Flashfs Loop recording and initial erase (#209)

* flashfs: add flashfs loop support and initial erase When using loop mode, we will identify the "start of the data stream" (by empty region followed by filled region). Also the usable size is reduced to `full size - page size - buffer size`. (The - buffer size is for code simplicity). The original FLASHFS_FREE_BLOCK_SIZE is changed to page size to avoid misalignment. A new option blackbox_initial_erase is added to maintain a certain amount of free space upon record start. This also add (change) some cli cmds for diagnoses: flash_fill flash_verify flash_erase_sector flashfs_initial_erase * Initial erase: change param unit to KiB Change `initialEraseFreeSpace` to `....KiB` and update unit tests.
rotorflight · Jan 18, 2025 · 5fc85a8 · 5fc85a8
1 parent 245a556
commit 5fc85a8
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Showing 22 changed files with 1,536 additions and 75 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -335,6 +335,8 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
 typedef enum BlackboxState {
     BLACKBOX_STATE_DISABLED = 0,
     BLACKBOX_STATE_STOPPED,
+    BLACKBOX_STATE_WAIT_FOR_READY,
+    BLACKBOX_STATE_INITIAL_ERASE,
     BLACKBOX_STATE_PREPARE_LOG_FILE,
     BLACKBOX_STATE_SEND_HEADER,
     BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
@@ -345,6 +347,7 @@ typedef enum BlackboxState {
     BLACKBOX_STATE_CACHE_FLUSH,
     BLACKBOX_STATE_PAUSED,
     BLACKBOX_STATE_RUNNING,
+    BLACKBOX_STATE_FULL,
     BLACKBOX_STATE_SHUTTING_DOWN,
     BLACKBOX_STATE_START_ERASE,
     BLACKBOX_STATE_ERASING,
@@ -1175,7 +1178,7 @@ static void blackboxStart(void)
     blackboxLastRescueState = getRescueState();
     blackboxLastAirborneState = isAirborne();
 
-    blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
+    blackboxSetState(BLACKBOX_STATE_WAIT_FOR_READY);
 }
 
 void blackboxCheckEnabler(void)
@@ -1972,6 +1975,15 @@ bool isBlackboxErased(void)
     return isBlackboxDeviceReady();
 }
 
+void blackboxInitialErase(void)
+{
+#ifdef USE_FLASHFS
+    if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
+        blackboxDeviceInitialErase();
+    }
+#endif
+}
+
 /**
  * Call each flight loop iteration to perform blackbox logging.
  */
@@ -1993,6 +2005,17 @@ void blackboxUpdate(timeUs_t currentTimeUs)
             blackboxStart();
         }
         break;
+    case BLACKBOX_STATE_WAIT_FOR_READY:
+        if (isBlackboxDeviceReady()) {
+            blackboxInitialErase();
+            blackboxSetState(BLACKBOX_STATE_INITIAL_ERASE);
+        }
+        break;
+    case BLACKBOX_STATE_INITIAL_ERASE:
+        if (isBlackboxDeviceReady()) {
+            blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
+        }
+        break;
     case BLACKBOX_STATE_PREPARE_LOG_FILE:
         if (blackboxDeviceBeginLog()) {
             blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
@@ -2138,16 +2161,22 @@ void blackboxUpdate(timeUs_t currentTimeUs)
             blackboxSetState(BLACKBOX_STATE_STOPPED);
             blackboxStarted = false;
         }
-    break;
+        break;
+    case BLACKBOX_STATE_FULL:
+        if (!blackboxIsLoggingEnabled()) {
+            blackboxDeviceClose();
+            blackboxSetState(BLACKBOX_STATE_STOPPED);
+        }
+        break;
 #endif
     default:
         break;
     }
 
     // Did we run out of room on the device? Stop!
     if (isBlackboxDeviceFull()) {
-        if (blackboxState < BLACKBOX_STATE_START_ERASE) {
-            blackboxSetState(BLACKBOX_STATE_STOPPED);
+        if (blackboxState == BLACKBOX_STATE_RUNNING) {
+            blackboxSetState(BLACKBOX_STATE_FULL);
         }
     }
 }

diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
@@ -341,7 +341,7 @@ bool blackboxDeviceOpen(void)
         break;
 #ifdef USE_FLASHFS
     case BLACKBOX_DEVICE_FLASH:
-        if (!flashfsIsSupported() || isBlackboxDeviceFull()) {
+        if (!flashfsIsSupported()) {
             return false;
         }
 
@@ -376,18 +376,32 @@ void blackboxDeviceErase(void)
         flashfsEraseCompletely();
     }
 }
+#endif
 
 /**
  * Check to see if erasing is done
  */
 bool isBlackboxDeviceReady(void)
 {
+#ifdef USE_FLASHFS
     if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
         return flashfsIsReady();
     }
+#endif
     return true;
 }
+
+/**
+ * Perform an initial erase to get some empty space.
+ */
+void blackboxDeviceInitialErase(void)
+{
+#ifdef USE_FLASHFS_LOOP
+    if (blackboxConfig()->device == BLACKBOX_DEVICE_FLASH) {
+        flashfsLoopInitialErase();
+    }
 #endif
+}
 
 /**
  * Close the Blackbox logging device.

diff --git a/src/main/blackbox/blackbox_io.h b/src/main/blackbox/blackbox_io.h
@@ -64,3 +64,5 @@ int32_t blackboxGetLogNumber(void);
 void blackboxReplenishHeaderBudget(void);
 blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes);
 int8_t blackboxGetLogFileNo(void);
+
+void blackboxDeviceInitialErase(void);
diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
@@ -2682,6 +2682,9 @@ static void cliFlashInfo(const char *cmdName, char *cmdline)
             FLASH_PARTITION_SECTOR_COUNT(flashPartition) * layout->sectorSize,
             flashfsGetOffset()
     );
+    cliPrintLinef("FlashFSLoop Head = 0x%08x, Tail = 0x%08x",
+            flashfsGetHeadAddress(),
+            flashfsGetTailAddress());
 #endif
 }
 
@@ -2706,6 +2709,7 @@ static void cliFlashErase(const char *cmdName, char *cmdline)
     flashfsEraseCompletely();
 
     while (!flashfsIsReady()) {
+        flashfsEraseAsync();
 #ifndef MINIMAL_CLI
         cliPrintf(".");
         if (i++ > 120) {
@@ -2724,6 +2728,16 @@ static void cliFlashErase(const char *cmdName, char *cmdline)
 
 #ifdef USE_FLASH_TOOLS
 
+static void cliFlashFill(const char *cmdName, char *cmdline)
+{
+    UNUSED(cmdName);
+    UNUSED(cmdline);
+
+    cliPrintLine("Filling");
+    flashfsFillEntireFlash();
+    cliPrintLine("Done");
+}
+
 static void cliFlashVerify(const char *cmdName, char *cmdline)
 {
     UNUSED(cmdline);
@@ -2744,7 +2758,7 @@ static void cliFlashWrite(const char *cmdName, char *cmdline)
     if (!text) {
         cliShowInvalidArgumentCountError(cmdName);
     } else {
-        flashfsSeekAbs(address);
+        flashfsSeekPhysical(address);
         flashfsWrite((uint8_t*)text, strlen(text));
         flashfsFlushSync();
 
@@ -2767,7 +2781,7 @@ static void cliFlashRead(const char *cmdName, char *cmdline)
 
         uint8_t buffer[32];
         while (length > 0) {
-            int bytesRead = flashfsReadAbs(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
+            int bytesRead = flashfsReadPhysical(address, buffer, length < sizeof(buffer) ? length : sizeof(buffer));
 
             for (int i = 0; i < bytesRead; i++) {
                 cliWrite(buffer[i]);
@@ -2785,6 +2799,67 @@ static void cliFlashRead(const char *cmdName, char *cmdline)
     }
 }
 
+static void cliFlashEraseSector(const char *cmdName, char *cmdline)
+{
+    UNUSED(cmdName);
+
+    const char *ptr = cmdline;
+    uint32_t address = atoi(ptr);
+    ptr = nextArg(cmdline);
+    uint32_t length = atoi(ptr);
+
+    const uint32_t sectorSize = flashGetGeometry()->sectorSize;
+    const uint32_t totalSize = flashGetGeometry()->totalSize;
+
+    if (length == 0) {
+        length = 1;
+    }
+
+    // Round down `address`, round up `end_address`, and update `length`
+    uint32_t end_address = address + length;
+    address = address / sectorSize * sectorSize;
+    end_address = (end_address + sectorSize - 1) / sectorSize * sectorSize;
+    length = end_address - address;
+
+    flashSector_t count = length / sectorSize;
+
+    if (address > totalSize - sectorSize) {
+        cliShowArgumentRangeError(cmdName, "address", 0,
+                                  totalSize - sectorSize);
+        return;
+    }
+    if (end_address > totalSize) {
+        cliShowArgumentRangeError(cmdName, "length", sectorSize,
+                                  totalSize - address);
+        return;
+    }
+    timeUs_t start = micros();
+    for (uint32_t i = 0; i < count; i++) {
+        flashEraseSector(address + i * sectorSize);
+        flashWaitForReady();
+    }
+    timeUs_t end = micros();
+    cliPrintLinef("Erased address %u length %u (%u sectors) in %u us", address,
+                  length, count, end - start);
+}
+
+#ifdef USE_FLASHFS_LOOP
+static void cliFlashfsInitialErase(const char *cmdName, char *cmdline)
+{
+    UNUSED(cmdName);
+    UNUSED(cmdline);
+    flashfsInit();
+
+    timeUs_t start = micros();
+    flashfsLoopInitialErase();
+    while(!flashfsIsReady()) {
+        flashfsEraseAsync();
+    }
+    timeUs_t end = micros();
+    cliPrintLinef("FlashfsInitialErase %u us", end - start);
+}
+#endif  // USE_FLASHFS_LOOP
+
 #endif
 #endif
 
@@ -6429,8 +6504,13 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
 #ifdef USE_FLASH_TOOLS
     CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
-    CLI_COMMAND_DEF("flash_scan", "scan flash device for errors", NULL, cliFlashVerify),
+    CLI_COMMAND_DEF("flash_fill", "fill device with predefined pattern", NULL, cliFlashFill),
+    CLI_COMMAND_DEF("flash_verify", "verify device with predefined pattern", NULL, cliFlashVerify),
     CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
+    CLI_COMMAND_DEF("flash_erase_sector", "erase flash sector(s)", "<address> [<length>]", cliFlashEraseSector),
+#ifdef USE_FLASHFS_LOOP
+    CLI_COMMAND_DEF("flashfs_initial_erase", "invoke initial erase", NULL, cliFlashfsInitialErase),
+#endif  // USE_FLASHFS_LOOP
 #endif
 #endif
     CLI_COMMAND_DEF("get", "get variable value", "[name]", cliGet),

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
@@ -802,6 +802,10 @@ const clivalue_t valueTable[] = {
     { "blackbox_log_esc",           VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_ESC, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields) },
     { "blackbox_log_bec",           VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_BEC, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields) },
     { "blackbox_log_esc2",          VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_ESC2, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields) },
+
+#ifdef USE_FLASHFS_LOOP
+    { "blackbox_initial_erase_kb",  VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT16_MAX }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, initialEraseFreeSpaceKiB) },
+#endif
 #endif
 
 // PG_MOTOR_CONFIG

diff --git a/src/main/fc/core.c b/src/main/fc/core.c
@@ -110,7 +110,6 @@
 
 #include "core.h"
 
-
 enum {
     ALIGN_GYRO = 0,
     ALIGN_ACCEL = 1,
-Original file line number
+Diff line change
@@ Expand Up / @@ -110,7 +110,6 @@ @@
     #include "core.h"
     enum {
         ALIGN_GYRO = 0,
         ALIGN_ACCEL = 1,
@@ Expand Down @@