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HAL_ChibiOS: added retries to flash based storage

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this prevents a single flash write error from causing parameter reset
This commit is contained in:
Andrew Tridgell 2019-03-11 09:12:43 +11:00
parent 7f0f2661e3
commit f7b6f9d70b
1 changed files with 17 additions and 4 deletions
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21
libraries/AP_HAL_ChibiOS/Storage.cpp
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@ -39,6 +39,8 @@ extern const AP_HAL::HAL& hal;
#define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak" #define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak"
#endif #endif
#define STORAGE_FLASH_RETRIES 5
void Storage::_storage_open(void) void Storage::_storage_open(void)
{ {
if (_initialised) { if (_initialised) {
@ -250,8 +252,13 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
{ {
#ifdef STORAGE_FLASH_PAGE #ifdef STORAGE_FLASH_PAGE
size_t base_address = stm32_flash_getpageaddr(_flash_page+sector); size_t base_address = stm32_flash_getpageaddr(_flash_page+sector);
bool ret = stm32_flash_write(base_address+offset, data, length); for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
if (!ret && _flash_erase_ok()) { if (stm32_flash_write(base_address+offset, data, length)) {
return true;
}
hal.scheduler->delay(1);
}
if (_flash_erase_ok()) {
// we are getting flash write errors while disarmed. Try // we are getting flash write errors while disarmed. Try
// re-writing all of flash // re-writing all of flash
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
@ -262,7 +269,7 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
(unsigned)sector, (unsigned)offset, (unsigned)length, (unsigned)ok); (unsigned)sector, (unsigned)offset, (unsigned)length, (unsigned)ok);
} }
} }
return ret; return false;
#else #else
return false; return false;
#endif #endif
@ -284,7 +291,13 @@ bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, u
*/ */
bool Storage::_flash_erase_sector(uint8_t sector) bool Storage::_flash_erase_sector(uint8_t sector)
{ {
return stm32_flash_erasepage(_flash_page+sector); for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
if (stm32_flash_erasepage(_flash_page+sector)) {
return true;
}
hal.scheduler->delay(1);
}
return false;
} }
/* /*