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Improvement when params are corrupted

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This commit is contained in:
Igor Mišić 2023-02-15 17:13:13 +01:00
parent b32ef40af7
commit 72ffcae61d
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GPG Key ID: 2C4E2FD15C2B0E7D
4 changed files with 55 additions and 28 deletions
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2
ROMFS/px4fmu_common/init.d/rcS
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@ -122,7 +122,7 @@ else
then
echo "ERROR [init] param transition"
else
echo "Successful param transition. The system will reboot!"
echo "The system will reboot!"
# Wait for UART to send messages
usleep 200000
reboot

8
platforms/common/include/px4_platform_common/px4_mtd.h
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@ -85,10 +85,16 @@ __EXPORT int px4_mtd_unmount_littlefs_mount_block_device(void);
/*
Helper function for transition to LittleFS.
It will unmount MTD for parameters with Block Device and mount LittleFS with auto formatting
It will unmount MTD for parameters with Block Device and mount LittleFS with force formatting
*/
__EXPORT int px4_mtd_unmount_block_device_mount_littlefs(void);
/*
Helper function for transition to LittleFS.
It will force formatting to LittleFS
*/
__EXPORT int px4_mtd_forceformat_littlefs(void);
int px4_at24c_initialize(FAR struct i2c_master_s *dev,
uint8_t address, FAR struct mtd_dev_s **mtd_dev);

46
platforms/nuttx/src/px4/common/px4_mtd.cpp
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@ -507,27 +507,21 @@ int px4_mtd_unmount_littlefs_mount_block_device(void)
char blockname[32];
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
// in case if it is mounted
// in case LittleFS is mounted, unmount it
nx_umount2(instances[param_instance]->partition_names[param_part], 0);
unregister_mtddriver(blockname);
int ret = unregister_mtddriver(blockname);
int ret = ftl_initialize(0, instances[0]->part_dev[0]);
if (ret < 0) {
PX4_ERR("unregister_mtddriver fail: %d", ret);
PX4_ERR("ftl_initialize failed: %d", ret);
} else {
ret = ftl_initialize(0, instances[0]->part_dev[0]);
ret = bchdev_register(blockname, instances[param_instance]->partition_names[param_part], false);
if (ret < 0) {
PX4_ERR("ftl_initialize failed: %d", ret);
PX4_ERR("bchdev_register failed: %d", ret);
} else {
ret = bchdev_register(blockname, instances[param_instance]->partition_names[param_part], false);
if (ret < 0) {
PX4_ERR("bchdev_register failed: %d", ret);
}
}
}
@ -551,19 +545,29 @@ int px4_mtd_unmount_block_device_mount_littlefs(void)
PX4_ERR("unregister_blockdriver %s failed: %d", blockname, ret);
} else {
ret = register_mtddriver(blockname, instances[param_instance]->part_dev[param_part], 0755, nullptr);
ret = px4_mtd_forceformat_littlefs();
}
}
if (ret < 0) {
PX4_ERR("register_mtddriver %s failed: %d", blockname, ret);
return ret;
}
} else {
ret = nx_mount(blockname, instances[param_instance]->partition_names[param_part], "littlefs", 0, "forceformat");
int px4_mtd_forceformat_littlefs(void)
{
char blockname[32];
snprintf(blockname, sizeof(blockname), "/dev/mtdblock%d", param_block);
if (ret < 0) {
PX4_ERR("nx_mount %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
int ret = register_mtddriver(blockname, instances[param_instance]->part_dev[param_part], 0755, nullptr);
if (ret < 0) {
PX4_ERR("register_mtddriver %s failed: %d", blockname, ret);
} else {
ret = nx_mount(blockname, instances[param_instance]->partition_names[param_part], "littlefs", 0, "forceformat");
if (ret < 0) {
PX4_ERR("nx_mount %s failed: %d", instances[param_instance]->partition_names[param_part], ret);
}
}
}
}

27
src/systemcmds/param/param.cpp
View File

@ -483,18 +483,35 @@ do_transition()
if (ret_val < 0) {
PX4_ERR("Transition from LittleFS to Blockdriver");
} else {
ret_val = do_import("/fs/mtd_params");
char param_path[] = "/fs/mtd_params";
PX4_INFO("Try path: %s", param_path);
ret_val = do_import(param_path);
if (ret_val < 0) {
PX4_ERR("Import from blockdriver");
} else {
if (ret_val == 1) {
PX4_WARN("Try path: %s", param_path);
char param_path_backup[] = "/fs/microsd/parameters_backup.bson";
ret_val = do_import(param_path_backup);
}
if (ret_val == 0) {
ret_val = px4_mtd_unmount_block_device_mount_littlefs();
if (ret_val < 0){
if (ret_val < 0) {
PX4_ERR("Transition from Blockdriver to LittleFS failed");
} else {
PX4_INFO("Exporting params to LittleFS!");
ret_val = param_export(param_get_default_file(), nullptr);
if (ret_val == 0) {
PX4_INFO("Successful params transition!");
}
}
} else {
PX4_INFO("Params are unreadable from any known path. Format partition to LittleFS!");
ret_val = px4_mtd_forceformat_littlefs();
}
}