mirror of https://github.com/ArduPilot/ardupilot
275 lines
6.8 KiB
C++
275 lines
6.8 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#include "DataFlash.h"
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// This function determines the number of whole or partial log files in the DataFlash
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// Wholly overwritten files are (of course) lost.
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uint8_t DataFlash_Class::get_num_logs(void)
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{
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uint16_t lastpage;
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uint16_t last;
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uint16_t first;
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if (find_last_page() == 1) {
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return 0;
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}
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StartRead(1);
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if (GetFileNumber() == 0XFFFF) {
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return 0;
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}
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lastpage = find_last_page();
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StartRead(lastpage);
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last = GetFileNumber();
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StartRead(lastpage + 2);
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first = GetFileNumber();
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if(first > last) {
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StartRead(1);
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first = GetFileNumber();
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}
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if (last == first) {
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return 1;
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}
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return (last - first + 1);
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}
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// This function starts a new log file in the DataFlash
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void DataFlash_Class::start_new_log(void)
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{
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uint16_t last_page = find_last_page();
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StartRead(last_page);
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//Serial.print("last page: "); Serial.println(last_page);
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//Serial.print("file #: "); Serial.println(GetFileNumber());
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//Serial.print("file page: "); Serial.println(GetFilePage());
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if(find_last_log() == 0 || GetFileNumber() == 0xFFFF) {
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SetFileNumber(1);
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StartWrite(1);
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//Serial.println("start log from 0");
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return;
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}
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// Check for log of length 1 page and suppress
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if(GetFilePage() <= 1) {
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SetFileNumber(GetFileNumber()); // Last log too short, reuse its number
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StartWrite(last_page); // and overwrite it
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//Serial.println("start log from short");
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} else {
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if(last_page == 0xFFFF) last_page=0;
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SetFileNumber(GetFileNumber()+1);
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StartWrite(last_page + 1);
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//Serial.println("start log normal");
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}
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}
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// This function finds the first and last pages of a log file
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// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
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void DataFlash_Class::get_log_boundaries(uint8_t log_num, int16_t & start_page, int16_t & end_page)
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{
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int16_t num = get_num_logs();
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int16_t look;
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if(num == 1)
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{
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StartRead(df_NumPages);
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if(GetFileNumber() == 0xFFFF)
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{
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start_page = 1;
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end_page = find_last_page_of_log((uint16_t)log_num);
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} else {
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end_page = find_last_page_of_log((uint16_t)log_num);
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start_page = end_page + 1;
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}
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} else {
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if(log_num==1) {
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StartRead(df_NumPages);
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if(GetFileNumber() == 0xFFFF) {
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start_page = 1;
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} else {
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start_page = find_last_page() + 1;
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}
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} else {
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if(log_num == find_last_log() - num + 1) {
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start_page = find_last_page() + 1;
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} else {
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look = log_num-1;
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do {
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start_page = find_last_page_of_log(look) + 1;
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look--;
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} while (start_page <= 0 && look >=1);
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}
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}
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}
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if(start_page == (int16_t)df_NumPages+1 || start_page == 0) start_page=1;
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end_page = find_last_page_of_log((uint16_t)log_num);
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if(end_page <= 0) end_page = start_page;
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}
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bool DataFlash_Class::check_wrapped(void)
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{
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StartRead(df_NumPages);
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if(GetFileNumber() == 0xFFFF)
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return 0;
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else
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return 1;
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}
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// This funciton finds the last log number
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int16_t DataFlash_Class::find_last_log(void)
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{
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int16_t last_page = find_last_page();
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StartRead(last_page);
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return GetFileNumber();
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}
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// This function finds the last page of the last file
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int16_t DataFlash_Class::find_last_page(void)
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{
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uint16_t look;
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uint16_t bottom = 1;
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uint16_t top = df_NumPages;
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uint32_t look_hash;
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uint32_t bottom_hash;
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uint32_t top_hash;
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StartRead(bottom);
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bottom_hash = ((int32_t)GetFileNumber()<<16) | GetFilePage();
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while(top-bottom > 1) {
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look = (top+bottom)/2;
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StartRead(look);
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look_hash = (int32_t)GetFileNumber()<<16 | GetFilePage();
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if (look_hash >= 0xFFFF0000) look_hash = 0;
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if(look_hash < bottom_hash) {
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// move down
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top = look;
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} else {
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// move up
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bottom = look;
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bottom_hash = look_hash;
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}
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}
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StartRead(top);
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top_hash = ((int32_t)GetFileNumber()<<16) | GetFilePage();
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if (top_hash >= 0xFFFF0000) {
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top_hash = 0;
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}
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if (top_hash > bottom_hash) {
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return top;
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}
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return bottom;
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}
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// This function finds the last page of a particular log file
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int16_t DataFlash_Class::find_last_page_of_log(uint16_t log_number)
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{
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uint16_t look;
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uint16_t bottom;
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uint16_t top;
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uint32_t look_hash;
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uint32_t check_hash;
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if(check_wrapped())
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{
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StartRead(1);
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bottom = GetFileNumber();
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if (bottom > log_number)
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{
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bottom = find_last_page();
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top = df_NumPages;
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} else {
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bottom = 1;
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top = find_last_page();
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}
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} else {
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bottom = 1;
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top = find_last_page();
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}
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check_hash = (int32_t)log_number<<16 | 0xFFFF;
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while(top-bottom > 1)
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{
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look = (top+bottom)/2;
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StartRead(look);
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look_hash = (int32_t)GetFileNumber()<<16 | GetFilePage();
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if (look_hash >= 0xFFFF0000) look_hash = 0;
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if(look_hash > check_hash) {
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// move down
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top = look;
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} else {
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// move up
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bottom = look;
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}
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}
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StartRead(top);
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if (GetFileNumber() == log_number) return top;
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StartRead(bottom);
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if (GetFileNumber() == log_number) return bottom;
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return -1;
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}
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// Read the DataFlash log memory : Packet Parser. Call the callback()
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// function on each log message found in the page range. Return the
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// number of log messages found
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uint16_t DataFlash_Class::log_read_process(uint16_t start_page, uint16_t end_page,
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void (*callback)(uint8_t msgid))
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{
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uint8_t log_step = 0;
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uint16_t page = start_page;
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uint16_t packet_count = 0;
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StartRead(start_page);
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while (true) {
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uint8_t data = ReadByte();
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// This is a state machine to read the packets
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switch(log_step) {
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case 0:
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if (data == HEAD_BYTE1) {
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log_step++;
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}
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break;
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case 1:
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if (data == HEAD_BYTE2) {
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log_step++;
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} else {
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log_step = 0;
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}
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break;
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case 2:
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log_step = 0;
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callback(data);
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packet_count++;
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break;
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}
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uint16_t new_page = GetPage();
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if (new_page != page) {
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if (new_page == end_page) break;
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page = new_page;
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}
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}
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return packet_count;
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}
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