rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

logfs: support multiple instances of logfs

Browse Source 
Conflicts:
	flight/pios/common/pios_flashfs_logfs.c
	flight/pios/inc/pios_flashfs_logfs_priv.h
	flight/tests/logfs/pios.h
	flight/tests/logfs/pios_config.h
	flight/tests/logfs/unittest.cpp
This commit is contained in:
Stacey Sheldon 2013-04-16 21:15:06 -04:00 committed by Alessio Morale
parent 93bad2e8c2
commit 99e61dd617
6 changed files with 320 additions and 174 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

450
flight/pios/common/pios_flashfs_logfs.c
View File

@ -34,6 +34,7 @@
#include "pios_flashfs_logfs_priv.h"
#include <stdbool.h>
#include <stddef.h> /* NULL */
#define MIN(x,y) ((x) < (y) ? (x) : (y))
@ -41,7 +42,12 @@
* Filesystem state data tracked in RAM
*/
enum pios_flashfs_logfs_dev_magic {
PIOS_FLASHFS_LOGFS_DEV_MAGIC = 0x94938201,
};
struct logfs_state {
enum pios_flashfs_logfs_dev_magic magic;
const struct flashfs_logfs_cfg * cfg;
bool mounted;
uint8_t active_arena_id;
@ -58,8 +64,6 @@ struct logfs_state {
uintptr_t flash_id;
};
static struct logfs_state logfs;
/*
* Internal Utility functions
*/
@ -68,14 +72,14 @@ static struct logfs_state logfs;
* @brief Return the offset in flash of a particular slot within an arena
* @return address of the requested slot
*/
static uintptr_t logfs_get_addr(uint8_t arena_id, uint16_t slot_id)
static uintptr_t logfs_get_addr(const struct logfs_state * logfs, uint8_t arena_id, uint16_t slot_id)
{
PIOS_Assert(arena_id < (logfs.cfg->total_fs_size / logfs.cfg->arena_size));
PIOS_Assert(slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size));
PIOS_Assert(arena_id < (logfs->cfg->total_fs_size / logfs->cfg->arena_size));
PIOS_Assert(slot_id < (logfs->cfg->arena_size / logfs->cfg->slot_size));
return (logfs.cfg->start_offset +
(arena_id * logfs.cfg->arena_size) +
(slot_id * logfs.cfg->slot_size));
return (logfs->cfg->start_offset +
(arena_id * logfs->cfg->arena_size) +
(slot_id * logfs->cfg->slot_size));
}
/*
@ -114,27 +118,27 @@ struct arena_header {
* @return 0 if success, < 0 on failure
* @note Must be called while holding the flash transaction lock
*/
static int32_t logfs_erase_arena(uint8_t arena_id)
static int32_t logfs_erase_arena(const struct logfs_state * logfs, uint8_t arena_id)
{
uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
uintptr_t arena_addr = logfs_get_addr (logfs, arena_id, 0);
/* Erase all of the sectors in the arena */
for (uint8_t sector_id = 0;
sector_id < (logfs.cfg->arena_size / logfs.cfg->sector_size);
sector_id < (logfs->cfg->arena_size / logfs->cfg->sector_size);
sector_id++) {
if (logfs.driver->erase_sector(logfs.flash_id,
arena_addr + (sector_id * logfs.cfg->sector_size))) {
if (logfs->driver->erase_sector(logfs->flash_id,
arena_addr + (sector_id * logfs->cfg->sector_size))) {
return -1;
}
}
/* Mark this arena as fully erased */
struct arena_header arena_hdr = {
.magic = logfs.cfg->fs_magic,
.magic = logfs->cfg->fs_magic,
.state = ARENA_STATE_ERASED,
};
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof(arena_hdr)) != 0) {
@ -151,13 +155,13 @@ static int32_t logfs_erase_arena(uint8_t arena_id)
* @note Arena must have been previously erased before calling this
* @note Must be called while holding the flash transaction lock
*/
static int32_t logfs_reserve_arena (uint8_t arena_id)
static int32_t logfs_reserve_arena (const struct logfs_state * logfs, uint8_t arena_id)
{
uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
uintptr_t arena_addr = logfs_get_addr (logfs, arena_id, 0);
/* Read in the current arena header */
struct arena_header arena_hdr;
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof(arena_hdr)) != 0) {
@ -172,7 +176,7 @@ static int32_t logfs_reserve_arena (uint8_t arena_id)
arena_hdr.state = ARENA_STATE_RESERVED;
/* Write the arena header back to flash */
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof(arena_hdr)) != 0) {
@ -188,15 +192,15 @@ static int32_t logfs_reserve_arena (uint8_t arena_id)
* @return 0 if success, < 0 on failure
* @note Must be called while holding the flash transaction lock
*/
static int32_t logfs_erase_all_arenas()
static int32_t logfs_erase_all_arenas(const struct logfs_state * logfs)
{
uint16_t num_arenas = logfs.cfg->total_fs_size / logfs.cfg->arena_size;
uint16_t num_arenas = logfs->cfg->total_fs_size / logfs->cfg->arena_size;
for (uint16_t arena = 0; arena < num_arenas; arena++) {
#ifdef PIOS_LED_HEARTBEAT
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif
if (logfs_erase_arena(arena) != 0)
if (logfs_erase_arena(logfs, arena) != 0)
return -1;
}
@ -209,13 +213,13 @@ static int32_t logfs_erase_all_arenas()
* @note Arena must have been previously erased or reserved before calling this
* @note Must be called while holding the flash transaction lock
*/
static int32_t logfs_activate_arena(uint8_t arena_id)
static int32_t logfs_activate_arena(const struct logfs_state * logfs, uint8_t arena_id)
{
uintptr_t arena_addr = logfs_get_addr(arena_id, 0);
uintptr_t arena_addr = logfs_get_addr(logfs, arena_id, 0);
/* Make sure this arena has been previously erased */
struct arena_header arena_hdr;
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof (arena_hdr)) != 0) {
@ -230,7 +234,7 @@ static int32_t logfs_activate_arena(uint8_t arena_id)
/* Mark this arena as active */
arena_hdr.state = ARENA_STATE_ACTIVE;
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof(arena_hdr)) != 0) {
@ -247,16 +251,16 @@ static int32_t logfs_activate_arena(uint8_t arena_id)
* @note Arena must have been previously active before calling this
* @note Must be called while holding the flash transaction lock
*/
static int32_t logfs_obsolete_arena(uint8_t arena_id)
static int32_t logfs_obsolete_arena(const struct logfs_state * logfs, uint8_t arena_id)
{
uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
uintptr_t arena_addr = logfs_get_addr (logfs, arena_id, 0);
/* We shouldn't be retiring the currently active arena */
PIOS_Assert(!logfs.mounted);
PIOS_Assert(!logfs->mounted);
/* Make sure this arena was previously active */
struct arena_header arena_hdr;
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof (arena_hdr)) != 0) {
@ -271,7 +275,7 @@ static int32_t logfs_obsolete_arena(uint8_t arena_id)
/* Mark this arena as obsolete */
arena_hdr.state = ARENA_STATE_OBSOLETE;
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof(arena_hdr)) != 0) {
@ -289,23 +293,23 @@ static int32_t logfs_obsolete_arena(uint8_t arena_id)
* @return -2 if failed to read arena header
* @note Must be called while holding the flash transaction lock
*/
static int32_t logfs_find_active_arena()
static int32_t logfs_find_active_arena(const struct logfs_state * logfs)
{
/* Search for the lowest numbered active arena */
for (uint8_t arena_id = 0;
arena_id < logfs.cfg->total_fs_size / logfs.cfg->arena_size;
arena_id < logfs->cfg->total_fs_size / logfs->cfg->arena_size;
arena_id++) {
uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
uintptr_t arena_addr = logfs_get_addr (logfs, arena_id, 0);
/* Load the arena header */
struct arena_header arena_hdr;
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
arena_addr,
(uint8_t *)&arena_hdr,
sizeof (arena_hdr)) != 0) {
return -2;
}
if ((arena_hdr.state == ARENA_STATE_ACTIVE) &&
(arena_hdr.magic == logfs.cfg->fs_magic)) {
(arena_hdr.magic == logfs->cfg->fs_magic)) {
/* This is the first active arena */
return arena_id;
}
@ -344,7 +348,7 @@ struct slot_header {
} __attribute__((packed));
/* NOTE: Must be called while holding the flash transaction lock */
static int32_t logfs_raw_copy_bytes (uintptr_t src_addr, uint16_t src_size, uintptr_t dst_addr)
static int32_t logfs_raw_copy_bytes (const struct logfs_state * logfs, uintptr_t src_addr, uint16_t src_size, uintptr_t dst_addr)
{
#define RAW_COPY_BLOCK_SIZE 16
uint8_t data_block[RAW_COPY_BLOCK_SIZE];
@ -360,7 +364,7 @@ static int32_t logfs_raw_copy_bytes (uintptr_t src_addr, uint16_t src_size, uint
}
/* Read a block of data from source */
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
src_addr,
data_block,
blk_size) != 0) {
@ -369,7 +373,7 @@ static int32_t logfs_raw_copy_bytes (uintptr_t src_addr, uint16_t src_size, uint
}
/* Write a block of data to destination */
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
dst_addr,
data_block,
blk_size) != 0) {
@ -391,9 +395,9 @@ static int32_t logfs_raw_copy_bytes (uintptr_t src_addr, uint16_t src_size, uint
* true = all slots in the arena are in the ACTIVE state (ie. garbage collection won't free anything)
* false = some slots in the arena are either currently free or could be free'd by garbage collection
*/
static bool logfs_fs_is_full(void)
static bool logfs_fs_is_full(const struct logfs_state * logfs)
{
return (logfs.num_active_slots == (logfs.cfg->arena_size / logfs.cfg->slot_size) - 1);
return (logfs->num_active_slots == (logfs->cfg->arena_size / logfs->cfg->slot_size) - 1);
}
/*
@ -401,37 +405,37 @@ static bool logfs_fs_is_full(void)
* true = there are no unwritten slots left in the log (garbage collection may or may not help)
* false = there are still some entirely unused slots left in the log
*/
static bool logfs_log_is_full(void)
static bool logfs_log_is_full(const struct logfs_state * logfs)
{
return (logfs.num_free_slots == 0);
return (logfs->num_free_slots == 0);
}
static int32_t logfs_unmount_log(void)
static int32_t logfs_unmount_log(struct logfs_state * logfs)
{
PIOS_Assert (logfs.mounted);
PIOS_Assert (logfs->mounted);
logfs.num_active_slots = 0;
logfs.num_free_slots = 0;
logfs.mounted = false;
logfs->num_active_slots = 0;
logfs->num_free_slots = 0;
logfs->mounted = false;
return 0;
}
static int32_t logfs_mount_log(uint8_t arena_id)
static int32_t logfs_mount_log(struct logfs_state * logfs, uint8_t arena_id)
{
PIOS_Assert (!logfs.mounted);
PIOS_Assert (!logfs->mounted);
logfs.num_active_slots = 0;
logfs.num_free_slots = 0;
logfs.active_arena_id = arena_id;
logfs->num_active_slots = 0;
logfs->num_free_slots = 0;
logfs->active_arena_id = arena_id;
/* Scan the log to find out how full it is */
for (uint16_t slot_id = 1;
slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size);
slot_id < (logfs->cfg->arena_size / logfs->cfg->slot_size);
slot_id++) {
struct slot_header slot_hdr;
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
if (logfs.driver->read_data(logfs.flash_id,
uintptr_t slot_addr = logfs_get_addr (logfs, logfs->active_arena_id, slot_id);
if (logfs->driver->read_data(logfs->flash_id,
slot_addr,
(uint8_t *)&slot_hdr,
sizeof (slot_hdr)) != 0) {
@ -443,14 +447,14 @@ static int32_t logfs_mount_log(uint8_t arena_id)
* end of the arena.
*/
PIOS_Assert (slot_hdr.state == SLOT_STATE_EMPTY ||
logfs.num_free_slots == 0);
logfs->num_free_slots == 0);
switch (slot_hdr.state) {
case SLOT_STATE_EMPTY:
logfs.num_free_slots++;
logfs->num_free_slots++;
break;
case SLOT_STATE_ACTIVE:
logfs.num_active_slots++;
logfs->num_active_slots++;
break;
case SLOT_STATE_RESERVED:
case SLOT_STATE_OBSOLETE:
@ -459,12 +463,59 @@ static int32_t logfs_mount_log(uint8_t arena_id)
}
/* Scan is complete, mark the arena mounted */
logfs.active_arena_id = arena_id;
logfs.mounted = true;
logfs->active_arena_id = arena_id;
logfs->mounted = true;
return 0;
}
static bool PIOS_FLASHFS_Logfs_validate(const struct logfs_state * logfs)
{
return (logfs && (logfs->magic == PIOS_FLASHFS_LOGFS_DEV_MAGIC));
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct logfs_state * PIOS_FLASHFS_Logfs_alloc(void)
{
struct logfs_state * logfs;
logfs = (struct logfs_state *)pvPortMalloc(sizeof(*logfs));
if (!logfs) return (NULL);
logfs->magic = PIOS_FLASHFS_LOGFS_DEV_MAGIC;
return(logfs);
}
static void PIOS_FLASHFS_Logfs_free(struct logfs_state * logfs)
{
/* Invalidate the magic */
logfs->magic = ~PIOS_FLASHFS_LOGFS_DEV_MAGIC;
vPortFree(logfs);
}
#else
static struct logfs_state pios_flashfs_logfs_devs[PIOS_FLASHFS_LOGFS_MAX_DEVS];
static uint8_t pios_flashfs_logfs_num_devs;
static struct logfs_state * PIOS_FLASHFS_Logfs_alloc(void)
{
struct logfs_state * logfs;
if (pios_flashfs_logfs_num_devs >= PIOS_FLASHFS_LOGFS_MAX_DEVS) {
return (NULL);
}
logfs = &pios_flashfs_logfs_devs[pios_flashfs_logfs_num_devs++];
logfs->magic = PIOS_FLASHFS_LOGFS_DEV_MAGIC;
return (logfs);
}
static void PIOS_FLASHFS_Logfs_free(struct logfs_state * logfs)
{
/* Invalidate the magic */
logfs->magic = ~PIOS_FLASHFS_LOGFS_DEV_MAGIC;
/* Can't free the resources with this simple allocator */
}
#endif
/**
* @brief Initialize the flash object setting FS
* @return 0 if success, -1 if failure
@ -485,15 +536,23 @@ int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cf
PIOS_Assert(driver->write_data);
PIOS_Assert(driver->read_data);
/* Bind configuration parameters to this filesystem instance */
logfs.cfg = cfg; /* filesystem configuration */
logfs.driver = driver; /* lower-level flash driver */
logfs.flash_id = flash_id; /* lower-level flash device id */
logfs.mounted = false;
int8_t rc;
if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
struct logfs_state * logfs;
logfs = (struct logfs_state *) PIOS_FLASHFS_Logfs_alloc();
if (!logfs) {
rc = -1;
goto out_exit;
}
/* Bind configuration parameters to this filesystem instance */
logfs->cfg = cfg; /* filesystem configuration */
logfs->driver = driver; /* lower-level flash driver */
logfs->flash_id = flash_id; /* lower-level flash device id */
logfs->mounted = false;
if (logfs->driver->start_transaction(logfs->flash_id) != 0) {
rc = -1;
goto out_exit;
}
@ -502,16 +561,16 @@ int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cf
int32_t arena_id;
for (uint8_t try = 0; !found && try < 2; try++) {
/* Find the active arena */
arena_id = logfs_find_active_arena();
arena_id = logfs_find_active_arena(logfs);
if (arena_id >= 0) {
/* Found the active arena */
found = true;
break;
} else {
/* No active arena found, erase and activate arena 0 */
if (logfs_erase_arena(0) != 0)
if (logfs_erase_arena(logfs, 0) != 0)
break;
if (logfs_activate_arena(0) != 0)
if (logfs_activate_arena(logfs, 0) != 0)
break;
}
}
@ -523,7 +582,7 @@ int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cf
}
/* We've found an active arena, mount it */
if (logfs_mount_log(arena_id) != 0) {
if (logfs_mount_log(logfs, arena_id) != 0) {
/* Failed to mount the log, something is broken */
rc = -3;
goto out_end_trans;
@ -532,32 +591,50 @@ int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cf
/* Log has been mounted */
rc = 0;
*fs_id = (uintptr_t) &logfs;
*fs_id = (uintptr_t) logfs;
out_end_trans:
logfs.driver->end_transaction(logfs.flash_id);
logfs->driver->end_transaction(logfs->flash_id);
out_exit:
return rc;
}
int32_t PIOS_FLASHFS_Logfs_Destroy(uintptr_t fs_id)
{
int32_t rc;
struct logfs_state * logfs = (struct logfs_state *)fs_id;
if (!PIOS_FLASHFS_Logfs_validate(logfs)) {
rc = -1;
goto out_exit;
}
PIOS_FLASHFS_Logfs_free(logfs);
rc = 0;
out_exit:
return rc;
}
/* NOTE: Must be called while holding the flash transaction lock */
static int32_t logfs_garbage_collect (void) {
PIOS_Assert (logfs.mounted);
static int32_t logfs_garbage_collect (struct logfs_state * logfs) {
PIOS_Assert (logfs->mounted);
/* Source arena is the active arena */
uint8_t src_arena_id = logfs.active_arena_id;
uint8_t src_arena_id = logfs->active_arena_id;
/* Compute destination arena */
uint8_t dst_arena_id = (logfs.active_arena_id + 1) % (logfs.cfg->total_fs_size / logfs.cfg->arena_size);
uint8_t dst_arena_id = (logfs->active_arena_id + 1) % (logfs->cfg->total_fs_size / logfs->cfg->arena_size);
/* Erase destination arena */
if (logfs_erase_arena (dst_arena_id) != 0) {
if (logfs_erase_arena (logfs, dst_arena_id) != 0) {
return -1;
}
/* Reserve the destination arena so we can start filling it */
if (logfs_reserve_arena (dst_arena_id) != 0) {
if (logfs_reserve_arena (logfs, dst_arena_id) != 0) {
/* Unable to reserve the arena */
return -2;
}
@ -565,11 +642,11 @@ static int32_t logfs_garbage_collect (void) {
/* Copy active slots from active arena to destination arena */
uint16_t dst_slot_id = 1;
for (uint16_t src_slot_id = 1;
src_slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size);
src_slot_id < (logfs->cfg->arena_size / logfs->cfg->slot_size);
src_slot_id++) {
struct slot_header slot_hdr;
uintptr_t src_addr = logfs_get_addr (src_arena_id, src_slot_id);
if (logfs.driver->read_data(logfs.flash_id,
uintptr_t src_addr = logfs_get_addr (logfs, src_arena_id, src_slot_id);
if (logfs->driver->read_data(logfs->flash_id,
src_addr,
(uint8_t *)&slot_hdr,
sizeof (slot_hdr)) != 0) {
@ -577,8 +654,9 @@ static int32_t logfs_garbage_collect (void) {
}
if (slot_hdr.state == SLOT_STATE_ACTIVE) {
uintptr_t dst_addr = logfs_get_addr (dst_arena_id, dst_slot_id);
if (logfs_raw_copy_bytes(src_addr,
uintptr_t dst_addr = logfs_get_addr (logfs, dst_arena_id, dst_slot_id);
if (logfs_raw_copy_bytes(logfs,
src_addr,
sizeof(slot_hdr) + slot_hdr.obj_size,
dst_addr) != 0) {
/* Failed to copy all bytes */
@ -589,22 +667,22 @@ static int32_t logfs_garbage_collect (void) {
}
/* Activate the destination arena */
if (logfs_activate_arena (dst_arena_id) != 0) {
if (logfs_activate_arena (logfs, dst_arena_id) != 0) {
return -5;
}
/* Unmount the source arena */
if (logfs_unmount_log () != 0) {
if (logfs_unmount_log (logfs) != 0) {
return -6;
}
/* Obsolete the source arena */
if (logfs_obsolete_arena (src_arena_id) != 0) {
if (logfs_obsolete_arena (logfs, src_arena_id) != 0) {
return -7;
}
/* Mount the new arena */
if (logfs_mount_log (dst_arena_id) != 0) {
if (logfs_mount_log (logfs, dst_arena_id) != 0) {
return -8;
}
@ -612,7 +690,7 @@ static int32_t logfs_garbage_collect (void) {
}
/* 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 obj_id, uint16_t obj_inst_id)
static int16_t logfs_object_find_next (const struct logfs_state * logfs, struct slot_header * slot_hdr, uint16_t * curr_slot, uint32_t obj_id, uint16_t obj_inst_id)
{
PIOS_Assert(slot_hdr);
PIOS_Assert(curr_slot);
@ -621,11 +699,11 @@ static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t *
if (*curr_slot == 0) *curr_slot = 1;
for (uint16_t slot_id = *curr_slot;
slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size);
slot_id < (logfs->cfg->arena_size / logfs->cfg->slot_size);
slot_id++) {
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
uintptr_t slot_addr = logfs_get_addr (logfs, logfs->active_arena_id, slot_id);
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
slot_addr,
(uint8_t *)slot_hdr,
sizeof (*slot_hdr)) != 0) {
@ -650,7 +728,7 @@ static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t *
/* NOTE: Must be called while holding the flash transaction lock */
/* 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 obj_id, uint16_t obj_inst_id)
static int8_t logfs_delete_object (struct logfs_state * logfs, uint32_t obj_id, uint16_t obj_inst_id)
{
int8_t rc;
@ -658,13 +736,13 @@ static int8_t logfs_delete_object (uint32_t obj_id, uint16_t obj_inst_id)
uint16_t curr_slot_id = 0;
do {
struct slot_header slot_hdr;
switch (logfs_object_find_next (&slot_hdr, &curr_slot_id, obj_id, obj_inst_id)) {
switch (logfs_object_find_next (logfs, &slot_hdr, &curr_slot_id, obj_id, obj_inst_id)) {
case 0:
/* Found a matching slot. Obsolete it. */
slot_hdr.state = SLOT_STATE_OBSOLETE;
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, curr_slot_id);
uintptr_t slot_addr = logfs_get_addr (logfs, logfs->active_arena_id, curr_slot_id);
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
slot_addr,
(uint8_t *)&slot_hdr,
sizeof(slot_hdr)) != 0) {
@ -672,7 +750,7 @@ static int8_t logfs_delete_object (uint32_t obj_id, uint16_t obj_inst_id)
goto out_exit;
}
/* Object has been successfully obsoleted and is no longer active */
logfs.num_active_slots--;
logfs->num_active_slots--;
break;
case -1:
/* Search completed, object not found */
@ -691,27 +769,27 @@ out_exit:
}
/* 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 obj_id, uint16_t obj_inst_id, uint16_t obj_size)
static int8_t logfs_reserve_free_slot (struct logfs_state * logfs, 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_hdr);
if (logfs.num_free_slots < 1) {
if (logfs->num_free_slots < 1) {
/* No free slots to allocate */
return -1;
}
if (obj_size > (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 */
return -2;
}
uint16_t candidate_slot_id = (logfs.cfg->arena_size / logfs.cfg->slot_size) - logfs.num_free_slots;
uint16_t candidate_slot_id = (logfs->cfg->arena_size / logfs->cfg->slot_size) - logfs->num_free_slots;
PIOS_Assert(candidate_slot_id > 0);
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, candidate_slot_id);
uintptr_t slot_addr = logfs_get_addr (logfs, logfs->active_arena_id, candidate_slot_id);
if (logfs.driver->read_data(logfs.flash_id,
if (logfs->driver->read_data(logfs->flash_id,
slot_addr,
(uint8_t *)slot_hdr,
sizeof (*slot_hdr)) != 0) {
@ -731,7 +809,7 @@ static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header *
slot_hdr->obj_inst_id = obj_inst_id;
slot_hdr->obj_size = obj_size;
if (logfs.driver->write_data(logfs.flash_id,
if (logfs->driver->write_data(logfs->flash_id,
slot_addr,
(uint8_t *)slot_hdr,
sizeof(*slot_hdr)) != 0) {
@ -740,33 +818,33 @@ static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header *
}
/* FIXME: If the header write (above) failed, may have partially written data, thus corrupting that slot but we would have missed decrementing this counter */
logfs.num_free_slots--;
logfs->num_free_slots--;
*slot_id = candidate_slot_id;
return 0;
}
/* NOTE: Must be called while holding the flash transaction lock */
static int8_t logfs_append_to_log (uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
static int8_t logfs_append_to_log (struct logfs_state * logfs, 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 */
uint16_t free_slot_id;
struct slot_header slot_hdr;
if (logfs_reserve_free_slot (&free_slot_id, &slot_hdr, obj_id, obj_inst_id, obj_size) != 0) {
if (logfs_reserve_free_slot (logfs, &free_slot_id, &slot_hdr, obj_id, obj_inst_id, obj_size) != 0) {
/* Failed to reserve a free slot */
return -1;
}
/* Compute slot address */
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, free_slot_id);
uintptr_t slot_addr = logfs_get_addr (logfs, logfs->active_arena_id, free_slot_id);
/* Write the data into the reserved slot, starting after the slot header */
uintptr_t slot_offset = sizeof(slot_hdr);
while (obj_size > 0) {
/* 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(obj_size, page_remaining);
if (logfs.driver->write_data (logfs.flash_id,
if (logfs->driver->write_data (logfs->flash_id,
slot_addr + slot_offset,
obj_data,
write_size) != 0) {
@ -782,7 +860,7 @@ static int8_t logfs_append_to_log (uint32_t obj_id, uint16_t obj_inst_id, uint8_
/* Mark this slot active in one atomic step */
slot_hdr.state = SLOT_STATE_ACTIVE;
if (logfs.driver->write_data (logfs.flash_id,
if (logfs->driver->write_data (logfs->flash_id,
slot_addr,
(uint8_t *)&slot_hdr,
sizeof(slot_hdr)) != 0) {
@ -791,7 +869,7 @@ static int8_t logfs_append_to_log (uint32_t obj_id, uint16_t obj_inst_id, uint8_
}
/* Object has been successfully written to the slot */
logfs.num_active_slots++;
logfs->num_active_slots++;
return 0;
}
@ -811,26 +889,34 @@ static int8_t logfs_append_to_log (uint32_t obj_id, uint16_t obj_inst_id, uint8_
* @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
* @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)) 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_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;
PIOS_Assert(obj_size <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
struct logfs_state * logfs = (struct logfs_state *)fs_id;
if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
if (!PIOS_FLASHFS_Logfs_validate(logfs)) {
rc = -1;
goto out_exit;
}
if (logfs_delete_object (obj_id, obj_inst_id) != 0) {
PIOS_Assert(obj_size <= (logfs->cfg->slot_size - sizeof(struct slot_header)));
if (logfs->driver->start_transaction(logfs->flash_id) != 0) {
rc = -2;
goto out_exit;
}
if (logfs_delete_object (logfs, obj_id, obj_inst_id) != 0) {
rc = -3;
goto out_end_trans;
}
@ -840,36 +926,36 @@ int32_t PIOS_FLASHFS_ObjSave(__attribute__((unused)) uint32_t fs_id, uint32_t ob
*/
/* Check if the arena is entirely full. */
if (logfs_fs_is_full()) {
if (logfs_fs_is_full(logfs)) {
/* Note: Filesystem Full means we're full of *active* records so gc won't help at all. */
rc = -3;
rc = -4;
goto out_end_trans;
}
/* Is garbage collection required? */
if (logfs_log_is_full()) {
if (logfs_log_is_full(logfs)) {
/* Note: Log Full means the log is full but may contain obsolete slots so gc may free some space */
if (logfs_garbage_collect() != 0) {
rc = -4;
if (logfs_garbage_collect(logfs) != 0) {
rc = -5;
goto out_end_trans;
}
/* Check one more time just to be sure we actually free'd some space */
if (logfs_log_is_full()) {
if (logfs_log_is_full(logfs)) {
/*
* Log is still full even after gc!
* NOTE: This should not happen since the filesystem wasn't full
* when we checked above so gc should have helped.
*/
PIOS_DEBUG_Assert(0);
rc = -5;
rc = -6;
goto out_end_trans;
}
}
/* We have room for our new object. Append it to the log. */
if (logfs_append_to_log(obj_id, obj_inst_id, obj_data, obj_size) != 0) {
if (logfs_append_to_log(logfs, obj_id, obj_inst_id, obj_data, obj_size) != 0) {
/* Error during append */
rc = -6;
rc = -7;
goto out_end_trans;
}
@ -877,7 +963,7 @@ int32_t PIOS_FLASHFS_ObjSave(__attribute__((unused)) uint32_t fs_id, uint32_t ob
rc = 0;
out_end_trans:
logfs.driver->end_transaction(logfs.flash_id);
logfs->driver->end_transaction(logfs->flash_id);
out_exit:
return rc;
@ -891,47 +977,55 @@ out_exit:
* @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 failed to start transaction
* @retval -2 if object not found in filesystem
* @retval -3 if object size in filesystem does not exactly match buffer size
* @retval -4 if reading the object data from flash fails
* @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)) 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(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
{
int8_t rc;
PIOS_Assert(obj_size <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
struct logfs_state * logfs = (struct logfs_state *)fs_id;
if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
if (!PIOS_FLASHFS_Logfs_validate(logfs)) {
rc = -1;
goto out_exit;
}
PIOS_Assert(obj_size <= (logfs->cfg->slot_size - sizeof(struct slot_header)));
if (logfs->driver->start_transaction(logfs->flash_id) != 0) {
rc = -2;
goto out_exit;
}
/* Find the object in the log */
uint16_t slot_id = 0;
struct slot_header slot_hdr;
if (logfs_object_find_next (&slot_hdr, &slot_id, obj_id, obj_inst_id) != 0) {
if (logfs_object_find_next (logfs, &slot_hdr, &slot_id, obj_id, obj_inst_id) != 0) {
/* Object does not exist in fs */
rc = -2;
rc = -3;
goto out_end_trans;
}
/* Sanity check what we've found */
if (slot_hdr.obj_size != obj_size) {
/* Object sizes don't match. Not safe to copy contents. */
rc = -3;
rc = -4;
goto out_end_trans;
}
/* Read the contents of the object from the log */
if (obj_size > 0) {
uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
if (logfs.driver->read_data(logfs.flash_id,
uintptr_t slot_addr = logfs_get_addr (logfs, logfs->active_arena_id, slot_id);
if (logfs->driver->read_data(logfs->flash_id,
slot_addr + sizeof(slot_hdr),
(uint8_t *)obj_data,
obj_size) != 0) {
/* Failed to read object data from the log */
rc = -4;
rc = -5;
goto out_end_trans;
}
}
@ -940,7 +1034,7 @@ int32_t PIOS_FLASHFS_ObjLoad(__attribute__((unused)) uint32_t fs_id, uint32_t ob
rc = 0;
out_end_trans:
logfs.driver->end_transaction(logfs.flash_id);
logfs->driver->end_transaction(logfs->flash_id);
out_exit:
return rc;
@ -952,20 +1046,28 @@ out_exit:
* @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 failed to start transaction
* @retval -2 if failed to delete the object from the filesystem
* @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)) uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
int32_t PIOS_FLASHFS_ObjDelete(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
{
int8_t rc;
if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
struct logfs_state * logfs = (struct logfs_state *)fs_id;
if (!PIOS_FLASHFS_Logfs_validate(logfs)) {
rc = -1;
goto out_exit;
}
if (logfs_delete_object (obj_id, obj_inst_id) != 0) {
if (logfs->driver->start_transaction(logfs->flash_id) != 0) {
rc = -2;
goto out_exit;
}
if (logfs_delete_object (logfs, obj_id, obj_inst_id) != 0) {
rc = -3;
goto out_end_trans;
}
@ -973,7 +1075,7 @@ int32_t PIOS_FLASHFS_ObjDelete(__attribute__((unused)) uint32_t fs_id, uint32_t
rc = 0;
out_end_trans:
logfs.driver->end_transaction(logfs.flash_id);
logfs->driver->end_transaction(logfs->flash_id);
out_exit:
return rc;
@ -983,46 +1085,54 @@ out_exit:
* @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
* @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)) uint32_t fs_id)
int32_t PIOS_FLASHFS_Format(uint32_t fs_id)
{
int32_t rc;
if (logfs.mounted) {
logfs_unmount_log();
}
struct logfs_state * logfs = (struct logfs_state *)fs_id;
if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
if (!PIOS_FLASHFS_Logfs_validate(logfs)) {
rc = -1;
goto out_exit;
}
if (logfs_erase_all_arenas() != 0) {
rc = -2;
goto out_end_trans;
if (logfs->mounted) {
logfs_unmount_log(logfs);
}
/* Reinitialize arena 0 */
if (logfs_activate_arena(0) != 0) {
if (logfs->driver->start_transaction(logfs->flash_id) != 0) {
rc = -2;
goto out_exit;
}
if (logfs_erase_all_arenas(logfs) != 0) {
rc = -3;
goto out_end_trans;
}
/* Mount arena 0 */
if (logfs_mount_log(0) != 0) {
/* Reinitialize arena 0 */
if (logfs_activate_arena(logfs, 0) != 0) {
rc = -4;
goto out_end_trans;
}
/* Mount arena 0 */
if (logfs_mount_log(logfs, 0) != 0) {
rc = -5;
goto out_end_trans;
}
/* Chip erased and log remounted successfully */
rc = 0;
out_end_trans:
logfs.driver->end_transaction(logfs.flash_id);
logfs->driver->end_transaction(logfs->flash_id);
out_exit:
return rc;

2
flight/pios/inc/pios_flashfs_logfs_priv.h
View File

@ -43,4 +43,6 @@ struct flashfs_logfs_cfg {
int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cfg * cfg, const struct pios_flash_driver * driver, uintptr_t flash_id);
int32_t PIOS_FLASHFS_Logfs_Destroy(uintptr_t fs_id);
#endif /* PIOS_FLASHFS_LOGFS_PRIV_H */

3
flight/tests/logfs/FreeRTOS.h Normal file
View File

@ -0,0 +1,3 @@
#include <stdlib.h>
#define pvPortMalloc(xSize) (malloc(xSize))
#define vPortFree(pv) (free(pv))

7
flight/tests/logfs/pios.h
View File

@ -1,9 +1,14 @@
#ifndef PIOS_H
#define PIOS_H
/* PIOS board specific feature selection */
/* PIOS Feature Selection */
#include "pios_config.h"
#ifdef PIOS_INCLUDE_FREERTOS
/* FreeRTOS Includes */
#include "FreeRTOS.h"
#endif
#ifdef PIOS_INCLUDE_FLASH
#include <pios_flash.h>
#include <pios_flashfs.h>

1
flight/tests/logfs/pios_config.h
View File

@ -3,5 +3,6 @@
/* Enable/Disable PiOS modules */
#define PIOS_INCLUDE_FLASH
//#define PIOS_INCLUDE_FREERTOS
#endif /* PIOS_CONFIG_H */

31
flight/tests/logfs/unittest.cpp
View File

@ -77,6 +77,8 @@ protected:
TEST_F(LogfsTestRaw, FlashInit) {
uintptr_t flash_id;
EXPECT_EQ(0, PIOS_Flash_UT_Init(&flash_id, &flash_config));
PIOS_Flash_UT_Destroy(flash_id);
}
TEST_F(LogfsTestRaw, LogfsInit) {
@ -85,6 +87,9 @@ TEST_F(LogfsTestRaw, LogfsInit) {
uintptr_t fs_id;
EXPECT_EQ(0, PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_config, &pios_ut_flash_driver, flash_id));
PIOS_FLASHFS_Logfs_Destroy(fs_id);
PIOS_Flash_UT_Destroy(flash_id);
}
class LogfsTestCooked : public LogfsTestRaw {
@ -99,9 +104,29 @@ protected:
EXPECT_EQ(0, PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_config, &pios_ut_flash_driver, flash_id));
}
virtual void TearDown() {
PIOS_FLASHFS_Logfs_Destroy(fs_id);
PIOS_Flash_UT_Destroy(flash_id);
}
uintptr_t flash_id;
uintptr_t fs_id;
};
TEST_F(LogfsTestCooked, BadIdLogfsFormat) {
EXPECT_EQ(-1, PIOS_FLASHFS_Format(fs_id + 1));
}
TEST_F(LogfsTestCooked, BadIdSave) {
EXPECT_EQ(-1, PIOS_FLASHFS_ObjSave(fs_id + 1, OBJ1_ID, 0, obj1, sizeof(obj1)));
}
TEST_F(LogfsTestCooked, BadIdLoad) {
unsigned char obj1_check[OBJ1_SIZE];
memset(obj1_check, 0, sizeof(obj1_check));
EXPECT_EQ(-1, PIOS_FLASHFS_ObjLoad(fs_id + 1, OBJ1_ID, 0, obj1_check, sizeof(obj1_check)));
}
TEST_F(LogfsTestCooked, LogfsFormat) {
EXPECT_EQ(0, PIOS_FLASHFS_Format(fs_id));
}
@ -129,7 +154,7 @@ TEST_F(LogfsTestCooked, WriteVerifyDeleteVerifyOne) {
EXPECT_EQ(0, PIOS_FLASHFS_ObjDelete(fs_id, OBJ1_ID, 0));
EXPECT_EQ(-2, PIOS_FLASHFS_ObjLoad(fs_id, OBJ1_ID, 0, obj1_check, sizeof(obj1_check)));
EXPECT_EQ(-3, PIOS_FLASHFS_ObjLoad(fs_id, OBJ1_ID, 0, obj1_check, sizeof(obj1_check)));
}
TEST_F(LogfsTestCooked, WriteTwoVerifyOneA) {
@ -178,7 +203,7 @@ TEST_F(LogfsTestCooked, ReadNonexistent) {
/* Read back a zero length object -- basically an existence check */
unsigned char obj1_check[OBJ1_SIZE];
memset(obj1_check, 0, sizeof(obj1_check));
EXPECT_EQ(-2, PIOS_FLASHFS_ObjLoad(fs_id, OBJ1_ID, 0, obj1_check, sizeof(obj1_check)));
EXPECT_EQ(-3, PIOS_FLASHFS_ObjLoad(fs_id, OBJ1_ID, 0, obj1_check, sizeof(obj1_check)));
}
TEST_F(LogfsTestCooked, WriteVerifyMultiInstance) {
@ -208,7 +233,7 @@ TEST_F(LogfsTestCooked, FillFilesystemAndGarbageCollect) {
}
/* Should fail to add a new object since the filesystem is full */
EXPECT_EQ(-3, PIOS_FLASHFS_ObjSave(fs_id, OBJ2_ID, 0, obj2, sizeof(obj2)));
EXPECT_EQ(-4, PIOS_FLASHFS_ObjSave(fs_id, OBJ2_ID, 0, obj2, sizeof(obj2)));
/* Now save a new version of an existing object which should trigger gc and succeed */
EXPECT_EQ(0, PIOS_FLASHFS_ObjSave(fs_id, OBJ1_ID, 0, obj1_alt, sizeof(obj1_alt)));