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Clean up and extend RAMTRON driver #13621

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Clean up and extend RAMTRON driver #13621

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ce15de4
AP_RAMTRON: Interpret RDID reg based on manufacturer
nexton-winjeel Oct 4, 2019
df07aec
AP_RAMTRON: Get RAMTRON driver working
nexton-winjeel Feb 20, 2020
1d7e3f9
AP_HAL_ChibiOS: Use updated RAMTRON driver
nexton-winjeel Feb 20, 2020
7b6b4ba
AP_Param: Print bad header values if setup() fails
nexton-winjeel Feb 20, 2020
95abc66
AP_Param: Add static assert on NVM struct sizes
nexton-winjeel Mar 2, 2020
18299f6
AP_RAMTRON: Ensure RAMTRON write enable fields are set correctly
nexton-winjeel Oct 7, 2019
598376c
AP_HAL_ChibiOS: Record which storage backend is in use
nexton-winjeel Oct 7, 2019
56e9070
AP_HAL_ChibiOS: Add hwdef param to panic if FRAM init fails
nexton-winjeel Oct 7, 2019
f67b742
AP_HAL_ChibiOS: Print console message to indicate which storage type …
nexton-winjeel Oct 7, 2019
bd1f132
AP_HAL_ChibiOS: Remove #error pragma for when no storage backend is d…
nexton-winjeel Oct 7, 2019
b3d2ec3
AP_RAMTRON: Ensure status register write doesn't overwrite WriteEnabl…
nexton-winjeel Oct 7, 2019
aa373d2
AP_RAMTRON: Tidy up const correctness
nexton-winjeel Oct 7, 2019
03105c6
AP_RAMTRON: Use enum class for RDID_type enum
nexton-winjeel Feb 20, 2020
ff29e83
AP_HAL_ChibiOS: Remove inline initialisation of VLAs
nexton-winjeel Feb 20, 2020
9855f26
AP_HAL_ChibiOS: Use ::printf() rather than HAL console
nexton-winjeel Feb 24, 2020
a149a76
AP_HAL_ChibiOS: Invert naming and logic of FALLBACK define
nexton-winjeel Feb 24, 2020
eb80ffe
AP_RAMTRON: Revert read() and write() to return bool
nexton-winjeel Mar 3, 2020
84008d9
AP_HAL_ChibiOS: Use updated RAMTRON driver read() and write()
nexton-winjeel Mar 2, 2020
d54fff0
AP_RAMTRON: Clarify chip select settings for reads and writes
nexton-winjeel Mar 3, 2020
1b00b26
Plane: Add better logging to explain why parameters are being erased
nexton-winjeel Feb 20, 2020
c7aac16
Rover: Add better logging to explain why parameters are being erased
nexton-winjeel Mar 6, 2020
09bbb92
Tracker: Add better logging to explain why parameters are being erased
nexton-winjeel Mar 6, 2020
6042ac8
Copter: Add better logging to explain why parameters are being erased
nexton-winjeel Mar 6, 2020
77aea19
Sub: Add better logging to explain why parameters are being erased
nexton-winjeel Mar 6, 2020
2dc533a
AP_RAMTRON: Add retries to init()
nexton-winjeel Mar 3, 2020
528fe35
AP_RAMTRON: Add retries to read()
nexton-winjeel Mar 3, 2020
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12 changes: 9 additions & 3 deletions APMrover2/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -739,10 +739,16 @@ void Rover::load_parameters(void)
AP_HAL::panic("Bad var table");
}

if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
uint8_t loadErr = !g.format_version.load();
bool isNewFirmware = g.format_version != Parameters::k_format_version;
if (loadErr || isNewFirmware) {

// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
if (loadErr) {
hal.console->printf("Couldn't load params: erasing params...\n");
} else {
hal.console->printf("Firmware change: erasing params...\n");
}
StorageManager::erase();
AP_Param::erase_all();

Expand Down
11 changes: 8 additions & 3 deletions AntennaTracker/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -487,11 +487,16 @@ const AP_Param::Info Tracker::var_info[] = {

void Tracker::load_parameters(void)
{
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
uint8_t loadErr = !g.format_version.load();
bool isNewFirmware = g.format_version != Parameters::k_format_version;
if (loadErr || isNewFirmware) {

// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
if (loadErr) {
hal.console->printf("Couldn't load params: erasing params...\n");
} else {
hal.console->printf("Firmware change: erasing params...\n");
}
StorageManager::erase();
AP_Param::erase_all();

Expand Down
11 changes: 8 additions & 3 deletions ArduCopter/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1065,11 +1065,16 @@ void Copter::load_parameters(void)
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);

if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
uint8_t loadErr = !g.format_version.load();
bool isNewFirmware = g.format_version != Parameters::k_format_version;
if (loadErr || isNewFirmware) {

// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
if (loadErr) {
hal.console->printf("Couldn't load params: erasing params...\n");
} else {
hal.console->printf("Firmware change: erasing params...\n");
}
StorageManager::erase();
AP_Param::erase_all();

Expand Down
11 changes: 8 additions & 3 deletions ArduPlane/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1326,11 +1326,16 @@ void Plane::load_parameters(void)
hal.console->printf("Bad parameter table\n");
AP_HAL::panic("Bad parameter table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
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once we move this logic up into AP_Vehicle we could consider this change, but for now it just makes the vehicles different from each other

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Would you prefer me to remove this change, or to incorporate it into the other vehicles?

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Made this change in all vehicles.

uint8_t loadErr = !g.format_version.load();
bool isNewFirmware = g.format_version != Parameters::k_format_version;
if (loadErr || isNewFirmware) {

// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
if (loadErr) {
hal.console->printf("Couldn't load params: erasing params...\n");
} else {
hal.console->printf("Firmware change: erasing params...\n");
}
StorageManager::erase();
AP_Param::erase_all();

Expand Down
13 changes: 9 additions & 4 deletions ArduSub/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -662,17 +662,22 @@ void Sub::load_parameters()
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);

if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
uint8_t loadErr = !g.format_version.load();
bool isNewFirmware = g.format_version != Parameters::k_format_version;
if (loadErr || isNewFirmware) {

// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
if (loadErr) {
hal.console->printf("Couldn't load params: erasing params...\n");
} else {
hal.console->printf("Firmware change: erasing params...\n");
}
StorageManager::erase();
AP_Param::erase_all();

// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->println("done.");
hal.console->printf("done.\n");
}

uint32_t before = AP_HAL::micros();
Expand Down
138 changes: 79 additions & 59 deletions libraries/AP_HAL_ChibiOS/Storage.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,64 +44,72 @@ extern const AP_HAL::HAL& hal;

void Storage::_storage_open(void)
{
if (_initialised) {
if (_initialisedType != StorageBackend::None) {
return;
}

#ifdef USE_POSIX
// if we have failed filesystem init don't try again
if (log_fd == -1) {
return;
}
#endif

_dirty_mask.clearall();

#if HAL_WITH_RAMTRON
using_fram = fram.init();
if (using_fram) {
if (!fram.read(0, _buffer, CH_STORAGE_SIZE)) {
if (fram.init()) {
if (fram.read(0, _buffer, CH_STORAGE_SIZE)) {
_save_backup();
_initialisedType = StorageBackend::FRAM;
::printf("Initialised Storage type=%d\n", _initialisedType);
return;
}
_save_backup();
_initialised = true;
return;
}
// allow for FMUv3 with no FRAM chip, fall through to flash storage

#if defined(HAL_RAMTRON_ALLOW_FALLBACK) && !HAL_RAMTRON_ALLOW_FALLBACK
AP_HAL::panic("Unable to init RAMTRON storage");
#endif

#endif // HAL_WITH_RAMTRON

// allow for devices with no FRAM chip to fall through to other storage
#ifdef STORAGE_FLASH_PAGE
// load from storage backend
_flash_load();
// load from storage backend
_flash_load();
_save_backup();
_initialisedType = StorageBackend::Flash;
#elif defined(USE_POSIX)
// allow for fallback to microSD based storage
sdcard_retry();
// if we have failed filesystem init don't try again
if (log_fd == -1) {
return;
}

log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) {
::printf("open failed of " HAL_STORAGE_FILE "\n");
return;
}
int ret = AP::FS().read(log_fd, _buffer, CH_STORAGE_SIZE);
if (ret < 0) {
::printf("read failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
// pre-fill to full size
if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret ||
AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
::printf("setup failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
using_filesystem = true;
// allow for fallback to microSD based storage
if (sdcard_retry()) {
log_fd = AP::FS().open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) {
::printf("open failed of " HAL_STORAGE_FILE "\n");
return;
}
int ret = AP::FS().read(log_fd, _buffer, CH_STORAGE_SIZE);
if (ret < 0) {
::printf("read failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
// pre-fill to full size
if (AP::FS().lseek(log_fd, ret, SEEK_SET) != ret ||
AP::FS().write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
::printf("setup failed for " HAL_STORAGE_FILE "\n");
AP::FS().close(log_fd);
log_fd = -1;
return;
}
_save_backup();
_initialisedType = StorageBackend::SDCard;
}
#endif

_save_backup();
_initialised = true;
if (_initialisedType != StorageBackend::None) {
::printf("Initialised Storage type=%d\n", _initialisedType);
} else {
AP_HAL::panic("Unable to init Storage backend");
}
}

/*
Expand All @@ -113,11 +121,12 @@ void Storage::_save_backup(void)
{
#ifdef USE_POSIX
// allow for fallback to microSD based storage
sdcard_retry();
int fd = AP::FS().open(HAL_STORAGE_BACKUP_FILE, O_WRONLY|O_CREAT|O_TRUNC);
if (fd != -1) {
AP::FS().write(fd, _buffer, CH_STORAGE_SIZE);
AP::FS().close(fd);
if (sdcard_retry()) {
int fd = AP::FS().open(HAL_STORAGE_BACKUP_FILE, O_WRONLY|O_CREAT|O_TRUNC);
if (fd != -1) {
AP::FS().write(fd, _buffer, CH_STORAGE_SIZE);
AP::FS().close(fd);
}
}
#endif
}
Expand All @@ -144,7 +153,7 @@ void Storage::_mark_dirty(uint16_t loc, uint16_t length)

void Storage::read_block(void *dst, uint16_t loc, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
if ((n > sizeof(_buffer)) || (loc > (sizeof(_buffer) - n))) {
return;
}
_storage_open();
Expand All @@ -153,7 +162,7 @@ void Storage::read_block(void *dst, uint16_t loc, size_t n)

void Storage::write_block(uint16_t loc, const void *src, size_t n)
{
if (loc >= sizeof(_buffer)-(n-1)) {
if ((n > sizeof(_buffer)) || (loc > (sizeof(_buffer) - n))) {
return;
}
if (memcmp(src, &_buffer[loc], n) != 0) {
Expand All @@ -165,7 +174,7 @@ void Storage::write_block(uint16_t loc, const void *src, size_t n)

void Storage::_timer_tick(void)
{
if (!_initialised) {
if (_initialisedType == StorageBackend::None) {
return;
}
if (_dirty_mask.empty()) {
Expand All @@ -187,7 +196,7 @@ void Storage::_timer_tick(void)
}

#if HAL_WITH_RAMTRON
if (using_fram) {
if (_initialisedType == StorageBackend::FRAM) {
if (fram.write(CH_STORAGE_LINE_SIZE*i, &_buffer[CH_STORAGE_LINE_SIZE*i], CH_STORAGE_LINE_SIZE)) {
_dirty_mask.clear(i);
}
Expand All @@ -196,7 +205,7 @@ void Storage::_timer_tick(void)
#endif

#ifdef USE_POSIX
if (using_filesystem && log_fd != -1) {
if ((_initialisedType == StorageBackend::SDCard) && log_fd != -1) {
uint32_t offset = CH_STORAGE_LINE_SIZE*i;
if (AP::FS().lseek(log_fd, offset, SEEK_SET) != offset) {
return;
Expand All @@ -213,8 +222,10 @@ void Storage::_timer_tick(void)
#endif

#ifdef STORAGE_FLASH_PAGE
// save to storage backend
_flash_write(i);
if (_initialisedType == StorageBackend::Flash) {
// save to storage backend
_flash_write(i);
}
#endif
}

Expand All @@ -229,10 +240,10 @@ void Storage::_flash_load(void)
::printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);

if (!_flash.init()) {
AP_HAL::panic("unable to init flash storage");
AP_HAL::panic("Unable to init flash storage");
}
#else
AP_HAL::panic("unable to init storage");
AP_HAL::panic("Unable to init storage");
#endif
}

Expand Down Expand Up @@ -284,24 +295,32 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
*/
bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
{
#ifdef STORAGE_FLASH_PAGE
size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
const uint8_t *b = ((const uint8_t *)base_address)+offset;
memcpy(data, b, length);
return true;
#else
return false;
#endif
}

/*
callback to erase flash sector
*/
bool Storage::_flash_erase_sector(uint8_t sector)
{
#ifdef STORAGE_FLASH_PAGE
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
if (hal.flash->erasepage(_flash_page+sector)) {
return true;
}
hal.scheduler->delay(1);
}
return false;
#else
return false;
#endif
}

/*
Expand All @@ -319,7 +338,8 @@ bool Storage::_flash_erase_ok(void)
*/
bool Storage::healthy(void)
{
return _initialised && AP_HAL::millis() - _last_empty_ms < 2000;
return ((_initialisedType != StorageBackend::None) &&
(AP_HAL::millis() - (_last_empty_ms < 2000)));
}

/*
Expand All @@ -328,12 +348,12 @@ bool Storage::healthy(void)
bool Storage::erase(void)
{
#if HAL_WITH_RAMTRON
if (using_fram) {
if (_initialisedType == StorageBackend::FRAM) {
return AP_HAL::Storage::erase();
}
#endif
#ifdef USE_POSIX
if (using_filesystem) {
if (_initialisedType == StorageBackend::SDCard) {
return AP_HAL::Storage::erase();
}
#endif
Expand Down
10 changes: 7 additions & 3 deletions libraries/AP_HAL_ChibiOS/Storage.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,13 @@ class ChibiOS::Storage : public AP_HAL::Storage {
bool healthy(void) override;

private:
volatile bool _initialised;
enum class StorageBackend: uint8_t {
None,
FRAM,
Flash,
SDCard,
};
volatile StorageBackend _initialisedType = StorageBackend::None;
void _storage_create(void);
void _storage_open(void);
void _save_backup(void);
Expand Down Expand Up @@ -79,10 +85,8 @@ class ChibiOS::Storage : public AP_HAL::Storage {

#if HAL_WITH_RAMTRON
AP_RAMTRON fram;
bool using_fram;
#endif
#ifdef USE_POSIX
bool using_filesystem;
int log_fd;
#endif
};
Expand Down
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