/** ****************************************************************************** * * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram) * @{ * * @file pios_flashfs_objlist.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief A file system for storing UAVObject in flash chip * @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 "openpilot.h" #include "uavobjectmanager.h" // Private functions static int32_t PIOS_FLAHFS_CleabObjectTableHeader(); static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId); static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId); // Private variables 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; } __attribute__((packed));; struct fileHeader { uint32_t id; uint16_t instId; uint16_t size; } __attribute__((packed)); #define OBJECT_TABLE_MAGIC 0x85FB3C33 #define OBJ_MAGIC 0x3015AE71 #define OBJECT_TABLE_START 0x00000010 #define OBJECT_TABLE_END 0x00001000 #define SECTOR_SIZE 0x00001000 /** * @brief Initialize the flash object setting FS * @return 0 if success, -1 if failure */ int32_t PIOS_FLASHFS_Init() { // Check for valid object table or create one uint32_t object_table_magic; if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0) return -1; if(object_table_magic != OBJECT_TABLE_MAGIC) { if(PIOS_FLAHFS_CleabObjectTableHeader() < 0) return -1; } bool found = true; int32_t addr = OBJECT_TABLE_START; struct objectHeader header; numObjects = 0; // Loop through header area while objects detect to count how many saved while(found && addr < OBJECT_TABLE_END) { // Read the instance data if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0) return -1; if(header.objMagic != OBJ_MAGIC) found = false; else numObjects++; } return 0; } /** * @brief Erase the headers for all objects in the flash chip * @return 0 if successful, -1 if not */ static int32_t PIOS_FLAHFS_CleabObjectTableHeader() { if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0) return -1; uint32_t object_table_magic = OBJECT_TABLE_MAGIC; if (PIOS_Flash_W25X_WriteData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0) return -1; return 0; } /** * @brief Get the address of an object * @param obj UAVObjHandle for that object * @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) { bool found = true; int32_t addr = OBJECT_TABLE_START; struct objectHeader header; // Loop through header area while objects detect to count how many saved while(found && addr < OBJECT_TABLE_END) { // Read the instance data if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0) return -1; if(header.objMagic != OBJ_MAGIC) found = false; else if (header.objId == objId && header.instId == instId) break; } if (found) return header.address; return -1; } /** * @brief Returns an address for a new object and creates entry into object table * @param[in] obj Object handle for object to be saved * @param[in] instId The instance id of object to be saved * @return 0 if success or error code * @retval -1 Object not found * @retval -2 No room in object table * @retval -3 Unable to write entry into object table * @retval -4 FS not initialized */ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId) { int32_t addr = OBJECT_TABLE_START; struct objectHeader header; if(numObjects < 0) return -4; // Don't worry about max size of flash chip here, other code will catch that header.objMagic = OBJ_MAGIC; header.objId = objId; header.instId = instId; header.address = SECTOR_SIZE * numObjects; // No room for this header in object table if((addr + sizeof(header)) > OBJECT_TABLE_END) return -2; if(PIOS_Flash_W25X_WriteData(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; } /** * @brief Saves one object instance per sector * @param[in] obj UAVObjHandle the object to save * @param[in] instId The instance of the object to save * @return 0 if success or -1 if failure * @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) { uint32_t objId = UAVObjGetID(obj); int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId); // Object currently not saved if(addr < 0) addr = PIOS_FLASHFS_GetNewAddress(objId, instId); // Could not allocate a sector if(addr < 0) return -1; struct fileHeader header = { .id = objId, .instId = instId, .size = UAVObjGetNumBytes(obj) }; if(PIOS_Flash_W25X_EraseSector(addr) != 0) return -2; // Save header // 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; // Save data if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0) return -4; return 0; } /** * @brief Load one object instance per sector * @param[in] obj UAVObjHandle the object to save * @param[in] instId The instance of the object to save * @return 0 if success or error code * @retval -1 if object not in file table * @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 * @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); int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId); // Object currently not saved if(addr < 0) return -1; struct fileHeader header; // Load header // This information IS redundant with the object table id. Oh well. Better safe than sorry. if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0) return -2; if((header.id != objId) || (header.instId != instId)) return -3; // Read the instance data if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0) return -4; return 0; } /** * @brief Delete object from flash * @param[in] obj UAVObjHandle the object to save * @param[in] instId The instance of the object to save * @return 0 if success or error code * @retval -1 if object not in file table * @retval -2 Erase failed * @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) { uint32_t objId = UAVObjGetID(obj); int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId); // Object currently not saved if(addr < 0) return -1; if(PIOS_Flash_W25X_EraseSector(addr) != 0) return -2; return 0; }