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HAL_ChibiOS: implement erase() method on Storage in HAL_ChibiOS

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This commit is contained in:
Andrew Tridgell 2019-12-27 11:44:05 +11:00
parent 12b6f73d83
commit 8fdbb88827
2 changed files with 30 additions and 6 deletions
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33
libraries/AP_HAL_ChibiOS/Storage.cpp
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@ -21,6 +21,7 @@
#include "hwdef/common/flash.h" #include "hwdef/common/flash.h"
#include <AP_Filesystem/AP_Filesystem.h> #include <AP_Filesystem/AP_Filesystem.h>
#include "sdcard.h" #include "sdcard.h"
#include <stdio.h>
using namespace ChibiOS; using namespace ChibiOS;
@ -78,12 +79,12 @@ void Storage::_storage_open(void)
log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT); log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) { if (log_fd == -1) {
hal.console->printf("open failed of " HAL_STORAGE_FILE "\n"); ::printf("open failed of " HAL_STORAGE_FILE "\n");
return; return;
} }
int ret = AP::FS().read(log_fd, _buffer, CH_STORAGE_SIZE); int ret = AP::FS().read(log_fd, _buffer, CH_STORAGE_SIZE);
if (ret < 0) { if (ret < 0) {
hal.console->printf("read failed for " HAL_STORAGE_FILE "\n"); ::printf("read failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd); AP::FS().close(log_fd);
log_fd = -1; log_fd = -1;
return; return;
@ -91,7 +92,7 @@ void Storage::_storage_open(void)
// pre-fill to full size // pre-fill to full size
if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret || if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret ||
AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) { AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
hal.console->printf("setup failed for " HAL_STORAGE_FILE "\n"); ::printf("setup failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd); AP::FS().close(log_fd);
log_fd = -1; log_fd = -1;
return; return;
@ -222,7 +223,7 @@ void Storage::_flash_load(void)
#ifdef STORAGE_FLASH_PAGE #ifdef STORAGE_FLASH_PAGE
_flash_page = STORAGE_FLASH_PAGE; _flash_page = STORAGE_FLASH_PAGE;
hal.console->printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1); ::printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
if (!_flash.init()) { if (!_flash.init()) {
AP_HAL::panic("unable to init flash storage"); AP_HAL::panic("unable to init flash storage");
@ -265,7 +266,7 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
if (now - _last_re_init_ms > 5000) { if (now - _last_re_init_ms > 5000) {
_last_re_init_ms = now; _last_re_init_ms = now;
bool ok = _flash.re_initialise(); bool ok = _flash.re_initialise();
hal.console->printf("Storage: failed at %u:%u for %u - re-init %u\n", ::printf("Storage: failed at %u:%u for %u - re-init %u\n",
(unsigned)sector, (unsigned)offset, (unsigned)length, (unsigned)ok); (unsigned)sector, (unsigned)offset, (unsigned)length, (unsigned)ok);
} }
} }
@ -318,4 +319,26 @@ bool Storage::healthy(void)
return _initialised && AP_HAL::millis() - _last_empty_ms < 2000; return _initialised && AP_HAL::millis() - _last_empty_ms < 2000;
} }
/*
erase all storage
*/
bool Storage::erase(void)
{
#if HAL_WITH_RAMTRON
if (using_fram) {
return AP_HAL::Storage::erase();
}
#endif
#ifdef USE_POSIX
if (using_filesystem) {
return AP_HAL::Storage::erase();
}
#endif
#ifdef STORAGE_FLASH_PAGE
return _flash.erase();
#else
return false;
#endif
}
#endif // HAL_USE_EMPTY_STORAGE #endif // HAL_USE_EMPTY_STORAGE

1
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -37,6 +37,7 @@
class ChibiOS::Storage : public AP_HAL::Storage { class ChibiOS::Storage : public AP_HAL::Storage {
public: public:
void init() override {} void init() override {}
bool erase() override;
void read_block(void *dst, uint16_t src, size_t n) override; void read_block(void *dst, uint16_t src, size_t n) override;
void write_block(uint16_t dst, const void* src, size_t n) override; void write_block(uint16_t dst, const void* src, size_t n) override;