mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
273 lines
8.7 KiB
C
273 lines
8.7 KiB
C
/**
|
|
******************************************************************************
|
|
* @file pios_dosfs_logfs.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @brief Log Structured Filesystem wrapper implemented using dosfs
|
|
*****************************************************************************/
|
|
/*
|
|
* 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_USE_SETTINGS_ON_SDCARD
|
|
|
|
#include <openpilot.h>
|
|
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
static xSemaphoreHandle mutex = 0;
|
|
#endif
|
|
|
|
struct flashfs_logfs_cfg;
|
|
|
|
/**
|
|
* glue macros for file IO
|
|
**/
|
|
#define FILEINFO FILE *
|
|
#define PIOS_FOPEN_READ(filename, file) (file = fopen((char *)filename, "r")) == NULL
|
|
#define PIOS_FOPEN_WRITE(filename, file) (file = fopen((char *)filename, "w")) == NULL
|
|
#define PIOS_FREAD(file, bufferadr, length, resultadr) (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length
|
|
#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file)
|
|
#define PIOS_FCLOSE(file) fclose(file)
|
|
#define PIOS_FUNLINK(file) unlink((char *)filename)
|
|
|
|
|
|
/**
|
|
* Get an 8 character (plus extension) filename for the object.
|
|
* @param[in] obj The object handle.
|
|
* @param[in] instId The instance ID
|
|
* @param[in] file Filename string pointer -- must be 14 bytes long and allocated
|
|
*/
|
|
static void objectFilename(uint32_t obj_id, uint16_t obj_inst_id, uint8_t *filename)
|
|
{
|
|
uint32_t prefix = obj_id + (obj_inst_id / 256) * 16; // put upper 8 bit of instance id into object id modification,
|
|
// skip least sig nibble since that is used for meta object id
|
|
uint8_t suffix = obj_inst_id & 0xff;
|
|
|
|
snprintf((char *)filename, 13, "%08X.o%02X", prefix, suffix);
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Initialize the flash object setting FS
|
|
* @return 0 if success, -1 if failure
|
|
*/
|
|
int32_t PIOS_FLASHFS_Logfs_Init(__attribute__((unused)) uintptr_t *fs_id, __attribute__((unused)) const struct flashfs_logfs_cfg *cfg, __attribute__((unused)) const struct pios_flash_driver *driver, __attribute__((unused)) uintptr_t flash_id)
|
|
{
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
if (!mutex) {
|
|
mutex = xSemaphoreCreateRecursiveMutex();
|
|
}
|
|
#endif
|
|
return 0;
|
|
}
|
|
|
|
int32_t PIOS_FLASHFS_Logfs_Destroy(__attribute__((unused)) uintptr_t fs_id)
|
|
{
|
|
// stub, only wrapper for dosfs, does not need destroying
|
|
return 0;
|
|
}
|
|
|
|
/**********************************
|
|
*
|
|
* Provide a PIOS_FLASHFS_* driver
|
|
*
|
|
*********************************/
|
|
#include "pios_flashfs.h" /* API for flash filesystem */
|
|
|
|
/**
|
|
* @brief Saves one object instance to the filesystem
|
|
* @param[in] fs_id The filesystem to use for this action
|
|
* @param[in] obj UAVObject ID of the object to save
|
|
* @param[in] obj_inst_id The instance number of the object being saved
|
|
* @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 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)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
|
|
{
|
|
FILEINFO file;
|
|
uint8_t filename[14];
|
|
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
|
|
return -1;
|
|
}
|
|
|
|
// Lock
|
|
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
#endif
|
|
|
|
// Get filename
|
|
objectFilename(obj_id, obj_inst_id, filename);
|
|
|
|
// Open file
|
|
if (PIOS_FOPEN_WRITE(filename, file)) {
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
xSemaphoreGiveRecursive(mutex);
|
|
#endif
|
|
return -2;
|
|
}
|
|
// Append object
|
|
uint32_t bytes_written = 0;
|
|
PIOS_FWRITE(&file, obj_data, obj_size, &bytes_written);
|
|
|
|
// Done, close file and unlock
|
|
PIOS_FCLOSE(file);
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
xSemaphoreGiveRecursive(mutex);
|
|
#endif
|
|
|
|
if (bytes_written != obj_size) {
|
|
return -7;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Load one object instance from the filesystem
|
|
* @param[in] fs_id The filesystem to use for this action
|
|
* @param[in] obj UAVObject ID of the object to load
|
|
* @param[in] obj_inst_id The instance of the object to load
|
|
* @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 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)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
|
|
{
|
|
FILEINFO file;
|
|
uint8_t filename[14];
|
|
|
|
// Check for file system availability
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
|
|
return -1;
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
#endif
|
|
// Get filename
|
|
objectFilename(obj_id, obj_inst_id, filename);
|
|
|
|
// Open file
|
|
if (PIOS_FOPEN_READ(filename, file)) {
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
xSemaphoreGiveRecursive(mutex);
|
|
#endif
|
|
return -1;
|
|
}
|
|
// Load object
|
|
uint32_t bytes_read = 0;
|
|
uint32_t result = PIOS_FREAD(&file, obj_data, obj_size, &bytes_read);
|
|
|
|
// Done, close file and unlock
|
|
PIOS_FCLOSE(file);
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
xSemaphoreGiveRecursive(mutex);
|
|
#endif
|
|
if (result != 0) {
|
|
return -1;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Delete one instance of an object from the filesystem
|
|
* @param[in] fs_id The filesystem to use for this action
|
|
* @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 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)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
|
|
{
|
|
uint8_t filename[14];
|
|
|
|
// Check for file system availability
|
|
if (PIOS_SDCARD_IsMounted() == 0) {
|
|
return -1;
|
|
}
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
// Lock
|
|
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
#endif
|
|
// Get filename
|
|
objectFilename(obj_id, obj_inst_id, filename);
|
|
|
|
// Delete file
|
|
PIOS_FUNLINK(filename);
|
|
|
|
// Done
|
|
#if defined(PIOS_INCLUDE_FREERTOS)
|
|
xSemaphoreGiveRecursive(mutex);
|
|
#endif
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @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 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)) uintptr_t fs_id)
|
|
{
|
|
/* stub - not implemented */
|
|
return -1;
|
|
}
|
|
|
|
/**
|
|
* @brief Returs stats for the filesystems
|
|
* @param[in] fs_id The filesystem to use for this action
|
|
* @return 0 if success or error code
|
|
* @retval -1 if fs_id is not a valid filesystem instance
|
|
*/
|
|
int32_t PIOS_FLASHFS_GetStats(__attribute__((unused)) uintptr_t fs_id, __attribute__((unused)) struct PIOS_FLASHFS_Stats *stats)
|
|
{
|
|
/* stub - not implemented */
|
|
return 0;
|
|
}
|
|
|
|
#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|