mirror of https://github.com/ArduPilot/ardupilot
322 lines
8.0 KiB
C++
322 lines
8.0 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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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "Storage.h"
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#include "hwdef/common/flash.h"
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#include "hwdef/common/posix.h"
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#include "sdcard.h"
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using namespace ChibiOS;
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#ifndef HAL_USE_EMPTY_STORAGE
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extern const AP_HAL::HAL& hal;
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#ifndef HAL_STORAGE_FILE
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// using SKETCHNAME allows the one microSD to be used
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// for multiple vehicle types
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#define HAL_STORAGE_FILE "/APM/" SKETCHNAME ".stg"
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#endif
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#ifndef HAL_STORAGE_BACKUP_FILE
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// location of backup file
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#define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak"
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#endif
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#define STORAGE_FLASH_RETRIES 5
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void Storage::_storage_open(void)
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{
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if (_initialised) {
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return;
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}
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#ifdef USE_POSIX
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// if we have failed filesystem init don't try again
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if (log_fd == -1) {
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return;
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}
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#endif
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_dirty_mask.clearall();
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#if HAL_WITH_RAMTRON
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using_fram = fram.init();
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if (using_fram) {
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if (!fram.read(0, _buffer, CH_STORAGE_SIZE)) {
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return;
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}
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_save_backup();
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_initialised = true;
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return;
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}
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// allow for FMUv3 with no FRAM chip, fall through to flash storage
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#endif
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#ifdef STORAGE_FLASH_PAGE
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// load from storage backend
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_flash_load();
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#elif defined(USE_POSIX)
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// allow for fallback to microSD based storage
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sdcard_retry();
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log_fd = open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
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if (log_fd == -1) {
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hal.console->printf("open failed of " HAL_STORAGE_FILE "\n");
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return;
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}
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int ret = read(log_fd, _buffer, CH_STORAGE_SIZE);
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if (ret < 0) {
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hal.console->printf("read failed for " HAL_STORAGE_FILE "\n");
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close(log_fd);
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log_fd = -1;
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return;
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}
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// pre-fill to full size
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if (lseek(log_fd, ret, SEEK_SET) != ret ||
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write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
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hal.console->printf("setup failed for " HAL_STORAGE_FILE "\n");
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close(log_fd);
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log_fd = -1;
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return;
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}
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using_filesystem = true;
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#endif
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_save_backup();
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_initialised = true;
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}
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/*
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save a backup of storage file if we have microSD available. This is
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very handy for diagnostics, and for moving a copy of storage into
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SITL for testing
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*/
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void Storage::_save_backup(void)
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{
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#ifdef USE_POSIX
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// allow for fallback to microSD based storage
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sdcard_retry();
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int fd = open(HAL_STORAGE_BACKUP_FILE, O_WRONLY|O_CREAT|O_TRUNC);
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if (fd != -1) {
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write(fd, _buffer, CH_STORAGE_SIZE);
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close(fd);
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}
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#endif
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}
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/*
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mark some lines as dirty. Note that there is no attempt to avoid
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the race condition between this code and the _timer_tick() code
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below, which both update _dirty_mask. If we lose the race then the
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result is that a line is written more than once, but it won't result
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in a line not being written.
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*/
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void Storage::_mark_dirty(uint16_t loc, uint16_t length)
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{
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uint16_t end = loc + length;
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for (uint16_t line=loc>>CH_STORAGE_LINE_SHIFT;
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line <= end>>CH_STORAGE_LINE_SHIFT;
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line++) {
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_dirty_mask.set(line);
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}
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}
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void Storage::read_block(void *dst, uint16_t loc, size_t n)
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{
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if (loc >= sizeof(_buffer)-(n-1)) {
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return;
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}
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_storage_open();
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memcpy(dst, &_buffer[loc], n);
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}
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void Storage::write_block(uint16_t loc, const void *src, size_t n)
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{
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if (loc >= sizeof(_buffer)-(n-1)) {
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return;
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}
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if (memcmp(src, &_buffer[loc], n) != 0) {
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_storage_open();
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memcpy(&_buffer[loc], src, n);
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_mark_dirty(loc, n);
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}
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}
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void Storage::_timer_tick(void)
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{
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if (!_initialised) {
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return;
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}
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if (_dirty_mask.empty()) {
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_last_empty_ms = AP_HAL::millis();
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return;
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}
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// write out the first dirty line. We don't write more
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// than one to keep the latency of this call to a minimum
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uint16_t i;
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for (i=0; i<CH_STORAGE_NUM_LINES; i++) {
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if (_dirty_mask.get(i)) {
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break;
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}
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}
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if (i == CH_STORAGE_NUM_LINES) {
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// this shouldn't be possible
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return;
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}
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#if HAL_WITH_RAMTRON
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if (using_fram) {
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if (fram.write(CH_STORAGE_LINE_SIZE*i, &_buffer[CH_STORAGE_LINE_SIZE*i], CH_STORAGE_LINE_SIZE)) {
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_dirty_mask.clear(i);
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}
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return;
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}
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#endif
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#ifdef USE_POSIX
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if (using_filesystem && log_fd != -1) {
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uint32_t offset = CH_STORAGE_LINE_SIZE*i;
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if (lseek(log_fd, offset, SEEK_SET) != offset) {
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return;
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}
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if (write(log_fd, &_buffer[offset], CH_STORAGE_LINE_SIZE) != CH_STORAGE_LINE_SIZE) {
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return;
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}
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if (fsync(log_fd) != 0) {
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return;
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}
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_dirty_mask.clear(i);
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return;
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}
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#endif
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#ifdef STORAGE_FLASH_PAGE
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// save to storage backend
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_flash_write(i);
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#endif
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}
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/*
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load all data from flash
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*/
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void Storage::_flash_load(void)
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{
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#ifdef STORAGE_FLASH_PAGE
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_flash_page = STORAGE_FLASH_PAGE;
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hal.console->printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
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if (!_flash.init()) {
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AP_HAL::panic("unable to init flash storage");
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}
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#else
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AP_HAL::panic("unable to init storage");
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#endif
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}
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/*
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write one storage line. This also updates _dirty_mask.
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*/
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void Storage::_flash_write(uint16_t line)
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{
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#ifdef STORAGE_FLASH_PAGE
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if (_flash.write(line*CH_STORAGE_LINE_SIZE, CH_STORAGE_LINE_SIZE)) {
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// mark the line clean
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_dirty_mask.clear(line);
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}
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#endif
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}
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/*
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callback to write data to flash
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*/
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bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
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{
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#ifdef STORAGE_FLASH_PAGE
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size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
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for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
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if (hal.flash->write(base_address+offset, data, length)) {
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return true;
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}
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hal.scheduler->delay(1);
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}
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if (_flash_erase_ok()) {
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// we are getting flash write errors while disarmed. Try
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// re-writing all of flash
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uint32_t now = AP_HAL::millis();
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if (now - _last_re_init_ms > 5000) {
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_last_re_init_ms = now;
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bool ok = _flash.re_initialise();
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hal.console->printf("Storage: failed at %u:%u for %u - re-init %u\n",
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(unsigned)sector, (unsigned)offset, (unsigned)length, (unsigned)ok);
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}
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}
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return false;
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#else
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return false;
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#endif
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}
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/*
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callback to read data from flash
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*/
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bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
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{
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size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
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const uint8_t *b = ((const uint8_t *)base_address)+offset;
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memcpy(data, b, length);
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return true;
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}
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/*
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callback to erase flash sector
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*/
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bool Storage::_flash_erase_sector(uint8_t sector)
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{
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for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
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if (hal.flash->erasepage(_flash_page+sector)) {
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return true;
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}
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hal.scheduler->delay(1);
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}
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return false;
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}
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/*
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callback to check if erase is allowed
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*/
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bool Storage::_flash_erase_ok(void)
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{
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// only allow erase while disarmed
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return !hal.util->get_soft_armed();
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}
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/*
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consider storage healthy if we have nothing to write sometime in the
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last 2 seconds
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*/
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bool Storage::healthy(void)
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{
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return _initialised && AP_HAL::millis() - _last_empty_ms < 2000;
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}
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#endif // HAL_USE_EMPTY_STORAGE
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