AP_HAL_ChibiOS: Adding AP_PageEEPROM into AP_HAL_ChibiOS

libraries/AP_HAL_ChibiOS/Storage.cpp

@@ -52,6 +52,10 @@ extern const AP_HAL::HAL& hal;
 #define HAL_RAMTRON_ALLOW_FALLBACK 0
 #endif
 
+#ifndef HAL_PAGE_EEPROM_ALLOW_FALLBACK
+#define HAL_PAGE_EEPROM_ALLOW_FALLBACK 0
+#endif
+
 void Storage::_storage_open(void)
 {
     if (_initialisedType != StorageBackend::None) {
@@ -74,6 +78,20 @@ void Storage::_storage_open(void)
 
 #endif // HAL_WITH_RAMTRON
 
+#if HAL_WITH_PAGE_EEPROM
+    if (pg_eeprom.init() && pg_eeprom.read(0, _buffer, CH_STORAGE_SIZE)) {
+	_save_backup();
+        _initialisedType = StorageBackend::Page_EEPROM;
+	::printf("Initialised Storage type=%d\n", _initialisedType);
+	return;
+    }
+
+#if !HAL_PAGE_EEPROM_ALLOW_FALLBACK
+    AP_HAL::panic("Unable to init Page EEPROM storage");
+#endif
+
+#endif // HAL_WITH_PAGE_EEPROM
+
 // allow for devices with no FRAM chip to fall through to other storage
 #ifdef STORAGE_FLASH_PAGE
         // load from storage backend
@@ -283,6 +301,14 @@ void Storage::_timer_tick(void)
     }
 #endif
 
+#if HAL_WITH_PAGE_EEPROM
+    if (_initialisedType == StorageBackend::Page_EEPROM) {
+        if (pg_eeprom.write(CH_STORAGE_LINE_SIZE*i, tmpline, CH_STORAGE_LINE_SIZE)) {
+            write_ok = true;
+        }
+    }
+#endif
+
 #ifdef USE_POSIX
     if ((_initialisedType == StorageBackend::SDCard) && log_fd != -1) {
         uint32_t offset = CH_STORAGE_LINE_SIZE*i;
@@ -460,6 +486,11 @@ bool Storage::healthy(void)
     if (_initialisedType == StorageBackend::SDCard) {
         return log_fd != -1 || AP_HAL::millis() - _last_empty_ms < 30000U;
     }
+#endif
+#if HAL_WITH_PAGE_EEPROM
+    if (_initialisedType == StorageBackend::Page_EEPROM) {
+        return AP_HAL::millis() - _last_empty_ms < 60000U;
+    }
 #endif
     return ((_initialisedType != StorageBackend::None) &&
             (AP_HAL::millis() - _last_empty_ms < 2000u));
@@ -475,6 +506,11 @@ bool Storage::erase(void)
         return AP_HAL::Storage::erase();
     }
 #endif
+#if HAL_WITH_PAGE_EEPROM
+    if (_initialisedType == StorageBackend::Page_EEPROM) {
+        return AP_HAL::Storage::erase();
+    }
+#endif
 #ifdef USE_POSIX
     if (_initialisedType == StorageBackend::SDCard) {
         return AP_HAL::Storage::erase();

libraries/AP_HAL_ChibiOS/Storage.h

@@ -22,6 +22,7 @@
 #include <AP_FlashStorage/AP_FlashStorage.h>
 #include "hwdef/common/flash.h"
 #include <AP_RAMTRON/AP_RAMTRON.h>
+#include <AP_PageEEPROM/AP_PageEEPROM.h>
 
 #define CH_STORAGE_SIZE HAL_STORAGE_SIZE
 
@@ -35,7 +36,7 @@
 #else
 #define CH_STORAGE_LINE_SHIFT 3
 #endif
-#elif defined(USE_POSIX) && !defined(HAL_WITH_RAMTRON)
+#elif defined(USE_POSIX) && !defined(HAL_WITH_RAMTRON) && !defined(HAL_WITH_PAGE_EEPROM)
 #define CH_STORAGE_LINE_SHIFT 9
 #else
 #define CH_STORAGE_LINE_SHIFT 3
@@ -71,6 +72,7 @@ class ChibiOS::Storage : public AP_HAL::Storage {
         FRAM,
         Flash,
         SDCard,
+	Page_EEPROM,
     };
     StorageBackend _initialisedType = StorageBackend::None;
     void _storage_create(void);
@@ -113,6 +115,9 @@ class ChibiOS::Storage : public AP_HAL::Storage {
 #ifdef USE_POSIX
     int log_fd;
 #endif
+#ifdef HAL_WITH_PAGE_EEPROM
+    AP_PageEEPROM pg_eeprom;
+#endif
 };
 
 #endif // HAL_USE_EMPTY_STORAGE

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -867,6 +867,9 @@ def validate_flash_storage_size(self):
         if self.intdefines.get('HAL_WITH_RAMTRON', 0) == 1:
             # no check for RAMTRON storage
             return
+        if self.intdefines.get('HAL_WITH_PAGE_EEPROM', 0) == 1:
+            # no check for PAGE_EEPROM storage
+            return
         storage_flash_page = self.get_storage_flash_page()
         pages = self.get_flash_pages_sizes()
         page_size = pages[storage_flash_page] * 1024