ardupilot/libraries/AP_HAL_Linux/Storage_FRAM.cpp

371 lines
8.5 KiB
C++

#include <AP_HAL.h>
#include "Storage.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && LINUX_STORAGE_USE_FRAM
#include <assert.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <stdio.h>
using namespace Linux;
/*
This stores 'eeprom' data on the FRAM, with a 4k size, and a
in-memory buffer. This keeps the latency down.
*/
// name the storage file after the sketch so you can use the same board
// card for ArduCopter and ArduPlane
extern const AP_HAL::HAL& hal;
LinuxStorage::LinuxStorage():
_fd(-1),
_dirty_mask(0),
_spi(NULL),
_spi_sem(NULL),
_initialised(false)
{}
void LinuxStorage::_storage_create(void)
{
int fd = open();
hal.console->println("Storage: FRAM is getting reset to default values");
if (fd == -1) {
hal.scheduler->panic("Failed to load FRAM");
}
for (uint16_t loc=0; loc<sizeof(_buffer); loc += LINUX_STORAGE_MAX_WRITE) {
if (write(fd, &_buffer[loc], LINUX_STORAGE_MAX_WRITE) != LINUX_STORAGE_MAX_WRITE) {
hal.scheduler->panic("Error filling FRAM");
}
}
// ensure the directory is updated with the new size
fsync(fd);
close(fd);
}
void LinuxStorage::_storage_open(void)
{
if (_initialised) {
return;
}
_dirty_mask = 0;
int fd = open();
if (fd == -1) {
_storage_create();
fd = open();
if (fd == -1) {
hal.scheduler->panic("Failed to access FRAM");
}
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
_storage_create();
fd = open();
if (fd == -1) {
hal.scheduler->panic("Failed to access FRAM");
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
hal.scheduler->panic("Failed to read FRAM");
}
}
_initialised = true;
}
/*
mark some lines as dirty. Note that there is no attempt to avoid
the race condition between this code and the _timer_tick() code
below, which both update _dirty_mask. If we lose the race then the
result is that a line is written more than once, but it won't result
in a line not being written.
*/
void LinuxStorage::_mark_dirty(uint16_t loc, uint16_t length)
{
uint16_t end = loc + length;
for (uint8_t line=loc>>LINUX_STORAGE_LINE_SHIFT;
line <= end>>LINUX_STORAGE_LINE_SHIFT;
line++) {
_dirty_mask |= 1U << line;
}
}
uint8_t LinuxStorage::read_byte(uint16_t loc)
{
if (loc >= sizeof(_buffer)) {
return 0;
}
_storage_open();
return _buffer[loc];
}
uint16_t LinuxStorage::read_word(uint16_t loc)
{
uint16_t value;
if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
return 0;
}
_storage_open();
memcpy(&value, &_buffer[loc], sizeof(value));
return value;
}
uint32_t LinuxStorage::read_dword(uint16_t loc)
{
uint32_t value;
if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
return 0;
}
_storage_open();
memcpy(&value, &_buffer[loc], sizeof(value));
return value;
}
void LinuxStorage::read_block(void *dst, uint16_t loc, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
return;
}
_storage_open();
memcpy(dst, &_buffer[loc], n);
}
void LinuxStorage::write_byte(uint16_t loc, uint8_t value)
{
if (loc >= sizeof(_buffer)) {
return;
}
if (_buffer[loc] != value) {
_storage_open();
_buffer[loc] = value;
_mark_dirty(loc, sizeof(value));
}
}
void LinuxStorage::write_word(uint16_t loc, uint16_t value)
{
if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
return;
}
if (memcmp(&value, &_buffer[loc], sizeof(value)) != 0) {
_storage_open();
memcpy(&_buffer[loc], &value, sizeof(value));
_mark_dirty(loc, sizeof(value));
}
}
void LinuxStorage::write_dword(uint16_t loc, uint32_t value)
{
if (loc >= sizeof(_buffer)-(sizeof(value)-1)) {
return;
}
if (memcmp(&value, &_buffer[loc], sizeof(value)) != 0) {
_storage_open();
memcpy(&_buffer[loc], &value, sizeof(value));
_mark_dirty(loc, sizeof(value));
}
}
void LinuxStorage::write_block(uint16_t loc, const void *src, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
return;
}
if (memcmp(src, &_buffer[loc], n) != 0) {
_storage_open();
memcpy(&_buffer[loc], src, n);
_mark_dirty(loc, n);
}
}
void LinuxStorage::_timer_tick(void)
{
if (!_initialised || _dirty_mask == 0) {
return;
}
if (_fd == -1) {
_fd = open();
if (_fd == -1) {
return;
}
}
// write out the first dirty set of lines. We don't write more
// than one to keep the latency of this call to a minimum
uint8_t i, n;
for (i=0; i<LINUX_STORAGE_NUM_LINES; i++) {
if (_dirty_mask & (1<<i)) {
break;
}
}
if (i == LINUX_STORAGE_NUM_LINES) {
// this shouldn't be possible
return;
}
uint32_t write_mask = (1U<<i);
// see how many lines to write
for (n=1; (i+n) < LINUX_STORAGE_NUM_LINES &&
n < (LINUX_STORAGE_MAX_WRITE>>LINUX_STORAGE_LINE_SHIFT); n++) {
if (!(_dirty_mask & (1<<(n+i)))) {
break;
}
// mark that line clean
write_mask |= (1<<(n+i));
}
/*
write the lines. This also updates _dirty_mask. Note that
because this is a SCHED_FIFO thread it will not be preempted
by the main task except during blocking calls. This means we
don't need a semaphore around the _dirty_mask updates.
*/
if (lseek(_fd, i<<LINUX_STORAGE_LINE_SHIFT, SEEK_SET) == (i<<LINUX_STORAGE_LINE_SHIFT)) {
_dirty_mask &= ~write_mask;
if (write(_fd, &_buffer[i<<LINUX_STORAGE_LINE_SHIFT], n<<LINUX_STORAGE_LINE_SHIFT) != n<<LINUX_STORAGE_LINE_SHIFT) {
// write error - likely EINTR
_dirty_mask |= write_mask;
_fd = -1;
}
}
}
//File control function overloads
int8_t LinuxStorage::open()
{
if(_initialised){
return 0;
}
uint8_t manufacturerID;
_spi = hal.spi->device(AP_HAL::SPIDevice_Dataflash);
uint8_t signature[4] = {0x00,0xaf,0xf0,0x0f};
uint8_t j = 0;
for(int i=0;true;i++){
manufacturerID = _register_read(0,OPCODE_RDID);
if(manufacturerID == 0x7F){
break;
}
else{
hal.scheduler->delay(1000);
}
if(i==4){
hal.scheduler->panic(PSTR("FRAM: Failed to receive Manufacturer ID 5 times"));
}
}
while(j<4){
if(_register_read(j+4100,OPCODE_READ) == -1){
continue;
}
else if((uint8_t)_register_read(j+4100,OPCODE_READ) != signature[j]){
while(_register_write(signature,4100,4) == -1);
return -1;
}
else{
j++;
}
}
_initialised = true;
hal.console->println("FRAM: Online");
return 0;
}
int32_t LinuxStorage::write(uint16_t fd,uint8_t *Buff, uint16_t NumBytes){
if( _register_write(Buff,fptr,NumBytes) == -1){
return -1;
}
return NumBytes;
}
int32_t LinuxStorage::read(uint16_t fd, uint8_t *Buff, uint16_t NumBytes){
for(uint16_t i=fptr;i<(fptr+NumBytes);i++){
Buff[i-fptr]= _register_read(i,OPCODE_READ);
if(Buff[i-fptr]==-1){
return -1;
}
}
fptr+=NumBytes;
return NumBytes;
}
uint32_t LinuxStorage::lseek(uint16_t fd,uint32_t offset,uint16_t whence){
fptr = offset;
return offset;
}
//FRAM I/O functions
int8_t LinuxStorage::_register_write( uint8_t* src, uint16_t addr, uint16_t len ){
uint8_t *tx;
uint8_t *rx;
uint16_t i;
tx = new uint8_t[len+3];
rx = new uint8_t[len+3];
_write_enable(true);
tx[0] = OPCODE_WRITE;
tx[1] = addr>>8;
tx[2] = addr;
for(i=0;i<len;i++){
tx[i+3] = src[i];
}
if(transaction(tx, rx, len+3) == -1){
return -1;
}
if(_write_enable(false) == -1){
return -1;
}
return len;
}
int8_t LinuxStorage::_write_enable(bool enable)
{
uint8_t tx[2];
uint8_t rx[2];
if(enable){
tx[0] = OPCODE_WREN;
tx[1] = 0;
return transaction(tx, rx, 2);
}
else{
tx[0] = OPCODE_WRDI;
tx[1] = 0;
return transaction(tx, rx, 2);
}
}
int8_t LinuxStorage::_register_read( uint16_t addr, uint8_t opcode )
{
uint8_t tx[4] = {opcode, addr>>8, addr, 0};
uint8_t rx[4];
if(transaction(tx, rx, 4) == -1){
return -1;
}
return rx[3];
}
int8_t LinuxStorage::transaction(uint8_t* tx, uint8_t* rx, uint16_t len){
_spi_sem = _spi->get_semaphore();
if (!_spi_sem->take(100)) {
// FRAM: Unable to get semaphore
return -1;
}
_spi->transaction(tx, rx, len);
_spi_sem->give();
return 0;
}
#endif // CONFIG_HAL_BOARD