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HAL_PX4: removed support for old storage files on microSD

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This commit is contained in:
Andrew Tridgell 2016-11-17 18:26:58 +11:00
parent 4cfd63c30a
commit d4f679f954
2 changed files with 0 additions and 111 deletions
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108
libraries/AP_HAL_PX4/Storage.cpp
View File

@ -21,13 +21,8 @@ using namespace PX4;
// name the storage file after the sketch so you can use the same sd // name the storage file after the sketch so you can use the same sd
// card for ArduCopter and ArduPlane // card for ArduCopter and ArduPlane
#define STORAGE_DIR "/fs/microsd/APM" #define STORAGE_DIR "/fs/microsd/APM"
#define OLD_STORAGE_FILE STORAGE_DIR "/" SKETCHNAME ".stg"
#define OLD_STORAGE_FILE_BAK STORAGE_DIR "/" SKETCHNAME ".bak"
//#define SAVE_STORAGE_FILE STORAGE_DIR "/" SKETCHNAME ".sav" //#define SAVE_STORAGE_FILE STORAGE_DIR "/" SKETCHNAME ".sav"
#define MTD_PARAMS_FILE "/fs/mtd" #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; extern const AP_HAL::HAL& hal;
@ -38,89 +33,6 @@ PX4Storage::PX4Storage(void) :
{ {
} }
/*
get signature from bytes at offset MTD_SIGNATURE_OFFSET
*/
uint32_t PX4Storage::_mtd_signature(void)
{
int mtd_fd = open(MTD_PARAMS_FILE, O_RDONLY);
if (mtd_fd == -1) {
AP_HAL::panic("Failed to open " MTD_PARAMS_FILE);
}
uint32_t v;
if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
AP_HAL::panic("Failed to seek in " MTD_PARAMS_FILE);
}
bus_lock(true);
if (read(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
AP_HAL::panic("Failed to read signature from " MTD_PARAMS_FILE);
}
bus_lock(false);
close(mtd_fd);
return v;
}
/*
put signature bytes at offset MTD_SIGNATURE_OFFSET
*/
void PX4Storage::_mtd_write_signature(void)
{
int mtd_fd = open(MTD_PARAMS_FILE, O_WRONLY);
if (mtd_fd == -1) {
AP_HAL::panic("Failed to open " MTD_PARAMS_FILE);
}
uint32_t v = MTD_SIGNATURE;
if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
AP_HAL::panic("Failed to seek in " MTD_PARAMS_FILE);
}
bus_lock(true);
if (write(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
AP_HAL::panic("Failed to write signature in " MTD_PARAMS_FILE);
}
bus_lock(false);
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);
if (old_fd == -1) {
::printf("Failed to open %s\n", OLD_STORAGE_FILE);
return;
}
int mtd_fd = open(MTD_PARAMS_FILE, O_WRONLY);
if (mtd_fd == -1) {
AP_HAL::panic("Unable to open MTD for upgrade");
}
if (::read(old_fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
close(old_fd);
close(mtd_fd);
::printf("Failed to read %s\n", OLD_STORAGE_FILE);
return;
}
close(old_fd);
ssize_t ret;
bus_lock(true);
if ((ret=::write(mtd_fd, _buffer, sizeof(_buffer))) != sizeof(_buffer)) {
::printf("mtd write of %u bytes returned %d errno=%d\n", sizeof(_buffer), ret, errno);
AP_HAL::panic("Unable to write MTD for upgrade");
}
bus_lock(false);
close(mtd_fd);
#if STORAGE_RENAME_OLD_FILE
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
#endif
::printf("Upgraded MTD from %s\n", OLD_STORAGE_FILE);
}
void PX4Storage::_storage_open(void) void PX4Storage::_storage_open(void)
{ {
if (_initialised) { if (_initialised) {
@ -135,26 +47,6 @@ void PX4Storage::_storage_open(void)
AP_HAL::panic("Failed to find " MTD_PARAMS_FILE); AP_HAL::panic("Failed to find " MTD_PARAMS_FILE);
} }
/*
cope with upgrading from OLD_STORAGE_FILE to MTD
*/
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);
#endif
} else {
_upgrade_to_mtd();
}
}
// we write the signature every time, even if it already is
// good, as this gives us a way to detect if the MTD device is
// functional. It is better to panic now than to fail to save
// parameters in flight
_mtd_write_signature();
_dirty_mask.clearall(); _dirty_mask.clearall();
int fd = open(MTD_PARAMS_FILE, O_RDONLY); int fd = open(MTD_PARAMS_FILE, O_RDONLY);

3
libraries/AP_HAL_PX4/Storage.h
View File

@ -30,9 +30,6 @@ private:
Bitmask _dirty_mask{PX4_STORAGE_NUM_LINES}; Bitmask _dirty_mask{PX4_STORAGE_NUM_LINES};
perf_counter_t _perf_storage; perf_counter_t _perf_storage;
perf_counter_t _perf_errors; perf_counter_t _perf_errors;
void _upgrade_to_mtd(void);
uint32_t _mtd_signature(void);
void _mtd_write_signature(void);
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4) #if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
irqstate_t irq_state; irqstate_t irq_state;