mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
338 lines
8.7 KiB
C
338 lines
8.7 KiB
C
/**
|
|
******************************************************************************
|
|
* @file pios_flash_internal.c
|
|
* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
|
* @addtogroup
|
|
* @{
|
|
* @addtogroup
|
|
* @{
|
|
* @brief Provides a flash driver for the STM32 internal flash sectors
|
|
*****************************************************************************/
|
|
/*
|
|
* 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 "stm32f4xx_flash.h"
|
|
#include "pios_flash_internal_priv.h"
|
|
#include "pios_flash.h"
|
|
#include <stdbool.h>
|
|
|
|
struct device_flash_sector {
|
|
uint32_t start;
|
|
uint32_t size;
|
|
uint16_t st_sector;
|
|
};
|
|
|
|
static struct device_flash_sector flash_sectors[] = {
|
|
[0] = {
|
|
.start = 0x08000000,
|
|
.size = 16 * 1024,
|
|
.st_sector = FLASH_Sector_0,
|
|
},
|
|
[1] = {
|
|
.start = 0x08004000,
|
|
.size = 16 * 1024,
|
|
.st_sector = FLASH_Sector_1,
|
|
},
|
|
[2] = {
|
|
.start = 0x08008000,
|
|
.size = 16 * 1024,
|
|
.st_sector = FLASH_Sector_2,
|
|
},
|
|
[3] = {
|
|
.start = 0x0800C000,
|
|
.size = 16 * 1024,
|
|
.st_sector = FLASH_Sector_3,
|
|
},
|
|
[4] = {
|
|
.start = 0x08010000,
|
|
.size = 64 * 1024,
|
|
.st_sector = FLASH_Sector_4,
|
|
},
|
|
[5] = {
|
|
.start = 0x08020000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_5,
|
|
},
|
|
[6] = {
|
|
.start = 0x08040000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_6,
|
|
},
|
|
[7] = {
|
|
.start = 0x08060000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_7,
|
|
},
|
|
[8] = {
|
|
.start = 0x08080000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_8,
|
|
},
|
|
[9] = {
|
|
.start = 0x080A0000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_9,
|
|
},
|
|
[10] = {
|
|
.start = 0x080C0000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_10,
|
|
},
|
|
[11] = {
|
|
.start = 0x080E0000,
|
|
.size = 128 * 1024,
|
|
.st_sector = FLASH_Sector_11,
|
|
},
|
|
};
|
|
|
|
static bool PIOS_Flash_Internal_GetSectorInfo(uint32_t address, uint8_t * sector_number, uint32_t *sector_start, uint32_t *sector_size)
|
|
{
|
|
for (uint8_t i = 0; i < NELEMENTS(flash_sectors); i++) {
|
|
struct device_flash_sector * sector = &flash_sectors[i];
|
|
if ((address >= sector->start) &&
|
|
(address < (sector->start + sector->size))) {
|
|
/* address lies within this sector */
|
|
*sector_number = sector->st_sector;
|
|
*sector_start = sector->start;
|
|
*sector_size = sector->size;
|
|
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_EraseSector(sector_number, VoltageRange_3) != 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;
|
|
|
|
/* 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 */
|
|
for (uint16_t i = 0; i < len; i++) {
|
|
FLASH_Status status;
|
|
/*
|
|
* This is inefficient. Should try to do word writes.
|
|
* Not sure if word writes need to be aligned though.
|
|
*/
|
|
status = FLASH_ProgramByte(addr + i, data[i]);
|
|
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 */
|