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Code Issues Releases Activity

flashfs: remove API dependency on uavobjmanager types

Browse Source 
The flashfs layer is now entirely decoupled from the UAVO
data types.  All UAVO related calls are now properly
contained within uavobjectmanager.c.

This will make the flashfs layer more portable as well as
more testable in a standalone environment.  Eventually,
this layer could be used to store arbitrary files.

Also fixed all of the doxygen headers for the flashfs API.
This commit is contained in:
Stacey Sheldon 2012-12-14 00:14:17 -05:00 committed by Alessio Morale
parent d2a3f254bc
commit 81059c41f7
4 changed files with 93 additions and 80 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/Modules/System/systemmod.c
View File

@ -305,7 +305,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) { } else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1; retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS) #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format(); retval = PIOS_FLASHFS_Format(0);
#endif #endif
} }
switch(retval) { switch(retval) {

152
flight/PiOS/Common/pios_flashfs_logfs.c
View File

@ -25,11 +25,11 @@
*/ */
#include "openpilot.h" #include "openpilot.h"
#include "uavobjectmanager.h" /* UAVObjHandle, UAVObj* */
#include "pios_flashfs.h" /* API for flash filesystem */
#include "pios_flashfs_logfs_priv.h" #include "pios_flashfs_logfs_priv.h"
#include <stdbool.h>
#define MIN(x,y) ((x) < (y) ? (x) : (y)) #define MIN(x,y) ((x) < (y) ? (x) : (y))
/* /*
@ -312,9 +312,9 @@ enum slot_state {
struct slot_header { struct slot_header {
enum slot_state state; enum slot_state state;
uint32_t objid; uint32_t obj_id;
uint16_t instid; uint16_t obj_inst_id;
uint16_t size; uint16_t obj_size;
} __attribute__((packed)); } __attribute__((packed));
/* NOTE: Must be called while holding the flash transaction lock */ /* NOTE: Must be called while holding the flash transaction lock */
@ -553,7 +553,7 @@ static int32_t logfs_garbage_collect (void) {
if (slot_hdr.state == SLOT_STATE_ACTIVE) { if (slot_hdr.state == SLOT_STATE_ACTIVE) {
uintptr_t dst_addr = logfs_get_addr (dst_arena_id, dst_slot_id); uintptr_t dst_addr = logfs_get_addr (dst_arena_id, dst_slot_id);
if (logfs_raw_copy_bytes(src_addr, if (logfs_raw_copy_bytes(src_addr,
sizeof(slot_hdr) + slot_hdr.size, sizeof(slot_hdr) + slot_hdr.obj_size,
dst_addr) != 0) { dst_addr) != 0) {
/* Failed to copy all bytes */ /* Failed to copy all bytes */
return -4; return -4;
@ -586,7 +586,7 @@ static int32_t logfs_garbage_collect (void) {
} }
/* NOTE: Must be called while holding the flash transaction lock */ /* NOTE: Must be called while holding the flash transaction lock */
static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t * curr_slot, uint32_t objid, uint16_t instid) static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t * curr_slot, uint32_t obj_id, uint16_t obj_inst_id)
{ {
PIOS_Assert(slot_hdr); PIOS_Assert(slot_hdr);
PIOS_Assert(curr_slot); PIOS_Assert(curr_slot);
@ -610,8 +610,8 @@ static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t *
break; break;
} }
if (slot_hdr->state == SLOT_STATE_ACTIVE && if (slot_hdr->state == SLOT_STATE_ACTIVE &&
slot_hdr->objid == objid && slot_hdr->obj_id == obj_id &&
slot_hdr->instid == instid) { slot_hdr->obj_inst_id == obj_inst_id) {
/* Found what we were looking for */ /* Found what we were looking for */
*curr_slot = slot_id; *curr_slot = slot_id;
return 0; return 0;
@ -624,7 +624,7 @@ static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t *
/* NOTE: Must be called while holding the flash transaction lock */ /* NOTE: Must be called while holding the flash transaction lock */
/* OPTIMIZE: could trust that there is at most one active version of every object and terminate the search when we find one */ /* OPTIMIZE: could trust that there is at most one active version of every object and terminate the search when we find one */
static int8_t logfs_delete_object (uint32_t objid, uint16_t instid) static int8_t logfs_delete_object (uint32_t obj_id, uint16_t obj_inst_id)
{ {
int8_t rc; int8_t rc;
@ -632,7 +632,7 @@ static int8_t logfs_delete_object (uint32_t objid, uint16_t instid)
uint16_t curr_slot_id = 0; uint16_t curr_slot_id = 0;
do { do {
struct slot_header slot_hdr; struct slot_header slot_hdr;
switch (logfs_object_find_next (&slot_hdr, &curr_slot_id, objid, instid)) { switch (logfs_object_find_next (&slot_hdr, &curr_slot_id, obj_id, obj_inst_id)) {
case 0: case 0:
/* Found a matching slot. Obsolete it. */ /* Found a matching slot. Obsolete it. */
slot_hdr.state = SLOT_STATE_OBSOLETE; slot_hdr.state = SLOT_STATE_OBSOLETE;
@ -663,7 +663,7 @@ out_exit:
} }
/* NOTE: Must be called while holding the flash transaction lock */ /* NOTE: Must be called while holding the flash transaction lock */
static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header * slot_hdr, uint32_t objid, uint16_t instid, uint16_t objsize) static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header * slot_hdr, uint32_t obj_id, uint16_t obj_inst_id, uint16_t obj_size)
{ {
PIOS_Assert(slot_id); PIOS_Assert(slot_id);
PIOS_Assert(slot_hdr); PIOS_Assert(slot_hdr);
@ -673,7 +673,7 @@ static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header *
return -1; return -1;
} }
if (objsize > (logfs.cfg->slot_size - sizeof (slot_hdr))) { if (obj_size > (logfs.cfg->slot_size - sizeof (slot_hdr))) {
/* This object is too big for the slot */ /* This object is too big for the slot */
return -2; return -2;
} }
@ -698,10 +698,10 @@ static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header *
} }
/* Mark this slot as RESERVED */ /* Mark this slot as RESERVED */
slot_hdr->state = SLOT_STATE_RESERVED; slot_hdr->state = SLOT_STATE_RESERVED;
slot_hdr->objid = objid; slot_hdr->obj_id = obj_id;
slot_hdr->instid = instid; slot_hdr->obj_inst_id = obj_inst_id;
slot_hdr->size = objsize; slot_hdr->obj_size = obj_size;
if (logfs.driver->write_data(logfs.flash_id, if (logfs.driver->write_data(logfs.flash_id,
slot_addr, slot_addr,
@ -719,12 +719,12 @@ static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header *
} }
/* NOTE: Must be called while holding the flash transaction lock */ /* NOTE: Must be called while holding the flash transaction lock */
static int8_t logfs_append_to_log (uint32_t objid, uint16_t instid, uint8_t * data, uint16_t data_len) static int8_t logfs_append_to_log (uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
{ {
/* Reserve a free slot for our new object */ /* Reserve a free slot for our new object */
uint16_t free_slot_id; uint16_t free_slot_id;
struct slot_header slot_hdr; struct slot_header slot_hdr;
if (logfs_reserve_free_slot (&free_slot_id, &slot_hdr, objid, instid, data_len) != 0) { if (logfs_reserve_free_slot (&free_slot_id, &slot_hdr, obj_id, obj_inst_id, obj_size) != 0) {
/* Failed to reserve a free slot */ /* Failed to reserve a free slot */
return -1; return -1;
} }
@ -734,22 +734,22 @@ static int8_t logfs_append_to_log (uint32_t objid, uint16_t instid, uint8_t * da
/* Write the data into the reserved slot, starting after the slot header */ /* Write the data into the reserved slot, starting after the slot header */
uintptr_t slot_offset = sizeof(slot_hdr); uintptr_t slot_offset = sizeof(slot_hdr);
while (data_len > 0) { while (obj_size > 0) {
/* Individual writes must fit entirely within a single page buffer. */ /* Individual writes must fit entirely within a single page buffer. */
uint16_t page_remaining = logfs.cfg->page_size - (slot_offset % logfs.cfg->page_size); uint16_t page_remaining = logfs.cfg->page_size - (slot_offset % logfs.cfg->page_size);
uint16_t write_size = MIN(data_len, page_remaining); uint16_t write_size = MIN(obj_size, page_remaining);
if (logfs.driver->write_data (logfs.flash_id, if (logfs.driver->write_data (logfs.flash_id,
slot_addr + slot_offset, slot_addr + slot_offset,
data, obj_data,
write_size) != 0) { write_size) != 0) {
/* Failed to write the object data to the slot */ /* Failed to write the object data to the slot */
return -2; return -2;
} }
/* Update our accounting */ /* Update our accounting */
data += write_size; obj_data += write_size;
slot_offset += write_size; slot_offset += write_size;
data_len -= write_size; obj_size -= write_size;
} }
/* Mark this slot active in one atomic step */ /* Mark this slot active in one atomic step */
@ -767,27 +767,41 @@ static int8_t logfs_append_to_log (uint32_t objid, uint16_t instid, uint8_t * da
return 0; return 0;
} }
/**********************************
*
* Provide a PIOS_FLASHFS_* driver
*
*********************************/
#include "pios_flashfs.h" /* API for flash filesystem */
/** /**
* @brief Saves one object instance per sector * @brief Saves one object instance to the filesystem
* @param[in] obj UAVObjHandle the object to save * @param[in] fs_id The filesystem to use for this action
* @param[in] instId The instance of the object to save * @param[in] obj UAVObject ID of the object to save
* @return 0 if success or -1 if failure * @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 failed to start transaction
* @retval -2 if failure to delete any previous versions of the object
* @retval -3 if filesystem is entirely full and garbage collection won't help
* @retval -4 if garbage collection failed
* @retval -5 if filesystem is full even after garbage collection should have freed space
* @retval -6 if writing the new object to the filesystem failed
*/ */
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instid, uint8_t * data) int32_t PIOS_FLASHFS_ObjSave(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
{ {
int8_t rc; int8_t rc;
uint32_t objid = UAVObjGetID(obj); PIOS_Assert(obj_size <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
uint16_t objsize = UAVObjGetNumBytes(obj);
PIOS_Assert(objsize <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
if (logfs.driver->start_transaction(logfs.flash_id) != 0) { if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
rc = -1; rc = -1;
goto out_exit; goto out_exit;
} }
if (logfs_delete_object (objid, instid) != 0) { if (logfs_delete_object (obj_id, obj_inst_id) != 0) {
rc = -2; rc = -2;
goto out_end_trans; goto out_end_trans;
} }
@ -825,7 +839,7 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instid, uint8_t * data)
} }
/* We have room for our new object. Append it to the log. */ /* We have room for our new object. Append it to the log. */
if (logfs_append_to_log(objid, instid, data, objsize) != 0) { if (logfs_append_to_log(obj_id, obj_inst_id, obj_data, obj_size) != 0) {
/* Error during append */ /* Error during append */
rc = -6; rc = -6;
goto out_end_trans; goto out_end_trans;
@ -842,25 +856,23 @@ out_exit:
} }
/** /**
* @brief Load one object instance per sector * @brief Load one object instance from the filesystem
* @param[in] obj UAVObjHandle the object to save * @param[in] fs_id The filesystem to use for this action
* @param[in] instId The instance of the object to save * @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 * @return 0 if success or error code
* @retval -1 if object not in file table * @retval -1 if failed to start transaction
* @retval -2 if unable to retrieve object header * @retval -2 if object not found in filesystem
* @retval -3 if loaded data instId or objId don't match * @retval -3 if object size in filesystem does not exactly match buffer size
* @retval -4 if unable to retrieve instance data * @retval -4 if reading the object data from flash fails
* @retval -5 if unable to read CRC
* @retval -6 if CRC doesn't match
*/ */
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instid, uint8_t * data) int32_t PIOS_FLASHFS_ObjLoad(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
{ {
int8_t rc; int8_t rc;
uint32_t objid = UAVObjGetID(obj); PIOS_Assert(obj_size <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
uint16_t objsize = UAVObjGetNumBytes(obj);
PIOS_Assert(objsize <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
if (logfs.driver->start_transaction(logfs.flash_id) != 0) { if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
rc = -1; rc = -1;
@ -870,14 +882,14 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instid, uint8_t * data)
/* Find the object in the log */ /* Find the object in the log */
uint16_t slot_id = 0; uint16_t slot_id = 0;
struct slot_header slot_hdr; struct slot_header slot_hdr;
if (logfs_object_find_next (&slot_hdr, &slot_id, objid, instid) != 0) { if (logfs_object_find_next (&slot_hdr, &slot_id, obj_id, obj_inst_id) != 0) {
/* Object does not exist in fs */ /* Object does not exist in fs */
rc = -2; rc = -2;
goto out_end_trans; goto out_end_trans;
} }
/* Sanity check what we've found */ /* Sanity check what we've found */
if (slot_hdr.size != objsize) { if (slot_hdr.obj_size != obj_size) {
/* Object sizes don't match. Not safe to copy contents. */ /* Object sizes don't match. Not safe to copy contents. */
rc = -3; rc = -3;
goto out_end_trans; goto out_end_trans;
@ -887,8 +899,8 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instid, uint8_t * data)
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id); uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
if (logfs.driver->read_data(logfs.flash_id, if (logfs.driver->read_data(logfs.flash_id,
slot_addr + sizeof(slot_hdr), slot_addr + sizeof(slot_hdr),
(uint8_t *)data, (uint8_t *)obj_data,
objsize) != 0) { obj_size) != 0) {
/* Failed to read object data from the log */ /* Failed to read object data from the log */
rc = -4; rc = -4;
goto out_end_trans; goto out_end_trans;
@ -905,31 +917,24 @@ out_exit:
} }
/** /**
* @brief Delete object from flash * @brief Delete one instance of an object from the filesystem
* @param[in] obj UAVObjHandle the object to save * @param[in] fs_id The filesystem to use for this action
* @param[in] instId The instance of the object to save * @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 * @return 0 if success or error code
* @retval -1 if object not in file table * @retval -1 if failed to start transaction
* @retval -2 Erase failed * @retval -2 if failed to delete the object from the filesystem
* @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) int32_t PIOS_FLASHFS_ObjDelete(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
{ {
int8_t rc; int8_t rc;
uint32_t objid = UAVObjGetID(obj);
uint16_t objsize = UAVObjGetNumBytes(obj);
PIOS_Assert(objsize <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
if (logfs.driver->start_transaction(logfs.flash_id) != 0) { if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
rc = -1; rc = -1;
goto out_exit; goto out_exit;
} }
if (logfs_delete_object (objid, instid) != 0) { if (logfs_delete_object (obj_id, obj_inst_id) != 0) {
rc = -2; rc = -2;
goto out_end_trans; goto out_end_trans;
} }
@ -944,7 +949,16 @@ out_exit:
return rc; return rc;
} }
int32_t PIOS_FLASHFS_Format() /**
* @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 failed to start transaction
* @retval -2 if failed to erase all arenas
* @retval -3 if failed to activate arena 0
* @retval -4 if failed to mount arena 0
*/
int32_t PIOS_FLASHFS_Format(uint32_t fs_id)
{ {
int32_t rc; int32_t rc;

9
flight/PiOS/inc/pios_flashfs.h
View File

@ -28,11 +28,10 @@
#define PIOS_FLASHFS_H_ #define PIOS_FLASHFS_H_
#include <stdint.h> #include <stdint.h>
#include "uavobjectmanager.h" /* UAVObjHandle */
int32_t PIOS_FLASHFS_Format(); int32_t PIOS_FLASHFS_Format(uint32_t fs_id);
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data); int32_t PIOS_FLASHFS_ObjSave(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data); int32_t PIOS_FLASHFS_ObjLoad(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId); int32_t PIOS_FLASHFS_ObjDelete(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id);
#endif /* PIOS_FLASHFS_H_ */ #endif /* PIOS_FLASHFS_H_ */

10
flight/targets/UAVObjects/uavobjectmanager.c
View File

@ -772,7 +772,7 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
if (instId != 0) if (instId != 0)
return -1; return -1;
if (PIOS_FLASHFS_ObjSave(obj_handle, instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle)) != 0) if (PIOS_FLASHFS_ObjSave(0, UAVObjGetID(obj_handle), instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) != 0)
return -1; return -1;
} else { } else {
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId); InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
@ -783,7 +783,7 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
if (InstanceData(instEntry) == NULL) if (InstanceData(instEntry) == NULL)
return -1; return -1;
if (PIOS_FLASHFS_ObjSave(obj_handle, instId, InstanceData(instEntry)) != 0) if (PIOS_FLASHFS_ObjSave(0, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) != 0)
return -1; return -1;
} }
#endif #endif
@ -927,7 +927,7 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
return -1; return -1;
// Fire event on success // Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj_handle, instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle)) == 0) if (PIOS_FLASHFS_ObjLoad(0, UAVObjGetID(obj_handle), instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle), UAVObjGetNumBytes(obj_handle)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED); sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else else
return -1; return -1;
@ -939,7 +939,7 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
return -1; return -1;
// Fire event on success // Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj_handle, instId, InstanceData(instEntry)) == 0) if (PIOS_FLASHFS_ObjLoad(0, UAVObjGetID(obj_handle), instId, InstanceData(instEntry), UAVObjGetNumBytes(obj_handle)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED); sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else else
return -1; return -1;
@ -997,7 +997,7 @@ int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
{ {
PIOS_Assert(obj_handle); PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS) #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj_handle, instId); PIOS_FLASHFS_ObjDelete(0, UAVObjGetID(obj_handle), instId);
#endif #endif
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)
uint8_t filename[14]; uint8_t filename[14];