mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.8 KiB
C++
119 lines
3.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_ChibiOS_Namespace.h"
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#include <AP_Common/Bitmask.h>
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#include <AP_FlashStorage/AP_FlashStorage.h>
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#include "hwdef/common/flash.h"
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#include <AP_RAMTRON/AP_RAMTRON.h>
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#define CH_STORAGE_SIZE HAL_STORAGE_SIZE
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#ifndef HAL_USE_EMPTY_STORAGE
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// when using flash storage we use a small line size to make storage
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// compact and minimise the number of erase cycles needed
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#ifdef STORAGE_FLASH_PAGE
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#if defined(STM32H7XX)
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#define CH_STORAGE_LINE_SHIFT 4
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#else
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#define CH_STORAGE_LINE_SHIFT 3
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#endif
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#elif defined(USE_POSIX) && !defined(HAL_WITH_RAMTRON)
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#define CH_STORAGE_LINE_SHIFT 9
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#else
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#define CH_STORAGE_LINE_SHIFT 3
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#endif
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#define CH_STORAGE_LINE_SIZE (1<<CH_STORAGE_LINE_SHIFT)
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#define CH_STORAGE_NUM_LINES (CH_STORAGE_SIZE/CH_STORAGE_LINE_SIZE)
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static_assert(CH_STORAGE_SIZE % CH_STORAGE_LINE_SIZE == 0,
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"Storage is not multiple of line size");
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/*
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on boards with 8k sector sizes we double up to treat pairs of sectors as one
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*/
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#ifndef AP_FLASH_STORAGE_DOUBLE_PAGE
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#define AP_FLASH_STORAGE_DOUBLE_PAGE 0
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#endif
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class ChibiOS::Storage : public AP_HAL::Storage {
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public:
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void init() override {}
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bool erase() override;
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void read_block(void *dst, uint16_t src, size_t n) override;
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void write_block(uint16_t dst, const void* src, size_t n) override;
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void _timer_tick(void) override;
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bool healthy(void) override;
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bool get_storage_ptr(void *&ptr, size_t &size) override;
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private:
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enum class StorageBackend: uint8_t {
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None,
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FRAM,
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Flash,
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SDCard,
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};
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StorageBackend _initialisedType = StorageBackend::None;
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void _storage_create(void);
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void _storage_open(void);
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void _save_backup(void);
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void _mark_dirty(uint16_t loc, uint16_t length);
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uint8_t _buffer[CH_STORAGE_SIZE] __attribute__((aligned(4)));
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Bitmask<CH_STORAGE_NUM_LINES> _dirty_mask;
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HAL_Semaphore sem;
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uint8_t tmpline[CH_STORAGE_LINE_SIZE];
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bool _flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
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bool _flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
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bool _flash_erase_sector(uint8_t sector);
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bool _flash_erase_ok(void);
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uint16_t _flash_page;
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bool _flash_failed;
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uint32_t _last_re_init_ms;
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uint32_t _last_empty_ms;
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#ifdef STORAGE_FLASH_PAGE
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AP_FlashStorage _flash{_buffer,
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#if AP_FLASH_STORAGE_DOUBLE_PAGE
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stm32_flash_getpagesize(STORAGE_FLASH_PAGE)*2,
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#else
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stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
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#endif
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FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
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FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
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FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),
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FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_ok, bool)};
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#endif
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void _flash_load(void);
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bool _flash_write(uint16_t line);
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#if HAL_WITH_RAMTRON
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AP_RAMTRON fram;
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#endif
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#ifdef USE_POSIX
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int log_fd;
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#endif
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};
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#endif // HAL_USE_EMPTY_STORAGE
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