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LibrePilot/flight/PiOS/Common/pios_flashfs_objlist.c

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/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
* @{
*
* @file pios_flashfs_objlist.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A file system for storing UAVObject in flash chip
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 "openpilot.h"
#include "uavobjectmanager.h"
// Private functions
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static int32_t PIOS_FLASHFS_ClearObjectTableHeader();
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
// Private variables
static int32_t numObjects = -1;
// Private structures
// Header for objects in the file system table
struct objectHeader {
uint32_t objMagic;
uint32_t objId;
uint32_t instId;
uint32_t address;
} __attribute__((packed));;
struct fileHeader {
uint32_t id;
uint16_t instId;
uint16_t size;
} __attribute__((packed));
#define MAX_BADMAGIC 1000
static const struct flashfs_cfg * cfg;
/**
* @brief Initialize the flash object setting FS
* @return 0 if success, -1 if failure
*/
int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * new_cfg)
{
cfg = new_cfg;
// Check for valid object table or create one
uint32_t object_table_magic;
uint32_t magic_fail_count = 0;
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bool magic_good = false;
while(!magic_good) {
if (PIOS_Flash_Jedec_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
if(object_table_magic != new_cfg->table_magic) {
if(magic_fail_count++ > MAX_BADMAGIC) {
if(PIOS_FLASHFS_Format() != 0)
return -1;
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
magic_fail_count = 0;
magic_good = true;
} else {
PIOS_DELAY_WaituS(1000);
}
}
else {
magic_good = true;
}
}
int32_t addr = cfg->obj_table_start;
struct objectHeader header;
numObjects = 0;
// Loop through header area while objects detect to count how many saved
while(addr < cfg->obj_table_end) {
// Read the instance data
if (PIOS_Flash_Jedec_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
return -1;
// Counting number of valid headers
if(header.objMagic != cfg->obj_magic)
break;
numObjects++;
addr += sizeof(header);
}
return 0;
}
/**
* @brief Erase the whole flash chip and create the file system
* @return 0 if successful, -1 if not
*/
int32_t PIOS_FLASHFS_Format()
{
if(PIOS_Flash_Jedec_EraseChip() != 0)
return -1;
if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
return -1;
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not
*/
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static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
{
if(PIOS_Flash_Jedec_EraseSector(0) != 0)
return -1;
if (PIOS_Flash_Jedec_WriteData(0, (uint8_t *)&cfg->table_magic, sizeof(cfg->table_magic)) != 0)
return -1;
uint32_t object_table_magic;
PIOS_Flash_Jedec_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic));
if(object_table_magic != cfg->table_magic)
return -1;
return 0;
}
/**
* @brief Get the address of an object
* @param obj UAVObjHandle for that object
* @parma instId Instance id for that object
* @return address if successful, -1 if not found
*/
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
{
int32_t addr = cfg->obj_table_start;
struct objectHeader header;
// Loop through header area while objects detect to count how many saved
while(addr < cfg->obj_table_end) {
// Read the instance data
if (PIOS_Flash_Jedec_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -1;
if(header.objMagic != cfg->obj_magic)
break; // stop searching once hit first non-object header
else if (header.objId == objId && header.instId == instId)
break;
addr += sizeof(header);
}
if (header.objId == objId && header.instId == instId)
return header.address;
return -1;
}
/**
* @brief Returns an address for a new object and creates entry into object table
* @param[in] obj Object handle for object to be saved
* @param[in] instId The instance id of object to be saved
* @return 0 if success or error code
* @retval -1 Object not found
* @retval -2 No room in object table
* @retval -3 Unable to write entry into object table
* @retval -4 FS not initialized
* @retval -5
*/
int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
{
struct objectHeader header;
if(numObjects < 0)
return -4;
// Don't worry about max size of flash chip here, other code will catch that
header.objMagic = cfg->obj_magic;
header.objId = objId;
header.instId = instId;
header.address = cfg->obj_table_end + cfg->sector_size * numObjects;
int32_t addr = cfg->obj_table_start + sizeof(header) * numObjects;
// No room for this header in object table
if((addr + sizeof(header)) > cfg->obj_table_end)
return -2;
// Verify the address is within the chip
if((addr + cfg->sector_size) > cfg->chip_size)
return -5;
if(PIOS_Flash_Jedec_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// This numObejcts value must stay consistent or there will be a break in the table
// and later the table will have bad values in it
numObjects++;
return header.address;
}
/**
* @brief Saves one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or -1 if failure
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
uint8_t crc = 0;
if(PIOS_Flash_Jedec_StartTransaction() != 0)
return -1;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
// Could not allocate a sector
if(addr < 0) {
PIOS_Flash_Jedec_EndTransaction();
return -1;
}
struct fileHeader header = {
.id = objId,
.instId = instId,
.size = UAVObjGetNumBytes(obj)
};
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
if(PIOS_Flash_Jedec_EraseSector(addr) != 0) {
PIOS_Flash_Jedec_EndTransaction();
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return -2;
}
struct pios_flash_chunk chunks[3] = {
{
.addr = (uint8_t *) &header,
.len = sizeof(header),
},
{
.addr = (uint8_t *) data,
.len = UAVObjGetNumBytes(obj)
},
{
.addr = (uint8_t *) &crc,
.len = sizeof(crc)
}
};
if(PIOS_Flash_Jedec_WriteChunks(addr, chunks, NELEMENTS(chunks)) != 0) {
PIOS_Flash_Jedec_EndTransaction();
return -1;
}
if(PIOS_Flash_Jedec_EndTransaction() != 0) {
PIOS_Flash_Jedec_EndTransaction();
return -1;
}
return 0;
}
/**
* @brief Load one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
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* @retval -2 if unable to retrieve object header
* @retval -3 if loaded data instId or objId don't match
* @retval -4 if unable to retrieve instance data
* @retval -5 if unable to read CRC
* @retval -6 if CRC doesn't match
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
uint16_t objSize = UAVObjGetNumBytes(obj);
uint8_t crc = 0;
uint8_t crcFlash = 0;
const uint8_t crc_read_step = 8;
uint8_t crc_read_buffer[crc_read_step];
if(PIOS_Flash_Jedec_StartTransaction() != 0)
return -1;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0) {
PIOS_Flash_Jedec_EndTransaction();
return -1;
}
struct fileHeader header;
// Load header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_Jedec_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0) {
PIOS_Flash_Jedec_EndTransaction();
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return -2;
}
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
if((header.id != objId) || (header.instId != instId)) {
PIOS_Flash_Jedec_EndTransaction();
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return -3;
}
// To avoid having to allocate the RAM for a copy of the object, we read by chunks
// and compute the CRC
for(uint32_t i = 0; i < objSize; i += crc_read_step) {
PIOS_Flash_Jedec_ReadData(addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
uint8_t valid_bytes = ((i + crc_read_step) >= objSize) ? objSize - i : crc_read_step;
crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
}
// Read CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_Jedec_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0) {
PIOS_Flash_Jedec_EndTransaction();
return -5;
}
if(crc != crcFlash) {
PIOS_Flash_Jedec_EndTransaction();
return -6;
}
// Read the instance data
if (PIOS_Flash_Jedec_ReadData(addr + sizeof(header), data, objSize) != 0) {
PIOS_Flash_Jedec_EndTransaction();
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return -4;
}
if(PIOS_Flash_Jedec_EndTransaction() != 0)
return -1;
return 0;
}
/**
* @brief Delete object from flash
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 Erase failed
* @note To avoid buffering the file table (1k ram!) the entry in the file table
* remains but destination sector is erased. This will make the load fail as the
* file header won't match the object. At next save it goes back there.
*/
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
return -1;
if(PIOS_Flash_Jedec_EraseSector(addr) != 0)
return -2;
return 0;
}