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Code Issues Releases Activity

OP-152: Save CRC for object and header into flash and only load object if CRC

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matches.  Read the flash first bytewise to compute CRC instead of buffering
which is more RAM efficient but very inefficient as it sets up many one byte
SPI transfers.

Also incremented the filesystem magic flag to trigger an automatic flash wipe
on this upgrade.
This commit is contained in:
James Cotton 2011-06-04 09:41:47 -05:00
parent 3e5d02cbaf
commit 599483d5ac
2 changed files with 50 additions and 18 deletions
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42
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -56,7 +56,7 @@ struct fileHeader {
} __attribute__((packed));
#define OBJECT_TABLE_MAGIC 0x85FB3C33
#define OBJECT_TABLE_MAGIC 0x85FB3C34
#define OBJ_MAGIC 0x3015AE71
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00001000
@ -194,6 +194,7 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
uint8_t crc = 0;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
@ -215,14 +216,23 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
return -2;
// Save header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
// Save data
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
// Update CRC
crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
// Save CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
return -4;
return 0;
}
@ -236,12 +246,16 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
* @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);
uint8_t crc = 0;
uint8_t crcFlash = 0;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
@ -256,13 +270,31 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -2;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
if((header.id != objId) || (header.instId != instId))
return -3;
// To avoid having to allocate the RAM for a copy of the object, we read once bytewise
// and compute the CRC (inefficient)
for(uint32_t i = 0; i < UAVObjGetNumBytes(obj); i++) {
uint8_t byte;
PIOS_Flash_W25X_ReadData(addr + sizeof(header) + i, &byte, 1);
crc = PIOS_CRC_updateByte(crc, byte);
}
// Read CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
return -5;
if(crc != crcFlash)
return -6;
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
return 0;
}

26
flight/UAVObjects/uavobjectmanager.c
View File

@ -705,24 +705,24 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
{
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
ObjectList *objEntry = (ObjectList *) obj;
if (objEntry == NULL)
return -1;
if (objEntry == NULL)
return -1;
ObjectInstList *instEntry = getInstance(objEntry, instId);
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
sendEvent(objEntry, instId, EV_UNPACKED);
else
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
sendEvent(objEntry, instId, EV_UNPACKED);
else
return -1;
#endif
#if defined(PIOS_INCLUDE_SDCARD)