Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 22:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: go via AP_Filesystem for mount/unmount operations

Browse Source 
this fixes a deadlock where a mount/unmount could access FATFS without
holding the AP_Filesystem semaphore
This commit is contained in:
Andrew Tridgell 2020-10-24 12:26:44 +11:00 committed by Peter Barker
parent 2596875ceb
commit ee50eaf3c9
5 changed files with 14 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -36,8 +36,8 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include <AP_Filesystem/AP_Filesystem.h>
#include "shared_dma.h"
#include "sdcard.h"
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
@ -258,8 +258,8 @@ void Scheduler::reboot(bool hold_in_bootloader)
AP::logger().StopLogging();
}
// stop sdcard driver, if active
sdcard_stop();
// unmount filesystem, if active
AP::FS().unmount();
#endif
#if !defined(NO_FASTBOOT)
@ -465,22 +465,26 @@ void Scheduler::_io_thread(void* arg)
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
#ifndef HAL_NO_LOGGING
uint32_t last_sd_start_ms = AP_HAL::millis();
#endif
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
#ifndef HAL_NO_LOGGING
if (!hal.util->get_soft_armed()) {
// if sdcard hasn't mounted then retry it every 3s in the IO
// thread when disarmed
uint32_t now = AP_HAL::millis();
if (now - last_sd_start_ms > 3000) {
last_sd_start_ms = now;
sdcard_retry();
AP::FS().retry_mount();
}
}
#endif
}
}

5
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -22,7 +22,6 @@
#include "Scheduler.h"
#include "hwdef/common/flash.h"
#include <AP_Filesystem/AP_Filesystem.h>
#include "sdcard.h"
#include <stdio.h>
using namespace ChibiOS;
@ -88,7 +87,7 @@ void Storage::_storage_open(void)
}
// use microSD based storage
if (sdcard_retry()) {
if (AP::FS().retry_mount()) {
log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) {
::printf("open failed of " HAL_STORAGE_FILE "\n");
@ -145,7 +144,7 @@ void Storage::_save_backup(void)
// We want to do this desperately,
// So we keep trying this for a second
uint32_t start_millis = AP_HAL::millis();
while(!sdcard_retry() && (AP_HAL::millis() - start_millis) < 1000) {
while(!AP::FS().retry_mount() && (AP_HAL::millis() - start_millis) < 1000) {
hal.scheduler->delay(1);
}

10
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -288,16 +288,6 @@ bool Util::get_system_id_unformatted(uint8_t buf[], uint8_t &len)
return true;
}
#ifdef USE_POSIX
/*
initialise filesystem
*/
bool Util::fs_init(void)
{
return sdcard_retry();
}
#endif
// return true if the reason for the reboot was a watchdog reset
bool Util::was_watchdog_reset() const
{

7
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -55,13 +55,6 @@ public:
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override;
#endif
#ifdef USE_POSIX
/*
initialise (or re-initialise) filesystem storage
*/
bool fs_init(void) override;
#endif
// return true if the reason for the reboot was a watchdog reset
bool was_watchdog_reset() const override;

10
libraries/AP_HAL_ChibiOS/sdcard.cpp
View File

@ -80,8 +80,6 @@ bool sdcard_init()
}
printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
// Create APM Directory if needed
AP::FS().mkdir("/APM");
sdcard_running = true;
return true;
}
@ -124,9 +122,6 @@ bool sdcard_init()
continue;
}
printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
// Create APM Directory if needed
AP::FS().mkdir("/APM");
return true;
}
#endif
@ -163,7 +158,10 @@ bool sdcard_retry(void)
{
#ifdef USE_POSIX
if (!sdcard_running) {
sdcard_init();
if (sdcard_init()) {
// create APM directory
AP::FS().mkdir("/APM");
}
}
return sdcard_running;
#endif