mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
64d264b49a
- move systick.c under chip specific sources - move do_jump into chip specific main.c as arch_do_jump - wrap flash writes to "arch_flash_write" and implement in chip specific main.c - add bootloader TOC check - sync image_toc.h with the version currently in use with old bootloader Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
161 lines
3.9 KiB
C
161 lines
3.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <string.h>
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#include "flash_cache.h"
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#include "hw_config.h"
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#include <nuttx/progmem.h>
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extern ssize_t arch_flash_write(size_t address, const void *buffer, size_t buflen);
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flash_cache_line_t flash_cache[FC_NUMBER_LINES];
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static inline void fcl_reset(flash_cache_line_t *fcl)
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{
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memset(fcl, 0xff, sizeof(flash_cache_line_t));
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}
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inline void fc_reset(void)
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{
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for (unsigned w = 0; w < FC_NUMBER_LINES; w++) {
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fcl_reset(&flash_cache[w]);
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}
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flash_cache[0].start_address = APP_LOAD_ADDRESS;
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}
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static inline flash_cache_line_t *fc_line_select(uint32_t address)
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{
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for (unsigned w = 0; w < FC_NUMBER_LINES; w++) {
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if (flash_cache[w].start_address == (address & FC_ADDRESS_MASK)) {
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return &flash_cache[w];
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}
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}
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return NULL;
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}
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inline int fc_is_dirty(flash_cache_line_t *fl)
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{
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return fl->index != FC_CLEAN;
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}
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int fc_flush(flash_cache_line_t *fl)
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{
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size_t bytes = (fl->index + 1) * sizeof(fl->words[0]);
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size_t rv = arch_flash_write(fl->start_address, fl->words, bytes);
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if (rv == bytes) {
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rv = 0;
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}
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return rv;
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}
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int fc_write(uint32_t address, uint32_t word)
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{
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flash_cache_line_t *fc = fc_line_select(address);
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flash_cache_line_t *fc1 = &flash_cache[1];
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uint32_t index = FC_ADDR2INDX(address);
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int rv = 0;
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if (fc == NULL && index == 0) {
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fc = fc1;
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fc->start_address = address;
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}
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if (fc) {
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fc->words[index] = word;
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// Are we back writing the first word?
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if (fc == &flash_cache[0] && index == 0 && fc->index == 7) {
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if (fc_is_dirty(fc1)) {
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// write out last fragment of data
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rv = fc_flush(fc1);
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if (rv != 0) {
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fcl_reset(fc1);
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return -1;
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}
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}
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rv = fc_flush(fc);
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fcl_reset(fc);
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return rv;
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}
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fc->index = index;
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}
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return rv;
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}
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uint32_t fc_read(uint32_t address)
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{
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// Assume a cache miss read from FLASH memory
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uint32_t rv = *(uint32_t *) address;
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flash_cache_line_t *fc = fc_line_select(address);
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if (fc) {
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// Cache hit retrieve word from cache
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uint32_t index = FC_ADDR2INDX(address);
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rv = fc->words[index];
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// Reading the last word in cache (not first words)
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if (fc != &flash_cache[0] && index == FC_LAST_WORD) {
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if (fc_flush(fc)) {
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rv ^= 0xffffffff;
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} else {
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fcl_reset(fc);
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}
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}
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}
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return rv;
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}
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