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LibrePilot/flight/pios/common/pios_dosfs_logfs.c

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/**
******************************************************************************
* @file pios_dosfs_logfs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @brief Log Structured Filesystem wrapper implemented using dosfs
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_USE_SETTINGS_ON_SDCARD
#include <openpilot.h>
#if defined(PIOS_INCLUDE_FREERTOS)
static xSemaphoreHandle mutex = 0;
#endif
struct flashfs_logfs_cfg;
/**
* glue macros for file IO
**/
#define FILEINFO FILE *
#define PIOS_FOPEN_READ(filename, file) (file = fopen((char *)filename, "r")) == NULL
#define PIOS_FOPEN_WRITE(filename, file) (file = fopen((char *)filename, "w")) == NULL
#define PIOS_FREAD(file, bufferadr, length, resultadr) (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length
#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file)
#define PIOS_FCLOSE(file) fclose(file)
#define PIOS_FUNLINK(file) unlink((char *)filename)
/**
* Get an 8 character (plus extension) filename for the object.
* @param[in] obj The object handle.
* @param[in] instId The instance ID
* @param[in] file Filename string pointer -- must be 14 bytes long and allocated
*/
static void objectFilename(uint32_t obj_id, uint16_t obj_inst_id, uint8_t *filename)
{
uint32_t prefix = obj_id + (obj_inst_id / 256) * 16; // put upper 8 bit of instance id into object id modification,
// skip least sig nibble since that is used for meta object id
uint8_t suffix = obj_inst_id & 0xff;
snprintf((char *)filename, 13, "%08X.o%02X", prefix, suffix);
}
/**
* @brief Initialize the flash object setting FS
* @return 0 if success, -1 if failure
*/
int32_t PIOS_FLASHFS_Logfs_Init(__attribute__((unused)) uintptr_t *fs_id, __attribute__((unused)) const struct flashfs_logfs_cfg *cfg, __attribute__((unused)) const struct pios_flash_driver *driver, __attribute__((unused)) uintptr_t flash_id)
{
#if defined(PIOS_INCLUDE_FREERTOS)
if (!mutex) {
mutex = xSemaphoreCreateRecursiveMutex();
}
#endif
return 0;
}
int32_t PIOS_FLASHFS_Logfs_Destroy(__attribute__((unused)) uintptr_t fs_id)
{
// stub, only wrapper for dosfs, does not need destroying
return 0;
}
/**********************************
*
* Provide a PIOS_FLASHFS_* driver
*
*********************************/
#include "pios_flashfs.h" /* API for flash filesystem */
/**
* @brief Saves one object instance to the filesystem
* @param[in] fs_id The filesystem to use for this action
* @param[in] obj UAVObject ID of the object to save
* @param[in] obj_inst_id The instance number of the object being saved
* @param[in] obj_data Contents of the object being saved
* @param[in] obj_size Size of the object being saved
* @return 0 if success or error code
* @retval -1 if fs_id is not a valid filesystem instance
* @retval -2 if failed to start transaction
* @retval -3 if failure to delete any previous versions of the object
* @retval -4 if filesystem is entirely full and garbage collection won't help
* @retval -5 if garbage collection failed
* @retval -6 if filesystem is full even after garbage collection should have freed space
* @retval -7 if writing the new object to the filesystem failed
*/
int32_t PIOS_FLASHFS_ObjSave(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
{
FILEINFO file;
uint8_t filename[14];
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
#endif
// Get filename
objectFilename(obj_id, obj_inst_id, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveRecursive(mutex);
#endif
return -2;
}
// Append object
uint32_t bytes_written = 0;
PIOS_FWRITE(&file, obj_data, obj_size, &bytes_written);
// Done, close file and unlock
PIOS_FCLOSE(file);
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveRecursive(mutex);
#endif
if (bytes_written != obj_size) {
return -7;
}
return 0;
}
/**
* @brief Load one object instance from the filesystem
* @param[in] fs_id The filesystem to use for this action
* @param[in] obj UAVObject ID of the object to load
* @param[in] obj_inst_id The instance of the object to load
* @param[in] obj_data Buffer to hold the contents of the loaded object
* @param[in] obj_size Size of the object to be loaded
* @return 0 if success or error code
* @retval -1 if fs_id is not a valid filesystem instance
* @retval -2 if failed to start transaction
* @retval -3 if object not found in filesystem
* @retval -4 if object size in filesystem does not exactly match buffer size
* @retval -5 if reading the object data from flash fails
*/
int32_t PIOS_FLASHFS_ObjLoad(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
{
FILEINFO file;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
#if defined(PIOS_INCLUDE_FREERTOS)
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
#endif
// Get filename
objectFilename(obj_id, obj_inst_id, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveRecursive(mutex);
#endif
return -1;
}
// Load object
uint32_t bytes_read = 0;
uint32_t result = PIOS_FREAD(&file, obj_data, obj_size, &bytes_read);
// Done, close file and unlock
PIOS_FCLOSE(file);
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveRecursive(mutex);
#endif
if (result != 0) {
return -1;
}
return 0;
}
/**
* @brief Delete one instance of an object from the filesystem
* @param[in] fs_id The filesystem to use for this action
* @param[in] obj UAVObject ID of the object to delete
* @param[in] obj_inst_id The instance of the object to delete
* @return 0 if success or error code
* @retval -1 if fs_id is not a valid filesystem instance
* @retval -2 if failed to start transaction
* @retval -3 if failed to delete the object from the filesystem
*/
int32_t PIOS_FLASHFS_ObjDelete(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
{
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
#if defined(PIOS_INCLUDE_FREERTOS)
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
#endif
// Get filename
objectFilename(obj_id, obj_inst_id, filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveRecursive(mutex);
#endif
return 0;
}
/**
* @brief Erases all filesystem arenas and activate the first arena
* @param[in] fs_id The filesystem to use for this action
* @return 0 if success or error code
* @retval -1 if fs_id is not a valid filesystem instance
* @retval -2 if failed to start transaction
* @retval -3 if failed to erase all arenas
* @retval -4 if failed to activate arena 0
* @retval -5 if failed to mount arena 0
*/
int32_t PIOS_FLASHFS_Format(__attribute__((unused)) uintptr_t fs_id)
{
/* stub - not implemented */
return -1;
}
/**
* @brief Returs stats for the filesystems
* @param[in] fs_id The filesystem to use for this action
* @return 0 if success or error code
* @retval -1 if fs_id is not a valid filesystem instance
*/
int32_t PIOS_FLASHFS_GetStats(__attribute__((unused)) uintptr_t fs_id, __attribute__((unused)) struct PIOS_FLASHFS_Stats *stats)
{
/* stub - not implemented */
return 0;
}
#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
/**
* @}
* @}
*/