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https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
157 lines
4.4 KiB
C
157 lines
4.4 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_EEPROM EEPROM reading/writing functions
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* @brief PIOS EEPROM reading/writing functions
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* @{
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*
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* @file pios_eeprom.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief COM layer functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#ifdef PIOS_INCLUDE_FLASH_EEPROM
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#include <stm32f10x_flash.h>
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#include <pios_board_info.h>
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static struct pios_eeprom_cfg config;
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/**
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* Initialize the flash eeprom device
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* \param cfg The configuration structure.
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*/
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void PIOS_EEPROM_Init(const struct pios_eeprom_cfg *cfg)
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{
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config = *cfg;
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}
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/**
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* Save a block of data to the flash eeprom device.
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* \param data A pointer to the data to write.
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* \param len The length of data to write.
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* \return 0 on sucess
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*/
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int32_t PIOS_EEPROM_Save(uint8_t *data, uint32_t len)
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{
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// We need to write 32 bit words, so extend the length to be an even multiple of 4 bytes,
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// and include 4 bytes for the 32 bit CRC.
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uint32_t nwords = (len / 4) + 1 + (len % 4 ? 1 : 0);
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uint32_t size = nwords * 4;
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// Ensure that the length is not longer than the max size.
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if (size > config.max_size)
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return -1;
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// Calculate a 32 bit CRC of the data.
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uint32_t crc = PIOS_CRC32_updateCRC(0xffffffff, data, len);
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// Unlock the Flash Program Erase controller
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FLASH_Unlock();
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// See if we have to write the data.
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if ((memcmp(data, (uint8_t*)config.base_address, len) == 0) &&
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(memcmp((uint8_t*)&crc, (uint8_t*)config.base_address + size - 4, 4) == 0))
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return 0;
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// TODO: Check that the area isn't already erased
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// Erase page
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FLASH_Status fs = FLASH_ErasePage(config.base_address);
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if (fs != FLASH_COMPLETE)
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{ // error
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FLASH_Lock();
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return -2;
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}
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// write 4 bytes at a time into program flash area (emulated EEPROM area)
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uint8_t *p1 = data;
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uint32_t *p3 = (uint32_t *)config.base_address;
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for (uint32_t i = 0; i < size; p3++)
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{
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uint32_t value = 0;
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if (i == (size - 4))
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{
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// write the CRC.
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value = crc;
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i += 4;
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}
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else
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{
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if (i < len) value |= (uint32_t)*p1++ << 0; else value |= 0x000000ff; i++;
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if (i < len) value |= (uint32_t)*p1++ << 8; else value |= 0x0000ff00; i++;
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if (i < len) value |= (uint32_t)*p1++ << 16; else value |= 0x00ff0000; i++;
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if (i < len) value |= (uint32_t)*p1++ << 24; else value |= 0xff000000; i++;
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}
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// write a 32-bit value
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fs = FLASH_ProgramWord((uint32_t)p3, value);
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if (fs != FLASH_COMPLETE)
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{
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FLASH_Lock();
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return -3;
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}
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}
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// Lock the Flash Program Erase controller
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FLASH_Lock();
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return 0;
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}
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/**
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* Reads a block of data from the flash eeprom device.
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* \param data A pointer to the output data buffer.
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* \param len The length of data to read.
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* \return 0 on sucess
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*/
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int32_t PIOS_EEPROM_Load(uint8_t *data, uint32_t len)
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{
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// We need to write 32 bit words, so the length should have been extended
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// to an even multiple of 4 bytes, and should include 4 bytes for the 32 bit CRC.
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uint32_t nwords = (len / 4) + 1 + (len % 4 ? 1 : 0);
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uint32_t size = nwords * 4;
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// Ensure that the length is not longer than the max size.
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if (size > config.max_size)
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return -1;
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// Read the data from flash.
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memcpy(data, (uint8_t*)config.base_address, len);
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// Read the CRC.
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uint32_t crc_flash = *((uint32_t*)(config.base_address + size - 4));
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// Calculate a 32 bit CRC of the data.
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uint32_t crc = PIOS_CRC32_updateCRC(0xffffffff, data, len);
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if(crc != crc_flash)
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return -2;
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return 0;
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}
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#endif /* PIOS_INCLUDE_FLASH_EEPROM */
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