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347 lines
10 KiB
C
347 lines
10 KiB
C
/**
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******************************************************************************
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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_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
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* @{
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*
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* @file pios_flashfs_objlist.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief A file system for storing UAVObject in flash chip
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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 "openpilot.h"
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#include "uavobjectmanager.h"
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// Private functions
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static int32_t PIOS_FLASHFS_ClearObjectTableHeader();
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static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
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static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
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// Private variables
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static int32_t numObjects = -1;
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// Private structures
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// Header for objects in the file system table
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struct objectHeader {
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uint32_t objMagic;
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uint32_t objId;
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uint32_t instId;
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uint32_t address;
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} __attribute__((packed));;
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struct fileHeader {
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uint32_t id;
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uint16_t instId;
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uint16_t size;
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} __attribute__((packed));
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#define OBJECT_TABLE_MAGIC 0x85FB3C35
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#define OBJ_MAGIC 0x3015AE71
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#define OBJECT_TABLE_START 0x00000010
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#define OBJECT_TABLE_END 0x00001000
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#define SECTOR_SIZE 0x00001000
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#define MAX_BADMAGIC 4
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/**
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* @brief Initialize the flash object setting FS
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* @return 0 if success, -1 if failure
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*/
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int32_t PIOS_FLASHFS_Init()
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{
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// Check for valid object table or create one
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uint32_t object_table_magic;
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uint8_t magic_fail_count = 0;
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bool magic_good = false;
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while(!magic_good) {
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if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
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return -1;
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if(object_table_magic != OBJECT_TABLE_MAGIC) {
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if(magic_fail_count++ > MAX_BADMAGIC) {
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PIOS_FLASHFS_ClearObjectTableHeader();
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PIOS_LED_Toggle(LED1);
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magic_fail_count = 0;
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magic_good = true;
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} else {
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PIOS_DELAY_WaituS(100);
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}
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}
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else {
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magic_good = true;
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}
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}
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int32_t addr = OBJECT_TABLE_START;
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struct objectHeader header;
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numObjects = 0;
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// Loop through header area while objects detect to count how many saved
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while(addr < OBJECT_TABLE_END) {
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// Read the instance data
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if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
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return -1;
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// Counting number of valid headers
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if(header.objMagic != OBJ_MAGIC)
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break;
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numObjects++;
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addr += sizeof(header);
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}
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return 0;
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}
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/**
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* @brief Erase the headers for all objects in the flash chip
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* @return 0 if successful, -1 if not
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*/
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static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
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{
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if(PIOS_Flash_W25X_EraseSector(0) != 0)
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return -1;
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uint32_t object_table_magic = OBJECT_TABLE_MAGIC;
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if (PIOS_Flash_W25X_WriteData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
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return -1;
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return 0;
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}
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/**
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* @brief Get the address of an object
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* @param obj UAVObjHandle for that object
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* @parma instId Instance id for that object
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* @return address if successful, -1 if not found
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*/
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static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
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{
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int32_t addr = OBJECT_TABLE_START;
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struct objectHeader header;
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// Loop through header area while objects detect to count how many saved
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while(addr < OBJECT_TABLE_END) {
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// Read the instance data
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if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
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return -1;
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if(header.objMagic != OBJ_MAGIC)
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break; // stop searching once hit first non-object header
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else if (header.objId == objId && header.instId == instId)
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break;
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addr += sizeof(header);
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}
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if (header.objId == objId && header.instId == instId)
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return header.address;
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return -1;
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}
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/**
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* @brief Returns an address for a new object and creates entry into object table
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* @param[in] obj Object handle for object to be saved
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* @param[in] instId The instance id of object to be saved
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* @return 0 if success or error code
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* @retval -1 Object not found
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* @retval -2 No room in object table
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* @retval -3 Unable to write entry into object table
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* @retval -4 FS not initialized
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*/
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int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
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{
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struct objectHeader header;
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if(numObjects < 0)
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return -4;
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// Don't worry about max size of flash chip here, other code will catch that
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header.objMagic = OBJ_MAGIC;
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header.objId = objId;
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header.instId = instId;
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header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
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int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
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// No room for this header in object table
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if((addr + sizeof(header)) > OBJECT_TABLE_END)
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return -2;
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if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
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return -3;
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// This numObejcts value must stay consistent or there will be a break in the table
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// and later the table will have bad values in it
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numObjects++;
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return header.address;
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}
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/**
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* @brief Saves one object instance per sector
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* @param[in] obj UAVObjHandle the object to save
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* @param[in] instId The instance of the object to save
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* @return 0 if success or -1 if failure
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* @note This uses one sector on the flash chip per object so that no buffering in ram
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* must be done when erasing the sector before a save
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*/
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int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
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{
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uint32_t objId = UAVObjGetID(obj);
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uint8_t crc = 0;
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int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
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// Object currently not saved
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if(addr < 0)
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addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
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// Could not allocate a sector
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if(addr < 0)
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return -1;
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struct fileHeader header = {
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.id = objId,
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.instId = instId,
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.size = UAVObjGetNumBytes(obj)
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};
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if(PIOS_Flash_W25X_EraseSector(addr) != 0)
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return -2;
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// Save header
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// This information IS redundant with the object table id. Oh well. Better safe than sorry.
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if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
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return -3;
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// Update CRC
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crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
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// Save data
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if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
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return -4;
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// Update CRC
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crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
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// Save CRC (written so will work when CRC changes to uint16)
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if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
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return -4;
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return 0;
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}
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/**
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* @brief Load one object instance per sector
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* @param[in] obj UAVObjHandle the object to save
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* @param[in] instId The instance of the object to save
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* @return 0 if success or error code
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* @retval -1 if object not in file table
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* @retval -2 if unable to retrieve object header
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* @retval -3 if loaded data instId or objId don't match
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* @retval -4 if unable to retrieve instance data
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* @retval -5 if unable to read CRC
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* @retval -6 if CRC doesn't match
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* @note This uses one sector on the flash chip per object so that no buffering in ram
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* must be done when erasing the sector before a save
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*/
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int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
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{
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uint32_t objId = UAVObjGetID(obj);
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uint16_t objSize = UAVObjGetNumBytes(obj);
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uint8_t crc = 0;
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uint8_t crcFlash = 0;
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const uint8_t crc_read_step = 8;
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uint8_t crc_read_buffer[crc_read_step];
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int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
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// Object currently not saved
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if(addr < 0)
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return -1;
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struct fileHeader header;
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// Load header
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// This information IS redundant with the object table id. Oh well. Better safe than sorry.
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if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
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return -2;
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// Update CRC
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crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
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if((header.id != objId) || (header.instId != instId))
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return -3;
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// To avoid having to allocate the RAM for a copy of the object, we read by chunks
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// and compute the CRC
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for(uint32_t i = 0; i < objSize; i += crc_read_step) {
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PIOS_Flash_W25X_ReadData(addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
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uint8_t valid_bytes = ((i + crc_read_step) >= objSize) ? objSize - i : crc_read_step;
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crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
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}
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// Read CRC (written so will work when CRC changes to uint16)
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if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
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return -5;
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if(crc != crcFlash)
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return -6;
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// Read the instance data
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if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, objSize) != 0)
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return -4;
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return 0;
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}
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/**
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* @brief Delete object from flash
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* @param[in] obj UAVObjHandle the object to save
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* @param[in] instId The instance of the object to save
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* @return 0 if success or error code
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* @retval -1 if object not in file table
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* @retval -2 Erase failed
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* @note To avoid buffering the file table (1k ram!) the entry in the file table
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* remains but destination sector is erased. This will make the load fail as the
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* file header won't match the object. At next save it goes back there.
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*/
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int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
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{
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uint32_t objId = UAVObjGetID(obj);
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int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
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// Object currently not saved
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if(addr < 0)
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return -1;
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if(PIOS_Flash_W25X_EraseSector(addr) != 0)
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return -2;
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return 0;
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}
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