diff --git a/flight/pios/stm32f10x/pios_flash_internal.c b/flight/pios/stm32f10x/pios_flash_internal.c new file mode 100644 index 000000000..cbae0e068 --- /dev/null +++ b/flight/pios/stm32f10x/pios_flash_internal.c @@ -0,0 +1,291 @@ +/** + ****************************************************************************** + * + * @file pios_flash_internal.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013. + * @brief brief goes here. + * -- + * @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 "pios.h" + +#ifdef PIOS_INCLUDE_FLASH_INTERNAL + +#include "stm32f10x_flash.h" +#include "pios_flash_internal_priv.h" +#include "pios_flash.h" +#include + +struct device_flash_sector { + uint32_t start; + uint32_t size; + uint16_t st_sector; +}; + +static bool PIOS_Flash_Internal_GetSectorInfo(uint32_t address, uint8_t * sector_number, uint32_t *sector_start, uint32_t *sector_size) +{ + uint16_t sector = (address - 0x08000000) / 1024; + if(sector <= 127) { + /* address lies within this sector */ + *sector_number = sector; + *sector_start = sector * 1024 + 0x08000000; + *sector_size = 1024; + return (true); + } + + return (false); +} + +enum pios_internal_flash_dev_magic { + PIOS_INTERNAL_FLASH_DEV_MAGIC = 0x33445902, +}; + +struct pios_internal_flash_dev { + enum pios_internal_flash_dev_magic magic; + +#if defined(PIOS_INCLUDE_FREERTOS) + xSemaphoreHandle transaction_lock; +#endif /* defined(PIOS_INCLUDE_FREERTOS) */ +}; + +static bool PIOS_Flash_Internal_Validate(struct pios_internal_flash_dev * flash_dev) { + return (flash_dev && (flash_dev->magic == PIOS_INTERNAL_FLASH_DEV_MAGIC)); +} + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_internal_flash_dev * PIOS_Flash_Internal_alloc(void) +{ + struct pios_internal_flash_dev * flash_dev; + + flash_dev = (struct pios_internal_flash_dev *)pvPortMalloc(sizeof(* flash_dev)); + if (!flash_dev) return (NULL); + + flash_dev->magic = PIOS_INTERNAL_FLASH_DEV_MAGIC; + + return(flash_dev); +} +#else +static struct pios_internal_flash_dev pios_internal_flash_devs[PIOS_INTERNAL_FLASH_MAX_DEVS]; +static uint8_t pios_internal_flash_num_devs; +static struct pios_internal_flash_dev * PIOS_Flash_Internal_alloc(void) +{ + struct pios_internal_flash_dev * flash_dev; + + if (pios_internal_flash_num_devs >= PIOS_INTERNAL_FLASH_MAX_DEVS) { + return (NULL); + } + + flash_dev = &pios_internal_flash_devs[pios_internal_flash_num_devs++]; + flash_dev->magic = PIOS_INTERNAL_FLASH_DEV_MAGIC; + + return (flash_dev); +} + +#endif /* defined(PIOS_INCLUDE_FREERTOS) */ + +int32_t PIOS_Flash_Internal_Init(uintptr_t * flash_id, __attribute__((unused)) const struct pios_flash_internal_cfg * cfg) +{ + struct pios_internal_flash_dev * flash_dev; + + flash_dev = PIOS_Flash_Internal_alloc(); + if (flash_dev == NULL) + return -1; + +#if defined(PIOS_INCLUDE_FREERTOS) + flash_dev->transaction_lock = xSemaphoreCreateMutex(); +#endif /* defined(PIOS_INCLUDE_FREERTOS) */ + + *flash_id = (uintptr_t) flash_dev; + + return 0; +} + +/********************************** + * + * Provide a PIOS flash driver API + * + *********************************/ +#include "pios_flash.h" + +static int32_t PIOS_Flash_Internal_StartTransaction(uintptr_t flash_id) +{ + struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id; + + if (!PIOS_Flash_Internal_Validate(flash_dev)) + return -1; + +#if defined(PIOS_INCLUDE_FREERTOS) + if (xSemaphoreTake(flash_dev->transaction_lock, portMAX_DELAY) != pdTRUE) + return -2; +#endif /* defined(PIOS_INCLUDE_FREERTOS) */ + + /* Unlock the internal flash so we can write to it */ + FLASH_Unlock(); + return 0; +} + +static int32_t PIOS_Flash_Internal_EndTransaction(uintptr_t flash_id) +{ + struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id; + + if (!PIOS_Flash_Internal_Validate(flash_dev)) + return -1; + +#if defined(PIOS_INCLUDE_FREERTOS) + if (xSemaphoreGive(flash_dev->transaction_lock) != pdTRUE) + return -2; +#endif /* defined(PIOS_INCLUDE_FREERTOS) */ + + /* Lock the internal flash again so we can no longer write to it */ + FLASH_Lock(); + + return 0; +} + +static int32_t PIOS_Flash_Internal_EraseSector(uintptr_t flash_id, uint32_t addr) +{ + struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id; + + if (!PIOS_Flash_Internal_Validate(flash_dev)) + return -1; + + uint8_t sector_number; + uint32_t sector_start; + uint32_t sector_size; + if (!PIOS_Flash_Internal_GetSectorInfo(addr, + §or_number, + §or_start, + §or_size)) { + /* We're asking for an invalid flash address */ + return -2; + } + + if (FLASH_ErasePage(sector_start) != FLASH_COMPLETE) + return -3; + + return 0; +} + +static int32_t PIOS_Flash_Internal_WriteData(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len) +{ + PIOS_Assert(data); + + struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id; + + if (!PIOS_Flash_Internal_Validate(flash_dev)) + return -1; + + uint8_t sector_number; + uint32_t sector_start; + uint32_t sector_size; + uint32_t hword_data; + uint32_t offset; + + /* Ensure that the base address is in a valid sector */ + if (!PIOS_Flash_Internal_GetSectorInfo(addr, + §or_number, + §or_start, + §or_size)) { + /* We're asking for an invalid flash address */ + return -2; + } + + /* Ensure that the entire write occurs within the same sector */ + if ((uintptr_t)addr + len > sector_start + sector_size) { + /* Write crosses the end of the sector */ + return -3; + } + + /* Write the data */ + uint32_t temp_addr = addr; + uint16_t numberOfhWords = len / 2; + uint16_t x = 0; + FLASH_Status status; + for ( x = 0; x < numberOfhWords; ++x) { + offset = 2 * x; + hword_data = (data[offset + 1] << 8) | data[offset]; + + if(hword_data != *(uint16_t *)(temp_addr + offset)) { + status = FLASH_ProgramHalfWord(temp_addr + offset, hword_data); + } else { + status = FLASH_COMPLETE; + } + PIOS_Assert(status == FLASH_COMPLETE); + } + + uint16_t mod = len % 2; + if(mod == 1) { + offset = 2 * x; + hword_data = 0xFF00 | data[offset]; + if(hword_data != *(uint16_t *)(temp_addr + offset)) { + status = FLASH_ProgramHalfWord(temp_addr + offset, hword_data); + } else { + status = FLASH_COMPLETE; + } + PIOS_Assert(status == FLASH_COMPLETE); + } + + return 0; +} + +static int32_t PIOS_Flash_Internal_ReadData(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len) +{ + PIOS_Assert(data); + + struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id; + + if (!PIOS_Flash_Internal_Validate(flash_dev)) + return -1; + + uint8_t sector_number; + uint32_t sector_start; + uint32_t sector_size; + + /* Ensure that the base address is in a valid sector */ + if (!PIOS_Flash_Internal_GetSectorInfo(addr, + §or_number, + §or_start, + §or_size)) { + /* We're asking for an invalid flash address */ + return -2; + } + + /* Ensure that the entire read occurs within the same sector */ + if ((uintptr_t)addr + len > sector_start + sector_size) { + /* Read crosses the end of the sector */ + return -3; + } + + /* Read the data into the buffer directly */ + memcpy(data, (void *)addr, len); + + return 0; +} + +/* Provide a flash driver to external drivers */ +const struct pios_flash_driver pios_internal_flash_driver = { + .start_transaction = PIOS_Flash_Internal_StartTransaction, + .end_transaction = PIOS_Flash_Internal_EndTransaction, + .erase_sector = PIOS_Flash_Internal_EraseSector, + .write_data = PIOS_Flash_Internal_WriteData, + .read_data = PIOS_Flash_Internal_ReadData, +}; + +#endif /* PIOS_INCLUDE_FLASH_INTERNAL */