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AP_FlashStorage: added erase_ok callback
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this allows for simpler operation when application wants to allow
erase while disarmed.
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@tridge
tridge committed Dec 1, 2016
1 parent 0e00c3c commit bfd137e
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Showing 3 changed files with 81 additions and 32 deletions.
67 changes: 49 additions & 18 deletions libraries/AP_FlashStorage/AP_FlashStorage.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,12 +32,14 @@ AP_FlashStorage::AP_FlashStorage(uint8_t *_mem_buffer,
uint32_t _flash_sector_size,
FlashWrite _flash_write,
FlashRead _flash_read,
FlashErase _flash_erase) :
FlashErase _flash_erase,
FlashEraseOK _flash_erase_ok) :
mem_buffer(_mem_buffer),
flash_sector_size(_flash_sector_size),
flash_write(_flash_write),
flash_read(_flash_read),
flash_erase(_flash_erase) {}
flash_erase(_flash_erase),
flash_erase_ok(_flash_erase_ok) {}

// initialise storage
bool AP_FlashStorage::init(void)
Expand All @@ -59,8 +61,7 @@ bool AP_FlashStorage::init(void)
enum SectorState state = (enum SectorState)header[i].state;
if (state != SECTOR_STATE_AVAILABLE &&
state != SECTOR_STATE_IN_USE &&
state != SECTOR_STATE_FULL &&
state != SECTOR_STATE_FREE) {
state != SECTOR_STATE_FULL) {
bad_header = true;
}

Expand Down Expand Up @@ -115,10 +116,9 @@ bool AP_FlashStorage::init(void)
}
}

// erase any sectors marked full or free
// erase any sectors marked full
for (uint8_t i=0; i<2; i++) {
if (states[i] == SECTOR_STATE_FULL ||
states[i] == SECTOR_STATE_FREE) {
if (states[i] == SECTOR_STATE_FULL) {
if (!erase_sector(i)) {
return false;
}
Expand All @@ -131,6 +131,29 @@ bool AP_FlashStorage::init(void)
return true;
}



// switch full sector - should only be called when safe to have CPU
// offline for considerable periods as an erase will be needed
bool AP_FlashStorage::switch_full_sector(void)
{
debug("running switch_full_sector()\n");

// clear any write error
write_error = false;
reserved_space = 0;

if (!write_all()) {
return false;
}

if (!erase_sector(current_sector ^ 1)) {
return false;
}

return switch_sectors();
}

// write some data to virtual EEPROM
bool AP_FlashStorage::write(uint16_t offset, uint16_t length)
{
Expand All @@ -147,7 +170,12 @@ bool AP_FlashStorage::write(uint16_t offset, uint16_t length)

if (write_offset > flash_sector_size - (sizeof(struct block_header) + max_write + reserved_space)) {
if (!switch_sectors()) {
return false;
if (!flash_erase_ok()) {
return false;
}
if (!switch_full_sector()) {
return false;
}
}
}

Expand Down Expand Up @@ -303,21 +331,14 @@ bool AP_FlashStorage::switch_sectors(void)
return false;
}

// mark current sector as full
struct sector_header header;
header.signature = signature;
header.state = SECTOR_STATE_FULL;
if (!flash_write(current_sector, 0, (const uint8_t *)&header, sizeof(header))) {
return false;
}

// switch sectors
current_sector ^= 1;

debug("switching to sector %u\n", current_sector);
uint8_t new_sector = current_sector ^ 1;
debug("switching to sector %u\n", new_sector);

// check sector is available
if (!flash_read(current_sector, 0, (uint8_t *)&header, sizeof(header))) {
if (!flash_read(new_sector, 0, (uint8_t *)&header, sizeof(header))) {
return false;
}
if (header.signature != signature) {
Expand All @@ -332,10 +353,20 @@ bool AP_FlashStorage::switch_sectors(void)

// mark it in-use
header.state = SECTOR_STATE_IN_USE;
if (!flash_write(new_sector, 0, (const uint8_t *)&header, sizeof(header))) {
return false;
}


// mark current sector as full
header.state = SECTOR_STATE_FULL;
if (!flash_write(current_sector, 0, (const uint8_t *)&header, sizeof(header))) {
return false;
}

// switch sectors
current_sector = new_sector;

// we need to reserve some space in next sector to ensure we can successfully do a
// full write out on init()
reserved_space = reserve_size;
Expand Down
14 changes: 11 additions & 3 deletions libraries/AP_FlashStorage/AP_FlashStorage.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,15 +58,23 @@ class AP_FlashStorage {
// caller provided function to erase a flash sector. Only called from init()
FUNCTOR_TYPEDEF(FlashErase, bool, uint8_t );

// caller provided function to indicate if erasing is allowed
FUNCTOR_TYPEDEF(FlashEraseOK, bool);

// constructor.
AP_FlashStorage(uint8_t *mem_buffer, // buffer of storage_size bytes
uint32_t flash_sector_size, // size of each flash sector in bytes
FlashWrite flash_write, // function to write to flash
FlashRead flash_read, // function to read from flash
FlashErase flash_erase); // function to erase flash
FlashErase flash_erase, // function to erase flash
FlashEraseOK flash_erase_ok); // function to check if erasing allowed

// initialise storage, filling mem_buffer with current contents
bool init(void);

// switch full sector - should only be called when safe to have CPU
// offline for considerable periods as an erase will be needed
bool switch_full_sector(void);

// write some data to storage from mem_buffer
bool write(uint16_t offset, uint16_t length);
Expand All @@ -80,6 +88,7 @@ class AP_FlashStorage {
FlashWrite flash_write;
FlashRead flash_read;
FlashErase flash_erase;
FlashEraseOK flash_erase_ok;

uint8_t current_sector;
uint32_t write_offset;
Expand All @@ -93,8 +102,7 @@ class AP_FlashStorage {
enum SectorState {
SECTOR_STATE_AVAILABLE = 0xFF,
SECTOR_STATE_IN_USE = 0xFE,
SECTOR_STATE_FULL = 0xFC,
SECTOR_STATE_FREE = 0xF8,
SECTOR_STATE_FULL = 0xFC
};

// header in first word of each sector
Expand Down
32 changes: 21 additions & 11 deletions libraries/AP_FlashStorage/examples/FlashTest/FlashTest.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -27,15 +27,19 @@ class FlashTest : public AP_HAL::HAL::Callbacks {
bool flash_write(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length);
bool flash_read(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length);
bool flash_erase(uint8_t sector);
bool flash_erase_ok(void);

AP_FlashStorage storage{mem_buffer,
flash_sector_size,
FUNCTOR_BIND_MEMBER(&FlashTest::flash_write, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&FlashTest::flash_read, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
FUNCTOR_BIND_MEMBER(&FlashTest::flash_erase, bool, uint8_t)};
FUNCTOR_BIND_MEMBER(&FlashTest::flash_erase, bool, uint8_t),
FUNCTOR_BIND_MEMBER(&FlashTest::flash_erase_ok, bool)};

// write to storage and mem_mirror
void write(uint16_t offset, const uint8_t *data, uint16_t length);

bool erase_ok;
};

bool FlashTest::flash_write(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
Expand Down Expand Up @@ -80,20 +84,19 @@ bool FlashTest::flash_erase(uint8_t sector)
return true;
}

bool FlashTest::flash_erase_ok(void)
{
return erase_ok;
}

void FlashTest::write(uint16_t offset, const uint8_t *data, uint16_t length)
{
memcpy(&mem_mirror[offset], data, length);
memcpy(&mem_buffer[offset], data, length);
if (!storage.write(offset, length)) {
printf("Failed to write at %u for %u\n", offset, length);
if (!storage.init()) {
AP_HAL::panic("Failed to re-init");
if (erase_ok) {
printf("Failed to write at %u for %u\n", offset, length);
}
memcpy(&mem_buffer[offset], data, length);
if (!storage.write(offset, length)) {
AP_HAL::panic("Failed 2nd write at %u for %u", offset, length);
}
printf("re-init OK\n");
}
}

Expand All @@ -111,23 +114,30 @@ void FlashTest::setup(void)
}

// fill with 10k random writes
for (uint32_t i=0; i<50000000; i++) {
for (uint32_t i=0; i<5000000; i++) {
uint16_t ofs = get_random16() % sizeof(mem_buffer);
uint16_t length = get_random16() & 0x1F;
length = MIN(length, sizeof(mem_buffer) - ofs);
uint8_t data[length];
for (uint8_t j=0; j<length; j++) {
data[j] = get_random16() & 0xFF;
}

erase_ok = (i % 1000 == 0);
write(ofs, data, length);

if (i % 1000 == 0) {
if (erase_ok) {
if (memcmp(mem_buffer, mem_mirror, sizeof(mem_buffer)) != 0) {
AP_HAL::panic("FATAL: data mis-match at i=%u", i);
}
}
}

// force final write to allow for flush with erase_ok
erase_ok = true;
uint8_t b = 42;
write(37, &b, 1);

if (memcmp(mem_buffer, mem_mirror, sizeof(mem_buffer)) != 0) {
AP_HAL::panic("FATAL: data mis-match before re-init");
}
Expand Down

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