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Code Issues Releases Activity

REVONANO - Readd old objlist FS to be used with EEPROM

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This commit is contained in:
Alessio Morale 2014-10-26 23:39:21 +01:00
parent 1e1195ec05
commit 8b11861c63
2 changed files with 347 additions and 248 deletions
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553
flight/pios/common/pios_flashfs_objlist.c
View File

@ -31,11 +31,8 @@
#include "openpilot.h"
#include "uavobjectmanager.h"
// Private functions
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);
#ifdef PIOS_INCLUDE_FLASH_OBJLIST
#include <pios_flashfs_objlist.h>
// Private variables
static int32_t numObjects = -1;
@ -43,109 +40,187 @@ 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;
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;
uint32_t id;
uint16_t instId;
uint16_t size;
} __attribute__((packed));
enum pios_flashfs_dev_magic {
PIOS_FLASHFS_DEV_MAGIC = 0xF1A58205,
};
#define MAX_BADMAGIC 1000
struct flashfs_dev {
uint32_t magic;
const struct flashfs_cfg *cfg;
const struct pios_flash_driver *driver;
uintptr_t flash_id;
};
// Private functions
static int32_t PIOS_FLASHFS_ClearObjectTableHeader(struct flashfs_dev *dev);
static int32_t PIOS_FLASHFS_GetObjAddress(struct flashfs_dev *dev, uint32_t objId, uint16_t instId);
static int32_t PIOS_FLASHFS_GetNewAddress(struct flashfs_dev *dev, uint32_t objId, uint16_t instId);
#define MAX_BADMAGIC 1000
static struct flashfs_dev *PIOS_FLASHFS_Alloc()
{
struct flashfs_dev *dev;
dev = (struct flashfs_dev *)pios_malloc(sizeof(*dev));
if (!dev) {
return NULL;
}
dev->magic = PIOS_FLASHFS_DEV_MAGIC;
return dev;
}
int32_t PIOS_FLASHFS_validate(struct flashfs_dev *dev)
{
return dev && dev->magic == PIOS_FLASHFS_DEV_MAGIC;
}
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)
int32_t PIOS_FLASHFS_Init(uintptr_t *fs_id, const struct flashfs_cfg *cfg, const struct pios_flash_driver *driver, uintptr_t flash_id)
{
cfg = new_cfg;
// Check for valid object table or create one
uint32_t object_table_magic;
uint32_t magic_fail_count = 0;
bool magic_good = false;
PIOS_Assert(cfg);
PIOS_Assert(fs_id);
PIOS_Assert(driver);
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;
// PIOS_Assert((cfg->total_fs_size / cfg->arena_size > 1));
/* Make sure the underlying flash driver provides the minimal set of required methods */
PIOS_Assert(driver->start_transaction);
PIOS_Assert(driver->end_transaction);
PIOS_Assert(driver->write_data);
PIOS_Assert(driver->rewrite_data);
PIOS_Assert(driver->read_data);
struct flashfs_dev *dev;
dev = PIOS_FLASHFS_Alloc();
if (!dev) {
return -1;
}
/* Bind configuration parameters to this filesystem instance */
dev->cfg = cfg; /* filesystem configuration */
dev->driver = driver; /* lower-level flash driver */
dev->flash_id = flash_id; /* lower-level flash device id */
// Check for valid object table or create one
uint32_t object_table_magic;
uint32_t magic_fail_count = 0;
bool magic_good = false;
*fs_id = (uintptr_t)dev;
while (!magic_good) {
if (dev->driver->read_data(dev->flash_id, 0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0) {
return -1;
}
if (object_table_magic != dev->cfg->table_magic) {
if (magic_fail_count++ > MAX_BADMAGIC) {
if (PIOS_FLASHFS_Format(*fs_id) != 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;
}
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;
}
}
}
uint32_t addr = cfg->obj_table_start;
struct objectHeader header;
numObjects = 0;
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 (dev->driver->read_data(dev->flash_id, addr, (uint8_t *)&header, sizeof(header)) != 0) {
return -1;
}
// 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;
}
// Counting number of valid headers
if(header.objMagic != cfg->obj_magic)
break;
numObjects++;
addr += sizeof(header);
}
numObjects++;
addr += sizeof(header);
}
return 0;
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()
int32_t PIOS_FLASHFS_Format(uintptr_t fs_id)
{
if(PIOS_Flash_Jedec_EraseChip() != 0)
return -1;
if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
return -1;
return 0;
struct flashfs_dev *dev = (struct flashfs_dev *)fs_id;
if (!PIOS_FLASHFS_validate(dev)) {
return -1;
}
if (!dev->driver->start_transaction(dev->flash_id)) {
return -1;
}
if (dev->driver->erase_chip) {
if (dev->driver->erase_chip(dev->flash_id) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -1;
}
}
if (PIOS_FLASHFS_ClearObjectTableHeader(dev) != 0) {
return -1;
}
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not
*/
static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
static int32_t PIOS_FLASHFS_ClearObjectTableHeader(struct flashfs_dev *dev)
{
if(PIOS_Flash_Jedec_EraseSector(0) != 0)
return -1;
if (dev->driver->erase_sector(dev->flash_id, 0) != 0) {
return -1;
}
if (PIOS_Flash_Jedec_WriteData(0, (uint8_t *)&cfg->table_magic, sizeof(cfg->table_magic)) != 0)
return -1;
if (dev->driver->write_data(dev->flash_id, 0, (uint8_t *)&dev->cfg->table_magic, sizeof(dev->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;
uint32_t object_table_magic;
dev->driver->read_data(dev->flash_id, 0, (uint8_t *)&object_table_magic, sizeof(object_table_magic));
if (object_table_magic != dev->cfg->table_magic) {
return -1;
}
return 0;
return 0;
}
/**
@ -154,27 +229,30 @@ static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
* @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)
static int32_t PIOS_FLASHFS_GetObjAddress(struct flashfs_dev *dev, uint32_t objId, uint16_t instId)
{
int32_t addr = cfg->obj_table_start;
struct objectHeader header;
uint32_t addr = dev->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);
}
// Loop through header area while objects detect to count how many saved
while (addr < dev->cfg->obj_table_end) {
// Read the instance data
if (dev->driver->read_data(dev->flash_id, addr, (uint8_t *)&header, sizeof(header)) != 0) {
return -1;
}
if (header.objMagic != dev->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;
if (header.objId == objId && header.instId == instId) {
return header.address;
}
return -1;
return -1;
}
/**
@ -188,36 +266,40 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
* @retval -4 FS not initialized
* @retval -5
*/
int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
static int32_t PIOS_FLASHFS_GetNewAddress(struct flashfs_dev *dev, uint32_t objId, uint16_t instId)
{
struct objectHeader header;
struct objectHeader header;
if(numObjects < 0)
return -4;
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;
// Don't worry about max size of flash chip here, other code will catch that
header.objMagic = dev->cfg->obj_magic;
header.objId = objId;
header.instId = instId;
header.address = dev->cfg->obj_table_end + dev->cfg->sector_size * numObjects;
int32_t addr = cfg->obj_table_start + sizeof(header) * numObjects;
int32_t addr = dev->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;
// No room for this header in object table
if ((addr + sizeof(header)) > dev->cfg->obj_table_end) {
return -2;
}
// Verify the address is within the chip
if((addr + cfg->sector_size) > cfg->chip_size)
return -5;
// Verify the address is within the chip
if ((addr + dev->cfg->sector_size) > dev->cfg->chip_size) {
return -5;
}
if(PIOS_Flash_Jedec_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
if (dev->driver->write_data(dev->flash_id, 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;
// 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;
}
@ -229,67 +311,75 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
* @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)
int32_t PIOS_FLASHFS_ObjSave(uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
{
uint32_t objId = UAVObjGetID(obj);
uint8_t crc = 0;
struct flashfs_dev *dev = (struct flashfs_dev *)fs_id;
if(PIOS_Flash_Jedec_StartTransaction() != 0)
return -1;
if (!PIOS_FLASHFS_validate(dev)) {
return -1;
}
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
uint8_t crc = 0;
// Could not allocate a sector
if(addr < 0) {
PIOS_Flash_Jedec_EndTransaction();
return -1;
}
if (dev->driver->start_transaction(dev->flash_id) != 0) {
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));
int32_t addr = PIOS_FLASHFS_GetObjAddress(dev, obj_id, obj_inst_id);
if(PIOS_Flash_Jedec_EraseSector(addr) != 0) {
PIOS_Flash_Jedec_EndTransaction();
return -2;
}
// Object currently not saved
if (addr < 0) {
addr = PIOS_FLASHFS_GetNewAddress(dev, obj_id, obj_inst_id);
}
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)
}
};
// Could not allocate a sector
if (addr < 0) {
dev->driver->end_transaction(dev->flash_id);
return -1;
}
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;
}
struct fileHeader header = {
.id = obj_id,
.instId = obj_inst_id,
.size = obj_size,
};
return 0;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *)&header, sizeof(header));
crc = PIOS_CRC_updateCRC(crc, obj_data, obj_size);
if (dev->driver->erase_sector(dev->flash_id, addr) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -2;
}
struct pios_flash_chunk chunks[3] = {
{
.addr = (uint8_t *)&header,
.len = sizeof(header),
},
{
.addr = obj_data,
.len = obj_size
},
{
.addr = (uint8_t *)&crc,
.len = sizeof(crc)
}
};
if (dev->driver->write_chunks(dev->flash_id, addr, chunks, NELEMENTS(chunks)) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -1;
}
if (dev->driver->end_transaction(dev->flash_id) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -1;
}
return 0;
}
/**
@ -306,72 +396,77 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
* @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)
int32_t PIOS_FLASHFS_ObjLoad(uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
{
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];
struct flashfs_dev *dev = (struct flashfs_dev *)fs_id;
if(PIOS_Flash_Jedec_StartTransaction() != 0)
return -1;
if (!PIOS_FLASHFS_validate(dev)) {
return -1;
}
uint8_t crc = 0;
uint8_t crcFlash = 0;
const uint8_t crc_read_step = 8;
uint8_t crc_read_buffer[crc_read_step];
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
if (dev->driver->start_transaction(dev->flash_id) != 0) {
return -1;
}
// Object currently not saved
if(addr < 0) {
PIOS_Flash_Jedec_EndTransaction();
return -1;
}
int32_t addr = PIOS_FLASHFS_GetObjAddress(dev, obj_id, obj_inst_id);
struct fileHeader header;
// Object currently not saved
if (addr < 0) {
dev->driver->end_transaction(dev->flash_id);
return -1;
}
// 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();
return -2;
}
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
struct fileHeader header;
if((header.id != objId) || (header.instId != instId)) {
PIOS_Flash_Jedec_EndTransaction();
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);
}
// Load header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if (dev->driver->read_data(dev->flash_id, addr, (uint8_t *)&header, sizeof(header)) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -2;
}
// 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;
}
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *)&header, sizeof(header));
if(crc != crcFlash) {
PIOS_Flash_Jedec_EndTransaction();
return -6;
}
if ((header.id != obj_id) || (header.instId != obj_inst_id)) {
dev->driver->end_transaction(dev->flash_id);
return -3;
}
// Read the instance data
if (PIOS_Flash_Jedec_ReadData(addr + sizeof(header), data, objSize) != 0) {
PIOS_Flash_Jedec_EndTransaction();
return -4;
}
// 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 < obj_size; i += crc_read_step) {
dev->driver->read_data(dev->flash_id, addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
uint8_t valid_bytes = ((i + crc_read_step) >= obj_size) ? obj_size - i : crc_read_step;
crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
}
if(PIOS_Flash_Jedec_EndTransaction() != 0)
return -1;
// Read CRC (written so will work when CRC changes to uint16)
if (dev->driver->read_data(dev->flash_id, addr + sizeof(header) + obj_size, (uint8_t *)&crcFlash, sizeof(crcFlash)) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -5;
}
return 0;
if (crc != crcFlash) {
dev->driver->end_transaction(dev->flash_id);
return -6;
}
// Read the instance data
if (dev->driver->read_data(dev->flash_id, addr + sizeof(header), obj_data, obj_size) != 0) {
dev->driver->end_transaction(dev->flash_id);
return -4;
}
if (dev->driver->end_transaction(dev->flash_id) != 0) {
return -1;
}
return 0;
}
/**
@ -385,18 +480,26 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
* 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(uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
{
uint32_t objId = UAVObjGetID(obj);
struct flashfs_dev *dev = (struct flashfs_dev *)fs_id;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
if (!PIOS_FLASHFS_validate(dev)) {
return -1;
}
// Object currently not saved
if(addr < 0)
return -1;
if(PIOS_Flash_Jedec_EraseSector(addr) != 0)
return -2;
int32_t addr = PIOS_FLASHFS_GetObjAddress(dev, obj_id, obj_inst_id);
return 0;
// Object currently not saved
if (addr < 0) {
return -1;
}
if (dev->driver->erase_sector(dev->flash_id, addr) != 0) {
return -2;
}
return 0;
}
#endif /* PIOS_INCLUDE_FLASH_OBJLIST */

42
flight/pios/inc/pios_flashfs_objlist.h
View File

@ -12,36 +12,32 @@
* @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
/*
* 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
*
* 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.,
*
* 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"
#include <pios_flashfs.h>
struct flashfs_cfg {
uint32_t table_magic;
uint32_t obj_magic;
uint32_t obj_table_start;
uint32_t obj_table_end;
uint32_t sector_size;
uint32_t chip_size;
uint32_t table_magic;
uint32_t obj_magic;
uint32_t obj_table_start;
uint32_t obj_table_end;
uint32_t sector_size;
uint32_t chip_size;
};
int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * cfg);
int32_t PIOS_FLASHFS_Format();
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);
int32_t PIOS_FLASHFS_Init(uintptr_t *fs_id, const struct flashfs_cfg *cfg, const struct pios_flash_driver *driver, uintptr_t flash_id);