StorageManager: added parameter backup region

libraries/StorageManager/StorageManager.cpp

@@ -1,5 +1,5 @@
 /*
-   Please contribute your ideas! See http://dev.ardupilot.org for details
+   Please contribute your ideas! See https://dev.ardupilot.org for details
 
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -20,7 +20,11 @@
  */
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_Math/AP_Math.h>
+
 #include "StorageManager.h"
+
 #include <stdio.h>
 
 
@@ -35,17 +39,18 @@ extern const AP_HAL::HAL& hal;
 /*
   layout for peripherals
  */
-const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_AREAS] = {
+const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
     { StorageParam,   0,     HAL_STORAGE_SIZE}
 };
 
-#else
+#elif !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+
 /*
   layout for fixed wing and rovers
   On PX4v1 this gives 309 waypoints, 30 rally points and 52 fence points
   On Pixhawk this gives 724 waypoints, 50 rally points and 84 fence points
  */
-const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_AREAS] = {
+const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
     { StorageParam,   0,     1280}, // 0x500 parameter bytes
     { StorageMission, 1280,  2506},
     { StorageRally,   3786,   150}, // 10 rally points
@@ -61,22 +66,34 @@ const StorageManager::StorageArea StorageManager::layout_default[STORAGE_NUM_ARE
 #if STORAGE_NUM_AREAS == 11
     // optimised for lots of parameters for 15k boards with OSD
     { StorageParam,    8192,  7168},
+#elif STORAGE_NUM_AREAS == 12
+    // optimised for lots of parameters for 15k boards with OSD, plus room for CAN DNA
+    { StorageParam,    8192,  6144},
+    { StorageCANDNA,   14336, 1024},
 #endif
-#if STORAGE_NUM_AREAS >= 12
+#if STORAGE_NUM_AREAS >= 13
     { StorageParam,    8192,  1280},
     { StorageRally,    9472,   300},
     { StorageFence,    9772,   256},
     { StorageMission,  10028,  5204}, // leave 128 byte gap for expansion
     { StorageCANDNA,   15232,  1024},
+    // 128 byte gap at end of first 16k
+#endif
+#if STORAGE_NUM_AREAS >= 19
+    { StorageParam,    16384, 1280},
+    { StorageMission,  17664, 9842},
+    { StorageParamBak, 27506, 5376},
 #endif
 };
 
+#else
+
 /*
   layout for copter.
   On PX4v1 this gives 303 waypoints, 26 rally points and 38 fence points
   On Pixhawk this gives 718 waypoints, 46 rally points and 70 fence points
  */
-const StorageManager::StorageArea StorageManager::layout_copter[STORAGE_NUM_AREAS] = {
+const StorageManager::StorageArea StorageManager::layout[STORAGE_NUM_AREAS] = {
     { StorageParam,   0,     1536}, // 0x600 param bytes
     { StorageMission, 1536,  2422},
     { StorageRally,   3958,    90}, // 6 rally points
@@ -92,20 +109,27 @@ const StorageManager::StorageArea StorageManager::layout_copter[STORAGE_NUM_AREA
 #if STORAGE_NUM_AREAS == 11
     // optimised for lots of parameters for 15k boards with OSD
     { StorageParam,    8192,  7168},
+#elif STORAGE_NUM_AREAS == 12
+    // optimised for lots of parameters for 15k boards with OSD, plus room for CAN DNA
+    { StorageParam,    8192,  6144},
+    { StorageCANDNA,   14336, 1024},
 #endif
-#if STORAGE_NUM_AREAS >= 12
+#if STORAGE_NUM_AREAS >= 13
     { StorageParam,    8192,  1280},
     { StorageRally,    9472,   300},
     { StorageFence,    9772,   256},
     { StorageMission,  10028,  5204}, // leave 128 byte gap for expansion
     { StorageCANDNA,   15232,  1024},
+    // 128 byte gap at end of first 16k
+#endif
+#if STORAGE_NUM_AREAS >= 19
+    { StorageParam,    16384, 1280},
+    { StorageMission,  17664, 9842},
+    { StorageParamBak, 27506, 5376},
 #endif
 };
 #endif // STORAGE_NUM_AREAS == 1
 
-// setup default layout
-const StorageManager::StorageArea *StorageManager::layout = layout_default;
-
 /*
   erase all storage
  */
@@ -264,3 +288,25 @@ void StorageAccess::write_uint32(uint16_t loc, uint32_t value) const
 {
     write_block(loc, &value, sizeof(value));
 }
+
+/*
+  copy one area to another
+ */
+bool StorageAccess::copy_area(const StorageAccess &source)
+{
+    // we deliberately allow for copies from smaller areas. This
+    // allows for a partial backup region for parameters
+    uint16_t total = MIN(source.size(), size());
+    uint16_t ofs = 0;
+    while (total > 0) {
+        uint8_t block[32];
+        uint16_t n = MIN(sizeof(block), total);
+        if (!source.read_block(block, ofs, n) ||
+            !write_block(ofs, block, n)) {
+            return false;
+        }
+        total -= n;
+        ofs += n;
+    }
+    return true;
+}

libraries/StorageManager/StorageManager.h

@@ -1,5 +1,5 @@
 /*
-   Please contribute your ideas! See http://dev.ardupilot.org for details
+   Please contribute your ideas! See https://dev.ardupilot.org for details
 
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -26,8 +26,12 @@
   use just one area per storage type for boards with 4k of
   storage. Use larger areas for other boards
  */
-#if HAL_STORAGE_SIZE >= 16384
+#if HAL_STORAGE_SIZE >= 32768
+#define STORAGE_NUM_AREAS 19
+#elif HAL_STORAGE_SIZE >= 16384
 #define STORAGE_NUM_AREAS 15
+#elif HAL_STORAGE_SIZE >= 15360 && defined(HAL_NUM_CAN_IFACES)
+#define STORAGE_NUM_AREAS 12
 #elif HAL_STORAGE_SIZE >= 15360
 #define STORAGE_NUM_AREAS 11
 #elif HAL_STORAGE_SIZE >= 8192
@@ -53,15 +57,13 @@ public:
         StorageMission = 3,
         StorageKeys    = 4,
         StorageBindInfo= 5,
-        StorageCANDNA  = 6
+        StorageCANDNA  = 6,
+        StorageParamBak = 7
     };
 
     // erase whole of storage
     static void erase(void);
 
-    // setup for copter layout of storage
-    static void set_layout_copter(void) { layout = layout_copter; }
-
 private:
     struct StorageArea {
         StorageType type;
@@ -70,9 +72,7 @@ private:
     };
 
     // available layouts
-    static const StorageArea layout_copter[STORAGE_NUM_AREAS];
+    static const StorageArea layout[STORAGE_NUM_AREAS];
-    static const StorageArea layout_default[STORAGE_NUM_AREAS];
-    static const StorageArea *layout;
 };
 
 /*
@@ -101,6 +101,9 @@ public:
     void write_uint16(uint16_t loc, uint16_t value) const;
     void write_uint32(uint16_t loc, uint32_t value) const;
 
+    // copy from one storage area to another
+    bool copy_area(const StorageAccess &source);
+
 private:
     const StorageManager::StorageType type;
     uint16_t total_size;