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HAL_ChibiOS: added expected delays on flash writes 

this prevents a long loop internal error on disarm after a large
amount of flash writes when armed on a board with flash storage
This commit is contained in:
Andrew Tridgell 2022-04-04 17:09:38 +10:00 committed by Randy Mackay
parent 86f7365c1c
commit a03b9ec034
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_HAL_ChibiOS/Storage.cpp
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@ -346,6 +346,7 @@ void Storage::_flash_load(void)
bool Storage::_flash_write(uint16_t line) bool Storage::_flash_write(uint16_t line)
{ {
#ifdef STORAGE_FLASH_PAGE #ifdef STORAGE_FLASH_PAGE
EXPECT_DELAY_MS(1);
return _flash.write(line*CH_STORAGE_LINE_SIZE, CH_STORAGE_LINE_SIZE); return _flash.write(line*CH_STORAGE_LINE_SIZE, CH_STORAGE_LINE_SIZE);
#else #else
return false; return false;
@ -360,6 +361,7 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
#ifdef STORAGE_FLASH_PAGE #ifdef STORAGE_FLASH_PAGE
size_t base_address = hal.flash->getpageaddr(_flash_page+sector); size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) { for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
EXPECT_DELAY_MS(1);
if (hal.flash->write(base_address+offset, data, length)) { if (hal.flash->write(base_address+offset, data, length)) {
return true; return true;
} }
@ -412,13 +414,10 @@ bool Storage::_flash_erase_sector(uint8_t sector)
thread. We can't use EXPECT_DELAY_MS() as it checks we are thread. We can't use EXPECT_DELAY_MS() as it checks we are
in the main thread in the main thread
*/ */
ChibiOS::Scheduler *sched = (ChibiOS::Scheduler *)hal.scheduler; EXPECT_DELAY_MS(1000);
sched->_expect_delay_ms(1000);
if (hal.flash->erasepage(_flash_page+sector)) { if (hal.flash->erasepage(_flash_page+sector)) {
sched->_expect_delay_ms(0);
return true; return true;
} }
sched->_expect_delay_ms(0);
hal.scheduler->delay(1); hal.scheduler->delay(1);
} }
return false; return false;