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AP_HAL_ChibiOS: introduce new DATAFLASH directive and use it

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add HAL_OS_POSIX_IO to defaults
ensure explicitly configured DATAFLASH is prioritized
correct inclusion of fat malloc
only create storage backups on fatfs
This commit is contained in:
Andy Piper 2024-12-31 16:32:09 +00:00 committed by Andrew Tridgell
parent c971bb6850
commit f6f546c538
15 changed files with 79 additions and 34 deletions
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2
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
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@ -21,7 +21,7 @@
#include <AP_HAL_Empty/AP_HAL_Empty_Namespace.h>
#include <AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h>
#include "hwdef/common/halconf.h"
#ifdef USE_POSIX_FATFS
#if HAL_USE_FATFS
#include <ff.h>
#endif
#include <stdio.h>

4
libraries/AP_HAL_ChibiOS/Storage.cpp
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@ -127,8 +127,8 @@ void Storage::_storage_open(void)
*/
void Storage::_save_backup(void)
{
#ifdef USE_POSIX_FATFS
// allow for fallback to microSD or dataflash based storage
#if HAL_USE_FATFS
// allow for fallback to microSD or littlefs flash based storage
// create the backup directory if need be
int ret;
const char* _storage_bak_directory = HAL_STORAGE_BACKUP_FOLDER;

3
libraries/AP_HAL_ChibiOS/hwdef/Aocoda-RC-H743Dual/hwdef.dat
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@ -218,5 +218,4 @@ define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
# enable logging to dataflash
define HAL_OS_LITTLEFS_IO 1
define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX
DATAFLASH littlefs:w25nxx

3
libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-H743HD/hwdef.dat
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@ -145,8 +145,7 @@ define HAL_GPIO_B_LED_PIN 91
# Dataflash setup
SPIDEV dataflash SPI3 DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
define HAL_OS_LITTLEFS_IO 1
define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX
DATAFLASH littlefs:w25nxx
# OSD setup
SPIDEV osd SPI2 DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ

3
libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini-Nand/hwdef.dat
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@ -10,5 +10,4 @@ SPIDEV bmi270 SPI4 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
IMU BMI270 SPI:bmi270 ROTATION_PITCH_180_YAW_90
undef HAL_LOGGING_DATAFLASH_ENABLED
define HAL_OS_LITTLEFS_IO 1
define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX
DATAFLASH littlefs:w25nxx

3
libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef.dat
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@ -64,5 +64,4 @@ DMA_NOSHARE *UP SPI1*
# Motor order implies Betaflight/X for standard ESCs
define HAL_FRAME_TYPE_DEFAULT 12
define HAL_OS_LITTLEFS_IO 1
define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX
DATAFLASH littlefs:w25nxx

3
libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat
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@ -180,8 +180,7 @@ IMU BMI270 SPI:bmi270 ROTATION_PITCH_180
IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_270
define HAL_OS_LITTLEFS_IO 1
define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX
DATAFLASH littlefs:w25nxx
# DPS280 or SPL06 integrated on I2C bus
BARO DPS280 I2C:0:0x76

3
libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat
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@ -162,8 +162,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
SPIDEV sdcard SPI2 DEVID3 SD_CS MODE0 400*KHZ 25*MHZ
SPIDEV dataflash SPI2 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ
define HAL_OS_LITTLEFS_IO 1
define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX
DATAFLASH littlefs:w25nxx
# ----------------- I2C compass & Baro -----------------
# no built-in compass, but probe the i2c bus for all possible

4
libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
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@ -585,7 +585,7 @@ void __wrap__free_r(void *rptr, void *ptr)
return free(ptr);
}
#ifdef USE_POSIX_FATFS
#if HAL_USE_FATFS
/*
allocation functions for FATFS
*/
@ -615,7 +615,7 @@ void ff_memfree(void* mblock)
{
free(mblock);
}
#endif // USE_POSIX_FATFS
#endif // HAL_USE_FATFS
/*
return true if a memory region is safe for a DMA operation

60
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -118,6 +118,9 @@ class ChibiOSHWDef(object):
self.baro_list = []
self.airspeed_list = []
# dataflash config
self.dataflash_list = []
# output lines:
self.all_lines = []
@ -948,17 +951,24 @@ class ChibiOSHWDef(object):
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % self.get_config('STDOUT_SERIAL'))
f.write('// baudrate used for stdout (printf)\n')
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % self.get_config('STDOUT_BAUDRATE', type=int))
if self.have_type_prefix('SDIO'):
if len(self.dataflash_list) > 0:
# we only support dataflash OR sdcard, so prioritize dataflash if its been explicitly configured
f.write('#define HAL_USE_FATFS FALSE\n\n')
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')
elif self.have_type_prefix('SDIO'):
f.write('// SDIO available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_OS_POSIX_IO TRUE\n\n')
f.write('#define HAL_USE_FATFS TRUE\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.have_type_prefix('SDMMC2'):
f.write('// SDMMC2 available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_OS_POSIX_IO TRUE\n\n')
f.write('#define HAL_USE_FATFS TRUE\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
f.write('#define STM32_SDC_USE_SDMMC2 TRUE\n')
f.write('#define HAL_USE_SDMMC 1\n')
@ -967,7 +977,8 @@ class ChibiOSHWDef(object):
elif self.have_type_prefix('SDMMC'):
f.write('// SDMMC available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_USE_FATFS TRUE\n\n')
f.write('#define HAL_OS_POSIX_IO TRUE\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
f.write('#define STM32_SDC_USE_SDMMC1 TRUE\n')
f.write('#define HAL_USE_SDMMC 1\n')
@ -976,20 +987,15 @@ class ChibiOSHWDef(object):
elif self.has_sdcard_spi():
f.write('// MMC via SPI available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_FATFS\n\n')
f.write('#define HAL_USE_FATFS TRUE\n\n')
f.write('#define HAL_OS_POSIX_IO TRUE\n\n')
f.write('#define HAL_USE_MMC_SPI TRUE\n')
f.write('#define HAL_USE_SDC FALSE\n')
f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.has_dataflash_spi():
f.write('// Dataflash memory via SPI available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n')
f.write('#define USE_POSIX_LITTLEFS\n\n')
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')
self.env_vars['WITH_LITTLEFS'] = "1"
else:
f.write('#define HAL_USE_FATFS FALSE\n\n')
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')
if 'OTG1' in self.bytype:
@ -1797,6 +1803,31 @@ INCLUDE common.ld
if len(devlist) > 0:
f.write('#define HAL_AIRSPEED_PROBE_LIST %s\n\n' % ';'.join(devlist))
def write_DATAFLASH_config(self, f):
'''write dataflash config defines'''
# DATAFLASH block|littlefs:<w25nxx>
devlist = []
seen = set()
for dev in self.dataflash_list:
if not self.has_dataflash_spi():
self.error("Missing DATAFLASH device: %s" % self.seen_str(dev))
if self.seen_str(dev) in seen:
self.error("Duplicate DATAFLASH: %s" % self.seen_str(dev))
seen.add(self.seen_str(dev))
a = dev[0].split(':')
if a[0].startswith('block'):
if len(a) > 1 and a[1].startswith('w25nxx'):
f.write('#define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25NXX')
f.write('#define HAL_LOGGING_DATAFLASH_ENABLED TRUE')
elif a[0].startswith('littlefs'):
f.write('#define USE_POSIX\n')
f.write('#define HAL_OS_LITTLEFS_IO TRUE\n')
f.write('#define HAL_OS_POSIX_IO TRUE\n')
if len(a) > 1 and a[1].startswith('w25nxx'):
f.write('#define AP_FILESYSTEM_LITTLEFS_FLASH_TYPE AP_FILESYSTEM_FLASH_W25NXX')
self.build_flags.append('USE_FATFS=no')
self.env_vars['WITH_LITTLEFS'] = "1"
def write_board_validate_macro(self, f):
'''write board validation macro'''
validate_string = ''
@ -2661,6 +2692,7 @@ Please run: Tools/scripts/build_bootloaders.py %s
self.write_MAG_config(f)
self.write_BARO_config(f)
self.write_AIRSPEED_config(f)
self.write_DATAFLASH_config(f)
self.write_board_validate_macro(f)
self.write_check_firmware(f)
@ -3088,6 +3120,8 @@ Please run: Tools/scripts/build_bootloaders.py %s
self.compass_list.append(a[1:])
elif a[0] == 'BARO':
self.baro_list.append(a[1:])
elif a[0] == 'DATAFLASH':
self.dataflash_list.append(a[1:])
elif a[0] == 'AIRSPEED':
self.airspeed_list.append(a[1:])
elif a[0] == 'ROMFS':
@ -3127,6 +3161,8 @@ Please run: Tools/scripts/build_bootloaders.py %s
self.compass_list = []
if u == 'BARO':
self.baro_list = []
if u == 'DATAFLASH':
self.dataflash_list = []
if u == 'AIRSPEED':
self.airspeed_list = []
if u == 'ROMFS':

3
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
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@ -62,3 +62,6 @@
#define STM32_DMA_REQUIRED 1
#endif
#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
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@ -77,3 +77,7 @@
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 0
#endif
#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_normal.h
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@ -20,6 +20,10 @@
#define HAL_OS_LITTLEFS_IO 0
#endif
#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif
#ifndef AP_TERRAIN_AVAILABLE
// enable terrain only if there's an SD card available:
#define AP_TERRAIN_AVAILABLE (HAL_OS_FATFS_IO || (HAL_OS_LITTLEFS_IO && (BOARD_FLASH_SIZE>1024)))

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
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@ -472,3 +472,7 @@
#ifndef AP_QUICKTUNE_ENABLED
#define AP_QUICKTUNE_ENABLED 0
#endif
#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif

10
libraries/AP_HAL_ChibiOS/sdcard.cpp
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@ -26,7 +26,7 @@
extern const AP_HAL::HAL& hal;
#ifdef USE_POSIX_FATFS
#if HAL_USE_FATFS
static FATFS SDC_FS; // FATFS object
#ifndef HAL_BOOTLOADER_BUILD
static HAL_Semaphore sem;
@ -54,7 +54,7 @@ static SPIConfig highspeed;
*/
bool sdcard_init()
{
#ifdef USE_POSIX_FATFS
#if HAL_USE_FATFS
#ifndef HAL_BOOTLOADER_BUILD
WITH_SEMAPHORE(sem);
@ -150,7 +150,7 @@ bool sdcard_init()
}
#endif
sdcard_running = false;
#endif // USE_POSIX_FATFS
#endif // HAL_USE_FATFS
return false;
}
@ -159,7 +159,7 @@ bool sdcard_init()
*/
void sdcard_stop(void)
{
#ifdef USE_POSIX_FATFS
#if HAL_USE_FATFS
// unmount
f_mount(nullptr, "/", 1);
#endif
@ -185,7 +185,7 @@ void sdcard_stop(void)
bool sdcard_retry(void)
{
#ifdef USE_POSIX_FATFS
#if HAL_USE_FATFS
if (!sdcard_running) {
if (sdcard_init()) {
#if AP_FILESYSTEM_FILE_WRITING_ENABLED