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HAL_SITL: emulate sector size for flash storage properly

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This commit is contained in:
Andrew Tridgell 2020-04-11 09:32:15 +10:00
parent 2988c70627
commit c0039c85e0
1 changed files with 19 additions and 6 deletions
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25
libraries/AP_HAL_SITL/Storage.cpp
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@ -13,6 +13,19 @@ using namespace HALSITL;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/*
emulate flash sector sizes
*/
#ifndef HAL_FLASH_SECTOR_SIZE
#if HAL_STORAGE_SIZE <= 16384
#define HAL_FLASH_SECTOR_SIZE (16*1024)
#elif HAL_STORAGE_SIZE <= 32768
#define HAL_FLASH_SECTOR_SIZE (32*1024)
#else
#define HAL_FLASH_SECTOR_SIZE (128*1024)
#endif
#endif
void Storage::_storage_open(void) void Storage::_storage_open(void)
{ {
if (_initialised) { if (_initialised) {
@ -183,7 +196,7 @@ static int flash_fd = -1;
static uint32_t sitl_flash_getpageaddr(uint32_t page) static uint32_t sitl_flash_getpageaddr(uint32_t page)
{ {
return page * HAL_STORAGE_SIZE; return page * HAL_FLASH_SECTOR_SIZE;
} }
static void sitl_flash_open(void) static void sitl_flash_open(void)
@ -195,10 +208,10 @@ static void sitl_flash_open(void)
if (flash_fd == -1) { if (flash_fd == -1) {
AP_HAL::panic("Failed to open flash.dat"); AP_HAL::panic("Failed to open flash.dat");
} }
if (ftruncate(flash_fd, 2*HAL_STORAGE_SIZE) != 0) { if (ftruncate(flash_fd, 2*HAL_FLASH_SECTOR_SIZE) != 0) {
AP_HAL::panic("Failed to create flash.dat"); AP_HAL::panic("Failed to create flash.dat");
} }
uint8_t fill[HAL_STORAGE_SIZE*2]; uint8_t fill[HAL_FLASH_SECTOR_SIZE*2];
memset(fill, 0xff, sizeof(fill)); memset(fill, 0xff, sizeof(fill));
pwrite(flash_fd, fill, sizeof(fill), 0); pwrite(flash_fd, fill, sizeof(fill), 0);
} }
@ -210,7 +223,7 @@ static bool sitl_flash_write(uint32_t addr, const uint8_t *data, uint32_t length
sitl_flash_open(); sitl_flash_open();
uint8_t old[length]; uint8_t old[length];
if (pread(flash_fd, old, length, addr) != length) { if (pread(flash_fd, old, length, addr) != length) {
AP_HAL::panic("Failed to read flash.dat"); AP_HAL::panic("Failed to read flash.dat at %u len=%u", unsigned(addr), unsigned(length));
} }
// check that we are only ever clearing bits (real flash storage can only ever clear bits, // check that we are only ever clearing bits (real flash storage can only ever clear bits,
// except for an erase // except for an erase
@ -230,10 +243,10 @@ static bool sitl_flash_read(uint32_t addr, uint8_t *data, uint32_t length)
static bool sitl_flash_erasepage(uint32_t page) static bool sitl_flash_erasepage(uint32_t page)
{ {
uint8_t fill[HAL_STORAGE_SIZE]; uint8_t fill[HAL_FLASH_SECTOR_SIZE];
memset(fill, 0xff, sizeof(fill)); memset(fill, 0xff, sizeof(fill));
sitl_flash_open(); sitl_flash_open();
bool ret = pwrite(flash_fd, fill, sizeof(fill), page * HAL_STORAGE_SIZE) == sizeof(fill); bool ret = pwrite(flash_fd, fill, sizeof(fill), page * HAL_FLASH_SECTOR_SIZE) == sizeof(fill);
printf("erase %u -> %u\n", page, ret); printf("erase %u -> %u\n", page, ret);
return ret; return ret;
} }