flight/pios/stm32f0x/pios_flash_internal.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_flash_internal.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
   6  * @brief      brief goes here.
   7  *             --
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #include "pios.h"
  28
  29 #ifdef PIOS_INCLUDE_FLASH_INTERNAL
  30
  31 #include "stm32f10x_flash.h"
  32 #include "pios_flash_internal_priv.h"
  33 #include "pios_flash.h"
  34 #include <stdbool.h>
  35
  36 struct device_flash_sector {
  37     uint32_t start;
  38     uint32_t size;
  39     uint16_t st_sector;
  40 };
  41
  42 static bool PIOS_Flash_Internal_GetSectorInfo(uint32_t address, uint8_t *sector_number, uint32_t *sector_start, uint32_t *sector_size)
  43 {
  44     uint16_t sector = (address - 0x08000000) / 1024;
  45
  46     if (sector <= 127) {
  47         /* address lies within this sector */
  48         *sector_number = sector;
  49         *sector_start  = sector * 1024 + 0x08000000;
  50         *sector_size   = 1024;
  51         return true;
  52     }
  53
  54     return false;
  55 }
  56
  57 enum pios_internal_flash_dev_magic {
  58     PIOS_INTERNAL_FLASH_DEV_MAGIC = 0x33445902,
  59 };
  60
  61 struct pios_internal_flash_dev {
  62     enum pios_internal_flash_dev_magic magic;
  63
  64 #if defined(PIOS_INCLUDE_FREERTOS)
  65     xSemaphoreHandle transaction_lock;
  66 #endif /* defined(PIOS_INCLUDE_FREERTOS) */
  67 };
  68
  69 static bool PIOS_Flash_Internal_Validate(struct pios_internal_flash_dev *flash_dev)
  70 {
  71     return flash_dev && (flash_dev->magic == PIOS_INTERNAL_FLASH_DEV_MAGIC);
  72 }
  73
  74 #if defined(PIOS_INCLUDE_FREERTOS)
  75 static struct pios_internal_flash_dev *PIOS_Flash_Internal_alloc(void)
  76 {
  77     struct pios_internal_flash_dev *flash_dev;
  78
  79     flash_dev = (struct pios_internal_flash_dev *)pvPortMalloc(sizeof(*flash_dev));
  80     if (!flash_dev) {
  81         return NULL;
  82     }
  83
  84     flash_dev->magic = PIOS_INTERNAL_FLASH_DEV_MAGIC;
  85
  86     return flash_dev;
  87 }
  88 #else
  89 static struct pios_internal_flash_dev pios_internal_flash_devs[PIOS_INTERNAL_FLASH_MAX_DEVS];
  90 static uint8_t pios_internal_flash_num_devs;
  91 static struct pios_internal_flash_dev *PIOS_Flash_Internal_alloc(void)
  92 {
  93     struct pios_internal_flash_dev *flash_dev;
  94
  95     if (pios_internal_flash_num_devs >= PIOS_INTERNAL_FLASH_MAX_DEVS) {
  96         return NULL;
  97     }
  98
  99     flash_dev = &pios_internal_flash_devs[pios_internal_flash_num_devs++];
 100     flash_dev->magic = PIOS_INTERNAL_FLASH_DEV_MAGIC;
 101
 102     return flash_dev;
 103 }
 104
 105 #endif /* defined(PIOS_INCLUDE_FREERTOS) */
 106
 107 int32_t PIOS_Flash_Internal_Init(uintptr_t *flash_id, __attribute__((unused)) const struct pios_flash_internal_cfg *cfg)
 108 {
 109     struct pios_internal_flash_dev *flash_dev;
 110
 111     flash_dev = PIOS_Flash_Internal_alloc();
 112     if (flash_dev == NULL) {
 113         return -1;
 114     }
 115
 116 #if defined(PIOS_INCLUDE_FREERTOS)
 117     flash_dev->transaction_lock = xSemaphoreCreateMutex();
 118 #endif /* defined(PIOS_INCLUDE_FREERTOS) */
 119
 120     *flash_id = (uintptr_t)flash_dev;
 121
 122     return 0;
 123 }
 124
 125 /**********************************
 126  *
 127  * Provide a PIOS flash driver API
 128  *
 129  *********************************/
 130 #include "pios_flash.h"
 131
 132 static int32_t PIOS_Flash_Internal_StartTransaction(uintptr_t flash_id)
 133 {
 134     struct pios_internal_flash_dev *flash_dev = (struct pios_internal_flash_dev *)flash_id;
 135
 136     if (!PIOS_Flash_Internal_Validate(flash_dev)) {
 137         return -1;
 138     }
 139
 140 #if defined(PIOS_INCLUDE_FREERTOS)
 141     if (xSemaphoreTake(flash_dev->transaction_lock, portMAX_DELAY) != pdTRUE) {
 142         return -2;
 143     }
 144 #endif /* defined(PIOS_INCLUDE_FREERTOS) */
 145
 146     /* Unlock the internal flash so we can write to it */
 147     FLASH_Unlock();
 148     return 0;
 149 }
 150
 151 static int32_t PIOS_Flash_Internal_EndTransaction(uintptr_t flash_id)
 152 {
 153     struct pios_internal_flash_dev *flash_dev = (struct pios_internal_flash_dev *)flash_id;
 154
 155     if (!PIOS_Flash_Internal_Validate(flash_dev)) {
 156         return -1;
 157     }
 158
 159 #if defined(PIOS_INCLUDE_FREERTOS)
 160     if (xSemaphoreGive(flash_dev->transaction_lock) != pdTRUE) {
 161         return -2;
 162     }
 163 #endif /* defined(PIOS_INCLUDE_FREERTOS) */
 164
 165     /* Lock the internal flash again so we can no longer write to it */
 166     FLASH_Lock();
 167
 168     return 0;
 169 }
 170
 171 static int32_t PIOS_Flash_Internal_EraseSector(uintptr_t flash_id, uint32_t addr)
 172 {
 173     struct pios_internal_flash_dev *flash_dev = (struct pios_internal_flash_dev *)flash_id;
 174
 175     if (!PIOS_Flash_Internal_Validate(flash_dev)) {
 176         return -1;
 177     }
 178
 179     uint8_t sector_number;
 180     uint32_t sector_start;
 181     uint32_t sector_size;
 182     if (!PIOS_Flash_Internal_GetSectorInfo(addr,
 183                                            &sector_number,
 184                                            &sector_start,
 185                                            &sector_size)) {
 186         /* We're asking for an invalid flash address */
 187         return -2;
 188     }
 189
 190     if (FLASH_ErasePage(sector_start) != FLASH_COMPLETE) {
 191         return -3;
 192     }
 193
 194     return 0;
 195 }
 196
 197 static int32_t PIOS_Flash_Internal_WriteData(uintptr_t flash_id, uint32_t addr, uint8_t *data, uint16_t len)
 198 {
 199     PIOS_Assert(data);
 200
 201     struct pios_internal_flash_dev *flash_dev = (struct pios_internal_flash_dev *)flash_id;
 202
 203     if (!PIOS_Flash_Internal_Validate(flash_dev)) {
 204         return -1;
 205     }
 206
 207     uint8_t sector_number;
 208     uint32_t sector_start;
 209     uint32_t sector_size;
 210     uint32_t hword_data;
 211     uint32_t offset;
 212
 213     /* Ensure that the base address is in a valid sector */
 214     if (!PIOS_Flash_Internal_GetSectorInfo(addr,
 215                                            &sector_number,
 216                                            &sector_start,
 217                                            &sector_size)) {
 218         /* We're asking for an invalid flash address */
 219         return -2;
 220     }
 221
 222     /* Ensure that the entire write occurs within the same sector */
 223     if ((uintptr_t)addr + len > sector_start + sector_size) {
 224         /* Write crosses the end of the sector */
 225         return -3;
 226     }
 227
 228     /* Write the data */
 229     uint32_t temp_addr = addr;
 230     uint16_t numberOfhWords = len / 2;
 231     uint16_t x = 0;
 232     FLASH_Status status;
 233     for (x = 0; x < numberOfhWords; ++x) {
 234         offset     = 2 * x;
 235         hword_data = (data[offset + 1] << 8) | data[offset];
 236
 237         if (hword_data != *(uint16_t *)(temp_addr + offset)) {
 238             status = FLASH_ProgramHalfWord(temp_addr + offset, hword_data);
 239         } else {
 240             status = FLASH_COMPLETE;
 241         }
 242         PIOS_Assert(status == FLASH_COMPLETE);
 243     }
 244
 245     uint16_t mod = len % 2;
 246     if (mod == 1) {
 247         offset     = 2 * x;
 248         hword_data = 0xFF00 | data[offset];
 249         if (hword_data != *(uint16_t *)(temp_addr + offset)) {
 250             status = FLASH_ProgramHalfWord(temp_addr + offset, hword_data);
 251         } else {
 252             status = FLASH_COMPLETE;
 253         }
 254         PIOS_Assert(status == FLASH_COMPLETE);
 255     }
 256
 257     return 0;
 258 }
 259
 260 static int32_t PIOS_Flash_Internal_ReadData(uintptr_t flash_id, uint32_t addr, uint8_t *data, uint16_t len)
 261 {
 262     PIOS_Assert(data);
 263
 264     struct pios_internal_flash_dev *flash_dev = (struct pios_internal_flash_dev *)flash_id;
 265
 266     if (!PIOS_Flash_Internal_Validate(flash_dev)) {
 267         return -1;
 268     }
 269
 270     uint8_t sector_number;
 271     uint32_t sector_start;
 272     uint32_t sector_size;
 273
 274     /* Ensure that the base address is in a valid sector */
 275     if (!PIOS_Flash_Internal_GetSectorInfo(addr,
 276                                            &sector_number,
 277                                            &sector_start,
 278                                            &sector_size)) {
 279         /* We're asking for an invalid flash address */
 280         return -2;
 281     }
 282
 283     /* Ensure that the entire read occurs within the same sector */
 284     if ((uintptr_t)addr + len > sector_start + sector_size) {
 285         /* Read crosses the end of the sector */
 286         return -3;
 287     }
 288
 289     /* Read the data into the buffer directly */
 290     memcpy(data, (void *)addr, len);
 291
 292     return 0;
 293 }
 294
 295 /* Provide a flash driver to external drivers */
 296 const struct pios_flash_driver pios_internal_flash_driver = {
 297     .start_transaction = PIOS_Flash_Internal_StartTransaction,
 298     .end_transaction   = PIOS_Flash_Internal_EndTransaction,
 299     .erase_sector = PIOS_Flash_Internal_EraseSector,
 300     .write_data   = PIOS_Flash_Internal_WriteData,
 301     .read_data    = PIOS_Flash_Internal_ReadData,
 302 };
 303
 304 #endif /* PIOS_INCLUDE_FLASH_INTERNAL */