Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

DataFlash: use new scheduler API

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/DataFlash/DataFlash_File.cpp
View File

@ -28,21 +28,19 @@ extern const AP_HAL::HAL& hal;
#define MAX_LOG_FILES 500U #define MAX_LOG_FILES 500U
#define DATAFLASH_PAGE_SIZE 1024UL #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 constructor
*/ */
DataFlash_File::DataFlash_File(const char *log_directory) : DataFlash_File::DataFlash_File(const char *log_directory) :
_write_fd(-1),
_read_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; _writebuf_head = _writebuf_tail = 0;
_initialised = true; _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 // 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; uint16_t _tail;
if (_write_fd == -1 || !_initialised) { if (_write_fd == -1 || !_initialised) {
@ -419,6 +417,7 @@ void DataFlash_File::_io_timer(uint32_t tnow)
if (nbytes == 0) { if (nbytes == 0) {
return; return;
} }
uint32_t tnow = hal.scheduler->micros();
if (nbytes < 512 && if (nbytes < 512 &&
tnow - _last_write_time < 2000000UL) { tnow - _last_write_time < 2000000UL) {
// write in 512 byte chunks, but always write at least once // 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); void ListAvailableLogs(AP_HAL::BetterStream *port);
private: private:
static int _write_fd; int _write_fd;
int _read_fd; int _read_fd;
uint32_t _read_offset; uint32_t _read_offset;
static volatile bool _initialised; volatile bool _initialised;
const char *_log_directory; const char *_log_directory;
/* /*
@ -55,18 +55,18 @@ private:
void ReadBlock(void *pkt, uint16_t size); void ReadBlock(void *pkt, uint16_t size);
// write buffer // write buffer
static uint8_t *_writebuf; uint8_t *_writebuf;
static const uint16_t _writebuf_size; const uint16_t _writebuf_size;
static volatile uint16_t _writebuf_head; volatile uint16_t _writebuf_head;
static volatile uint16_t _writebuf_tail; volatile uint16_t _writebuf_tail;
static uint32_t _last_write_time; uint32_t _last_write_time;
/* construct a file name given a log number. Caller must free. */ /* construct a file name given a log number. Caller must free. */
char *_log_file_name(uint16_t log_num); char *_log_file_name(uint16_t log_num);
char *_lastlog_file_name(void); char *_lastlog_file_name(void);
uint32_t _get_log_size(uint16_t log_num); uint32_t _get_log_size(uint16_t log_num);
static void _io_timer(uint32_t now); void _io_timer(void);
}; };