* dst, uint16_t src, size_t n) {
void FLYMAPLEStorage::write_byte(uint16_t loc, uint8_t value)
{
// hal.console->printf("write_byte %d, %d\n", loc, value);
uint16_t eeprom_index = loc >> 10;
uint16_t eeprom_offset = loc & 0x3ff;
if (eeprom_index >= num_eeprom_blocks)
{
hal.console->printf("FLYMAPLEStorage::write_byte loc %d out of range\n", loc);
return;
}
// 'bytes' are packed 2 per word
// Read existing data word and change upper or lower byte
uint16_t data = eeprom.read(loc >> 1);
if (loc & 1)
uint16_t data = eeprom[eeprom_index].read(eeprom_offset >> 1);
if (eeprom_offset & 1)
data = (data & 0x00ff) | (value << 8); // Odd, upper byte
else
data = (data & 0xff00) | value; // Even, lower byte
eeprom.write(loc >> 1, data);
eeprom[eeprom_index].write(eeprom_offset >> 1, data);
}
void FLYMAPLEStorage::write_word(uint16_t loc, uint16_t value)
{
eeprom.write(loc, value);
// hal.console->printf("write_word %d, %d\n", loc, value);
write_block(loc, &value, sizeof(value));
}
void FLYMAPLEStorage::write_dword(uint16_t loc, uint32_t value)
{
loc <<= 1;
eeprom.write(loc, value & 0xffff);
eeprom.write(loc+1, value >> 16);
// hal.console->printf("write_dword %d, %d\n", loc, value);
write_block(loc, &value, sizeof(value));
}
void FLYMAPLEStorage::write_block(uint16_t loc, const void* src, size_t n)
{
// hal.console->printf("write_block %d, %d\n", loc, n);
// Treat as a block of bytes
for (size_t i = 0; i < n; i++)
write_byte(loc+i, ((uint8_t*)src)[i]);

5
libraries/AP_HAL_FLYMAPLE/examples/Storage/Storage.pde
View File

@ -9,7 +9,7 @@
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
uint8_t fibs[] = { 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144 };
uint8_t fibs[] = { 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144, 0 };
void test_erase() {
hal.console->printf_P(PSTR("erasing... "));
@ -46,6 +46,9 @@ void test_readback() {
void setup (void) {
hal.scheduler->delay(5000);
hal.console->printf_P(PSTR("Starting AP_HAL_FLYMAPLE::Storage test\r\n"));
hal.console->printf("test %d\n", i);
test_readback(); // Test what was left from the last run, possibly after power off
test_erase();
test_write();
test_readback();