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DataFlash: use new scheduler API

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This commit is contained in:
Andrew Tridgell 2013-09-28 16:29:58 +10:00
parent f53afaa5ac
commit 19e9c95983
2 changed files with 19 additions and 20 deletions
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23
libraries/DataFlash/DataFlash_File.cpp
View File

@ -28,21 +28,19 @@ extern const AP_HAL::HAL& hal;
#define MAX_LOG_FILES 500U
#define DATAFLASH_PAGE_SIZE 1024UL
int DataFlash_File::_write_fd = -1;
volatile bool DataFlash_File::_initialised = false;
uint8_t *DataFlash_File::_writebuf = NULL;
const uint16_t DataFlash_File::_writebuf_size = 4096;
volatile uint16_t DataFlash_File::_writebuf_head = 0;
volatile uint16_t DataFlash_File::_writebuf_tail = 0;
uint32_t DataFlash_File::_last_write_time = 0;
/*
constructor
*/
DataFlash_File::DataFlash_File(const char *log_directory) :
_write_fd(-1),
_read_fd(-1),
_log_directory(log_directory)
_initialised(false),
_log_directory(log_directory),
_writebuf(NULL),
_writebuf_size(4096),
_writebuf_head(0),
_writebuf_tail(0),
_last_write_time(0)
{}
@ -65,7 +63,7 @@ void DataFlash_File::Init(void)
}
_writebuf_head = _writebuf_tail = 0;
_initialised = true;
hal.scheduler->register_io_process(_io_timer);
hal.scheduler->register_io_process(reinterpret_cast<AP_HAL::TimedProc>(&DataFlash_File::_io_timer), this);
}
// return true for CardInserted() if we successfully initialised
@ -409,7 +407,7 @@ void DataFlash_File::ListAvailableLogs(AP_HAL::BetterStream *port)
}
void DataFlash_File::_io_timer(uint32_t tnow)
void DataFlash_File::_io_timer(void)
{
uint16_t _tail;
if (_write_fd == -1 || !_initialised) {
@ -419,6 +417,7 @@ void DataFlash_File::_io_timer(uint32_t tnow)
if (nbytes == 0) {
return;
}
uint32_t tnow = hal.scheduler->micros();
if (nbytes < 512 &&
tnow - _last_write_time < 2000000UL) {
// write in 512 byte chunks, but always write at least once

16
libraries/DataFlash/DataFlash_File.h
View File

@ -43,10 +43,10 @@ public:
void ListAvailableLogs(AP_HAL::BetterStream *port);
private:
static int _write_fd;
int _write_fd;
int _read_fd;
uint32_t _read_offset;
static volatile bool _initialised;
volatile bool _initialised;
const char *_log_directory;
/*
@ -55,18 +55,18 @@ private:
void ReadBlock(void *pkt, uint16_t size);
// write buffer
static uint8_t *_writebuf;
static const uint16_t _writebuf_size;
static volatile uint16_t _writebuf_head;
static volatile uint16_t _writebuf_tail;
static uint32_t _last_write_time;
uint8_t *_writebuf;
const uint16_t _writebuf_size;
volatile uint16_t _writebuf_head;
volatile uint16_t _writebuf_tail;
uint32_t _last_write_time;
/* construct a file name given a log number. Caller must free. */
char *_log_file_name(uint16_t log_num);
char *_lastlog_file_name(void);
uint32_t _get_log_size(uint16_t log_num);
static void _io_timer(uint32_t now);
void _io_timer(void);
};