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HAL_PX4: try to use uppercase names on NuttX microSD card

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This commit is contained in:
Andrew Tridgell 2014-01-13 15:04:22 +11:00
parent 8d4f89b77e
commit e78e35f3bd
2 changed files with 41 additions and 12 deletions
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44
libraries/AP_HAL_PX4/Storage.cpp
View File

@ -8,6 +8,7 @@
#include <unistd.h> #include <unistd.h>
#include <errno.h> #include <errno.h>
#include <stdio.h> #include <stdio.h>
#include <ctype.h>
#include "Storage.h" #include "Storage.h"
using namespace PX4; using namespace PX4;
@ -24,11 +25,30 @@ using namespace PX4;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
PX4Storage::PX4Storage(void) :
_fd(-1),
_dirty_mask(0),
_perf_storage(perf_alloc(PC_ELAPSED, "APM_storage")),
_perf_errors(perf_alloc(PC_COUNT, "APM_storage_errors"))
{
// 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
_storage_name = strdup(STORAGE_DIR "/" SKETCHNAME ".stg");
if (_storage_name == NULL) {
hal.scheduler->panic("Unable to create storage name");
}
for (uint8_t i=strlen(STORAGE_DIR "/"); _storage_name[i]; i++) {
_storage_name[i] = toupper(_storage_name[i]);
}
}
void PX4Storage::_storage_create(void) void PX4Storage::_storage_create(void)
{ {
mkdir(STORAGE_DIR, 0777); mkdir(STORAGE_DIR, 0777);
unlink(STORAGE_FILE); unlink(_storage_name);
int fd = open(STORAGE_FILE, O_RDWR|O_CREAT, 0666); int fd = open(_storage_name, O_RDWR|O_CREAT, 0666);
if (fd == -1) { if (fd == -1) {
hal.scheduler->panic("Failed to create " STORAGE_FILE); hal.scheduler->panic("Failed to create " STORAGE_FILE);
} }
@ -48,11 +68,23 @@ void PX4Storage::_storage_open(void)
return; return;
} }
/**
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
*/
struct stat st;
if (stat(_storage_name, &st) == -1 && stat(STORAGE_FILE, &st) == 0) {
if (rename(STORAGE_FILE, _storage_name) != 0) {
unlink(STORAGE_FILE);
}
}
_dirty_mask = 0; _dirty_mask = 0;
int fd = open(STORAGE_FILE, O_RDONLY); int fd = open(_storage_name, O_RDONLY);
if (fd == -1) { if (fd == -1) {
_storage_create(); _storage_create();
fd = open(STORAGE_FILE, O_RDONLY); fd = open(_storage_name, O_RDONLY);
if (fd == -1) { if (fd == -1) {
hal.scheduler->panic("Failed to open " STORAGE_FILE); hal.scheduler->panic("Failed to open " STORAGE_FILE);
} }
@ -60,7 +92,7 @@ void PX4Storage::_storage_open(void)
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) { if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
close(fd); close(fd);
_storage_create(); _storage_create();
fd = open(STORAGE_FILE, O_RDONLY); fd = open(_storage_name, O_RDONLY);
if (fd == -1) { if (fd == -1) {
hal.scheduler->panic("Failed to open " STORAGE_FILE); hal.scheduler->panic("Failed to open " STORAGE_FILE);
} }
@ -185,7 +217,7 @@ void PX4Storage::_timer_tick(void)
perf_begin(_perf_storage); perf_begin(_perf_storage);
if (_fd == -1) { if (_fd == -1) {
_fd = open(STORAGE_FILE, O_WRONLY); _fd = open(_storage_name, O_WRONLY);
if (_fd == -1) { if (_fd == -1) {
perf_end(_perf_storage); perf_end(_perf_storage);
perf_count(_perf_errors); perf_count(_perf_errors);

9
libraries/AP_HAL_PX4/Storage.h
View File

@ -15,12 +15,8 @@
class PX4::PX4Storage : public AP_HAL::Storage { class PX4::PX4Storage : public AP_HAL::Storage {
public: public:
PX4Storage() : PX4Storage();
_fd(-1),
_dirty_mask(0),
_perf_storage(perf_alloc(PC_ELAPSED, "APM_storage")),
_perf_errors(perf_alloc(PC_COUNT, "APM_storage_errors"))
{}
void init(void* machtnichts) {} void init(void* machtnichts) {}
uint8_t read_byte(uint16_t loc); uint8_t read_byte(uint16_t loc);
uint16_t read_word(uint16_t loc); uint16_t read_word(uint16_t loc);
@ -35,6 +31,7 @@ public:
void _timer_tick(void); void _timer_tick(void);
private: private:
char *_storage_name;
int _fd; int _fd;
volatile bool _initialised; volatile bool _initialised;
void _storage_create(void); void _storage_create(void);