mirror of https://github.com/ArduPilot/ardupilot
269 lines
7.5 KiB
C++
269 lines
7.5 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <assert.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <errno.h>
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#include <stdio.h>
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#include <ctype.h>
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#include "Storage.h"
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using namespace PX4;
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/*
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This stores eeprom data in the PX4 MTD interface with a 4k size, and
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a in-memory buffer. This keeps the latency and devices IOs down.
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*/
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// name the storage file after the sketch so you can use the same sd
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// card for ArduCopter and ArduPlane
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#define STORAGE_DIR "/fs/microsd/APM"
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#define OLD_STORAGE_FILE STORAGE_DIR "/" SKETCHNAME ".stg"
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#define OLD_STORAGE_FILE_BAK STORAGE_DIR "/" SKETCHNAME ".bak"
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#define MTD_PARAMS_FILE "/fs/mtd"
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#define MTD_SIGNATURE 0x14012014
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#define MTD_SIGNATURE_OFFSET (8192-4)
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#define STORAGE_RENAME_OLD_FILE 0
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extern const AP_HAL::HAL& hal;
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PX4Storage::PX4Storage(void) :
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_fd(-1),
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_dirty_mask(0),
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_perf_storage(perf_alloc(PC_ELAPSED, "APM_storage")),
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_perf_errors(perf_alloc(PC_COUNT, "APM_storage_errors"))
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{
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}
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/*
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get signature from bytes at offset MTD_SIGNATURE_OFFSET
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*/
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uint32_t PX4Storage::_mtd_signature(void)
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{
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int mtd_fd = open(MTD_PARAMS_FILE, O_RDONLY);
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if (mtd_fd == -1) {
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hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
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}
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uint32_t v;
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if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
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hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
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}
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if (read(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
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hal.scheduler->panic("Failed to read signature from " MTD_PARAMS_FILE);
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}
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close(mtd_fd);
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return v;
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}
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/*
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put signature bytes at offset MTD_SIGNATURE_OFFSET
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*/
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void PX4Storage::_mtd_write_signature(void)
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{
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int mtd_fd = open(MTD_PARAMS_FILE, O_WRONLY);
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if (mtd_fd == -1) {
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hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
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}
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uint32_t v = MTD_SIGNATURE;
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if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
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hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
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}
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if (write(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
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hal.scheduler->panic("Failed to write signature in " MTD_PARAMS_FILE);
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}
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close(mtd_fd);
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}
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/*
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upgrade from microSD to MTD (FRAM)
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*/
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void PX4Storage::_upgrade_to_mtd(void)
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{
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// the MTD is completely uninitialised - try to get a
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// copy from OLD_STORAGE_FILE
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int old_fd = open(OLD_STORAGE_FILE, O_RDONLY);
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if (old_fd == -1) {
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::printf("Failed to open %s\n", OLD_STORAGE_FILE);
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return;
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}
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int mtd_fd = open(MTD_PARAMS_FILE, O_WRONLY);
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if (mtd_fd == -1) {
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hal.scheduler->panic("Unable to open MTD for upgrade");
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}
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if (::read(old_fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
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close(old_fd);
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close(mtd_fd);
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::printf("Failed to read %s\n", OLD_STORAGE_FILE);
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return;
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}
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close(old_fd);
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ssize_t ret;
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if ((ret=::write(mtd_fd, _buffer, sizeof(_buffer))) != sizeof(_buffer)) {
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::printf("mtd write of %u bytes returned %d errno=%d\n", sizeof(_buffer), ret, errno);
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hal.scheduler->panic("Unable to write MTD for upgrade");
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}
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close(mtd_fd);
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#if STORAGE_RENAME_OLD_FILE
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rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
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#endif
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::printf("Upgraded MTD from %s\n", OLD_STORAGE_FILE);
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}
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void PX4Storage::_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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struct stat st;
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_have_mtd = (stat(MTD_PARAMS_FILE, &st) == 0);
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// PX4 should always have /fs/mtd_params
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if (!_have_mtd) {
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hal.scheduler->panic("Failed to find " MTD_PARAMS_FILE);
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}
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/*
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cope with upgrading from OLD_STORAGE_FILE to MTD
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*/
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bool good_signature = (_mtd_signature() == MTD_SIGNATURE);
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if (stat(OLD_STORAGE_FILE, &st) == 0) {
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if (good_signature) {
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#if STORAGE_RENAME_OLD_FILE
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rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
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#endif
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} else {
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_upgrade_to_mtd();
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}
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}
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// we write the signature every time, even if it already is
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// good, as this gives us a way to detect if the MTD device is
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// functional. It is better to panic now than to fail to save
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// parameters in flight
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_mtd_write_signature();
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_dirty_mask = 0;
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int fd = open(MTD_PARAMS_FILE, O_RDONLY);
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if (fd == -1) {
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hal.scheduler->panic("Failed to open " MTD_PARAMS_FILE);
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}
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const uint16_t chunk_size = 128;
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for (uint16_t ofs=0; ofs<sizeof(_buffer); ofs += chunk_size) {
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ssize_t ret = read(fd, &_buffer[ofs], chunk_size);
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if (ret != chunk_size) {
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::printf("storage read of %u bytes at %u to %p failed - got %d errno=%d\n",
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(unsigned)sizeof(_buffer), (unsigned)ofs, &_buffer[ofs], (int)ret, (int)errno);
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hal.scheduler->panic("Failed to read " MTD_PARAMS_FILE);
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}
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}
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close(fd);
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_initialised = true;
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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 PX4Storage::_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 (uint8_t line=loc>>PX4_STORAGE_LINE_SHIFT;
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line <= end>>PX4_STORAGE_LINE_SHIFT;
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line++) {
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_dirty_mask |= 1U << line;
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}
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}
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void PX4Storage::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 PX4Storage::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 PX4Storage::_timer_tick(void)
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{
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if (!_initialised || _dirty_mask == 0) {
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return;
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}
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perf_begin(_perf_storage);
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if (_fd == -1) {
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_fd = open(MTD_PARAMS_FILE, O_WRONLY);
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if (_fd == -1) {
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perf_end(_perf_storage);
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perf_count(_perf_errors);
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return;
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}
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}
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// write out the first dirty set of lines. 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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uint8_t i, n;
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for (i=0; i<PX4_STORAGE_NUM_LINES; i++) {
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if (_dirty_mask & (1<<i)) {
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break;
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}
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}
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if (i == PX4_STORAGE_NUM_LINES) {
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// this shouldn't be possible
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perf_end(_perf_storage);
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perf_count(_perf_errors);
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return;
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}
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uint32_t write_mask = (1U<<i);
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// see how many lines to write
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for (n=1; (i+n) < PX4_STORAGE_NUM_LINES &&
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n < (PX4_STORAGE_MAX_WRITE>>PX4_STORAGE_LINE_SHIFT); n++) {
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if (!(_dirty_mask & (1<<(n+i)))) {
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break;
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}
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// mark that line clean
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write_mask |= (1<<(n+i));
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}
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/*
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write the lines. This also updates _dirty_mask. Note that
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because this is a SCHED_FIFO thread it will not be preempted
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by the main task except during blocking calls. This means we
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don't need a semaphore around the _dirty_mask updates.
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*/
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if (lseek(_fd, i<<PX4_STORAGE_LINE_SHIFT, SEEK_SET) == (i<<PX4_STORAGE_LINE_SHIFT)) {
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_dirty_mask &= ~write_mask;
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if (write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT) != n<<PX4_STORAGE_LINE_SHIFT) {
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// write error - likely EINTR
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_dirty_mask |= write_mask;
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close(_fd);
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_fd = -1;
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perf_count(_perf_errors);
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}
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}
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perf_end(_perf_storage);
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}
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#endif // CONFIG_HAL_BOARD
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