mirror of https://github.com/ArduPilot/ardupilot
AP_Logger: removed f4light logging backend
This commit is contained in:
Andrew Tridgell
parent
e3c9f10e91
commit
1d57385184
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@ -3,26 +3,29 @@
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#include "AP_Logger_Backend.h"
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#include "AP_Logger_File.h"
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#include "AP_Logger_File_sd.h"
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#include "AP_Logger_SITL.h"
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#include "AP_Logger_DataFlash.h"
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#include "AP_Logger_MAVLink.h"
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#include <GCS_MAVLink/GCS.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
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#include "AP_Logger_Revo.h"
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#endif
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AP_Logger *AP_Logger::_instance;
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extern const AP_HAL::HAL& hal;
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#ifndef HAL_DATAFLASH_FILE_BUFSIZE
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#define HAL_DATAFLASH_FILE_BUFSIZE 16
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#ifndef HAL_LOGGING_FILE_BUFSIZE
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#define HAL_LOGGING_FILE_BUFSIZE 16
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#endif
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#ifndef HAL_DATAFLASH_MAV_BUFSIZE
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#define HAL_DATAFLASH_MAV_BUFSIZE 8
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#ifndef HAL_LOGGING_MAV_BUFSIZE
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#define HAL_LOGGING_MAV_BUFSIZE 8
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#endif
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#ifndef HAL_LOGGING_BACKENDS_DEFAULT
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# ifdef HAL_LOGGING_DATAFLASH
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# define HAL_LOGGING_BACKENDS_DEFAULT DATAFLASH_BACKEND_BLOCK
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# else
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# define HAL_LOGGING_BACKENDS_DEFAULT DATAFLASH_BACKEND_FILE
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# endif
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#endif
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const AP_Param::GroupInfo AP_Logger::var_info[] = {
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@ -32,13 +35,13 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
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// @Values: 0:None,1:File,2:MAVLink,3:BothFileAndMAVLink
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// @Bitmask: 0:File,1:MAVLink,2:Block
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// @User: Standard
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AP_GROUPINFO("_BACKEND_TYPE", 0, AP_Logger, _params.backend_types, DATAFLASH_BACKEND_FILE),
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AP_GROUPINFO("_BACKEND_TYPE", 0, AP_Logger, _params.backend_types, HAL_LOGGING_BACKENDS_DEFAULT),
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// @Param: _FILE_BUFSIZE
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// @DisplayName: Maximum AP_Logger File Backend buffer size (in kilobytes)
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// @Description: The AP_Logger_File backend uses a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.
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// @User: Standard
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AP_GROUPINFO("_FILE_BUFSIZE", 1, AP_Logger, _params.file_bufsize, HAL_DATAFLASH_FILE_BUFSIZE),
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AP_GROUPINFO("_FILE_BUFSIZE", 1, AP_Logger, _params.file_bufsize, HAL_LOGGING_FILE_BUFSIZE),
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// @Param: _DISARMED
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// @DisplayName: Enable logging while disarmed
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@ -66,7 +69,7 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
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// @Description: Maximum amount of memory to allocate to AP_Logger-over-mavlink
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// @User: Advanced
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// @Units: kB
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AP_GROUPINFO("_MAV_BUFSIZE", 5, AP_Logger, _params.mav_bufsize, HAL_DATAFLASH_MAV_BUFSIZE),
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AP_GROUPINFO("_MAV_BUFSIZE", 5, AP_Logger, _params.mav_bufsize, HAL_LOGGING_MAV_BUFSIZE),
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AP_GROUPEND
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};
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File diff suppressed because it is too large
Load Diff
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@ -1,143 +0,0 @@
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/*
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AP_Logger logging - file oriented variant
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This uses posix file IO to create log files called logNN.dat in the
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given directory
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT && (defined(BOARD_SDCARD_NAME) || defined(BOARD_DATAFLASH_FATFS))
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#include <AP_HAL/utility/RingBuffer.h>
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#include "AP_Logger_Backend.h"
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#include <sd/SD.h>
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class AP_Logger_File : public AP_Logger_Backend
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{
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public:
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// constructor
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AP_Logger_File(AP_Logger &front,
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LoggerMessageWriter_DFLogStart *,
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const char *log_directory);
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// initialisation
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void Init() override;
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bool CardInserted(void) const;
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// erase handling
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void EraseAll();
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// possibly time-consuming preparation handling:
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bool NeedPrep();
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void Prep();
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/* Write a block of data at current offset */
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bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical);
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uint32_t bufferspace_available();
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// high level interface
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uint16_t find_last_log() override;
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
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uint16_t get_num_logs() override;
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uint16_t start_new_log(void) override;
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void periodic_1Hz() override;
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void periodic_fullrate();
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// this method is used when reporting system status over mavlink
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bool logging_enabled() const;
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bool logging_failed() const;
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void vehicle_was_disarmed() override;
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bool logging_started(void) const override { return !(!(_write_fd)); }
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void PrepForArming();
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protected:
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bool WritesOK() const override;
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bool StartNewLogOK() const override;
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private:
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File _write_fd;
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File _read_fd;
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uint16_t _read_fd_log_num;
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uint32_t _read_offset;
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uint32_t _write_offset;
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volatile bool _open_error;
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const char *_log_directory;
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uint32_t _io_timer_heartbeat;
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bool io_thread_alive() const;
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uint16_t _cached_oldest_log;
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uint16_t _last_oldest_log;
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uint16_t _log_num_from_list_entry(const uint16_t list_entry);
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// possibly time-consuming preparations handling
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void Prep_MinSpace();
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uint16_t find_oldest_log();
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bool file_exists(const char *filename) const;
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bool log_exists(const uint16_t lognum) const;
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const float min_avail_space_percent = 10.0f;
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// write buffer
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ByteBuffer _writebuf;
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const uint16_t _writebuf_chunk;
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uint32_t _last_write_time;
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/* construct a file name given a log number. Caller must free. */
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char *_log_file_name(const uint16_t log_num) const;
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char *_lastlog_file_name() const;
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uint32_t _get_log_size(const uint16_t log_num);
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uint32_t _get_log_time(const uint16_t log_num) const;
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void stop_logging(void);
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void _io_timer(void);
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uint32_t critical_message_reserved_space() const {
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// possibly make this a proportional to buffer size?
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uint32_t ret = 1024;
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if (ret > _writebuf.get_size()) {
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// in this case you will only get critical messages
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ret = _writebuf.get_size();
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}
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return ret;
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};
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uint32_t non_messagewriter_message_reserved_space() const {
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// possibly make this a proportional to buffer size?
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uint32_t ret = 1024;
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if (ret >= _writebuf.get_size()) {
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// need to allow messages out from the messagewriters. In
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// this case while you have a messagewriter you won't get
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// any other messages. This should be a corner case!
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ret = 0;
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}
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return ret;
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};
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float avail_space_percent(uint32_t *free = NULL);
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HAL_Semaphore semaphore;
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bool has_data;
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#define Daysto32(year, mon) (((year - 1) / 4) + MONTAB(year)[mon])
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/////////////////////////////////////////////////////////////////////
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static uint32_t to_timestamp(const struct tm *t);
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bool _busy;
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};
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#endif
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@ -1,957 +0,0 @@
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/*
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hacked up AP_Logger library for Desktop support
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT && defined(BOARD_DATAFLASH_CS_PIN) && !defined(BOARD_DATAFLASH_FATFS)
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#include "AP_Logger_Revo.h"
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#include <stdlib.h>
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#include <stdio.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdint.h>
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#include <assert.h>
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#include <AP_HAL_F4Light/Scheduler.h>
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#include <AP_HAL_F4Light/GPIO.h>
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#pragma GCC diagnostic ignored "-Wunused-result"
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extern const AP_HAL::HAL& hal;
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static uint8_t buffer[2][DF_PAGE_SIZE];
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static uint8_t cmd[4];
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_Logger_Revo::_spi = nullptr;
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AP_HAL::Semaphore *AP_Logger_Revo::_spi_sem = nullptr;
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bool AP_Logger_Revo::log_write_started=false;
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bool AP_Logger_Revo::flash_died=false;
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// the last page holds the log format in first 4 bytes. Please change
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// this if (and only if!) the low level format changes
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#define DF_LOGGING_FORMAT 0x28122013L
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uint32_t AP_Logger_Revo::bufferspace_available()
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{
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// because AP_Logger_Block devices are ring buffers, we *always*
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// have room...
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return df_NumPages * df_PageSize;
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}
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// *** DATAFLASH PUBLIC FUNCTIONS ***
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void AP_Logger_Revo::StartWrite(uint16_t PageAdr)
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{
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df_BufferIdx = 0;
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df_BufferNum = 0;
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df_PageAdr = PageAdr;
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WaitReady();
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}
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void AP_Logger_Revo::FinishWrite(void)
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{
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// Write Buffer to flash, NO WAIT
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BufferToPage(df_BufferNum, df_PageAdr);
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df_PageAdr++;
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// If we reach the end of the memory, start from the beginning
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if (df_PageAdr > df_NumPages) {
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df_PageAdr = 1;
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}
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// TODO: а что, стирать уже не надо???
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uint16_t block_num = df_PageAdr / (erase_size/DF_PAGE_SIZE); // number of erase block
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uint16_t page_in_block = df_PageAdr % (erase_size/DF_PAGE_SIZE); // number of page in erase block
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// if(block_num != last_block_num){
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if(page_in_block==0 || df_PageAdr==1){ // начали писАть страницу - подготовим ее
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PageErase(df_PageAdr);
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last_block_num = block_num;
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}
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// switch buffer
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df_BufferNum ^= 1;
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df_BufferIdx = 0;
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}
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bool AP_Logger_Revo::WritesOK() const
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{
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if (!CardInserted()) {
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return false;
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}
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if (!log_write_started) {
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return false;
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}
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return true;
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}
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bool AP_Logger_Revo::_WritePrioritisedBlock(const void *pBuffer, uint16_t size,
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bool is_critical)
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{
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// is_critical is ignored - we're a ring buffer and never run out
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// of space. possibly if we do more complicated bandwidth
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// limiting we can reservice bandwidth based on is_critical
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if (!WritesOK()) {
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return false;
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}
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if (! WriteBlockCheckStartupMessages()) {
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return false;
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}
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while (size > 0) {
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uint16_t n = df_PageSize - df_BufferIdx;
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if (n > size) {
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n = size;
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}
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if (df_BufferIdx == 0) {
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// if we are at the start of a page we need to insert a
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// page header
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if (n > df_PageSize - sizeof(struct PageHeader)) {
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n = df_PageSize - sizeof(struct PageHeader);
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}
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struct PageHeader ph = { df_FileNumber, df_FilePage };
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BlockWrite(df_BufferNum, df_BufferIdx, &ph, sizeof(ph), pBuffer, n);
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df_BufferIdx += n + sizeof(ph);
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} else {
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BlockWrite(df_BufferNum, df_BufferIdx, nullptr, 0, pBuffer, n);
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df_BufferIdx += n;
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}
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size -= n;
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pBuffer = (const void *)(n + (uintptr_t)pBuffer);
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if (df_BufferIdx == df_PageSize) {
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FinishWrite();
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df_FilePage++;
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}
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}
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return true;
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}
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// Get the last page written to
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uint16_t AP_Logger_Revo::GetWritePage()
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{
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return df_PageAdr;
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}
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// Get the last page read
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uint16_t AP_Logger_Revo::GetPage()
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{
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return df_Read_PageAdr;
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}
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void AP_Logger_Revo::StartRead(uint16_t PageAdr)
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{
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df_Read_BufferNum = 0;
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df_Read_PageAdr = PageAdr;
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// disable writing while reading
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log_write_started = false;
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WaitReady();
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// copy flash page to buffer
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PageToBuffer(df_Read_BufferNum, df_Read_PageAdr);
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// We are starting a new page - read FileNumber and FilePage
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struct PageHeader ph;
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BlockRead(df_Read_BufferNum, 0, &ph, sizeof(ph));
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df_FileNumber = ph.FileNumber;
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df_FilePage = ph.FilePage;
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df_Read_BufferIdx = sizeof(ph);
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}
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bool AP_Logger_Revo::ReadBlock(void *pBuffer, uint16_t size)
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{
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while (size > 0) {
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uint16_t n = df_PageSize - df_Read_BufferIdx;
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if (n > size) {
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n = size;
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}
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WaitReady();
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if (!BlockRead(df_Read_BufferNum, df_Read_BufferIdx, pBuffer, n)) {
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return false;
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}
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size -= n;
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pBuffer = (void *)(n + (uintptr_t)pBuffer);
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df_Read_BufferIdx += n;
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if (df_Read_BufferIdx == df_PageSize) {
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df_Read_PageAdr++;
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if (df_Read_PageAdr > df_NumPages) {
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df_Read_PageAdr = 1;
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}
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PageToBuffer(df_Read_BufferNum, df_Read_PageAdr);
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// We are starting a new page - read FileNumber and FilePage
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struct PageHeader ph;
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if (!BlockRead(df_Read_BufferNum, 0, &ph, sizeof(ph))) {
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return false;
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}
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df_FileNumber = ph.FileNumber;
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df_FilePage = ph.FilePage;
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df_Read_BufferIdx = sizeof(ph);
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}
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}
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return true;
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}
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void AP_Logger_Revo::SetFileNumber(uint16_t FileNumber)
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{
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df_FileNumber = FileNumber;
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df_FilePage = 1;
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}
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uint16_t AP_Logger_Revo::GetFileNumber()
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{
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return df_FileNumber;
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}
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uint16_t AP_Logger_Revo::GetFilePage()
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{
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return df_FilePage;
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}
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void AP_Logger_Revo::EraseAll()
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{
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log_write_started = false;
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ChipErase();
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// write the logging format in the last page
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hal.scheduler->delay(100);
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StartWrite(df_NumPages+1);
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uint32_t version = DF_LOGGING_FORMAT;
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log_write_started = true;
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BlockWrite(df_BufferNum, 0, nullptr, 0, &version, sizeof(version));
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log_write_started = false;
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FinishWrite();
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hal.scheduler->delay(100);
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//[ just to test
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StartRead(df_NumPages+1); // read last page after erase to check it
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StartRead(1);
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//]
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}
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bool AP_Logger_Revo::NeedPrep(void)
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{
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return NeedErase();
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}
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void AP_Logger_Revo::Prep()
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{
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if (hal.util->get_soft_armed()) {
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// do not want to do any filesystem operations while we are e.g. flying
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return;
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}
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if (NeedErase()) {
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EraseAll();
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}
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}
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/*
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* we need to erase if the logging format has changed
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*/
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bool AP_Logger_Revo::NeedErase(void)
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{
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uint32_t version = 0;
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StartRead(df_NumPages+1); // last page
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BlockRead(df_Read_BufferNum, 0, &version, sizeof(version));
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StartRead(1);
|
||||
if(version == DF_LOGGING_FORMAT) return false;
|
||||
|
||||
printf("Need to erase: version is %lx required %lx\n", version, DF_LOGGING_FORMAT);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
get raw data from a log
|
||||
*/
|
||||
int16_t AP_Logger_Revo::get_log_data_raw(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data)
|
||||
{
|
||||
uint16_t data_page_size = df_PageSize - sizeof(struct PageHeader);
|
||||
|
||||
if (offset >= data_page_size) {
|
||||
page += offset / data_page_size;
|
||||
offset = offset % data_page_size;
|
||||
if (page > df_NumPages) {
|
||||
// pages are one based, not zero
|
||||
page = 1 + page - df_NumPages;
|
||||
}
|
||||
}
|
||||
if (log_write_started || df_Read_PageAdr != page) {
|
||||
StartRead(page);
|
||||
}
|
||||
|
||||
df_Read_BufferIdx = offset + sizeof(struct PageHeader);
|
||||
if (!ReadBlock(data, len)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return (int16_t)len;
|
||||
}
|
||||
|
||||
/**
|
||||
get data from a log, accounting for adding FMT headers
|
||||
*/
|
||||
int16_t AP_Logger_Revo::get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data)
|
||||
{
|
||||
if (offset == 0) {
|
||||
uint8_t header[3];
|
||||
get_log_data_raw(log_num, page, 0, 3, header);
|
||||
adding_fmt_headers = (header[0] != HEAD_BYTE1 || header[1] != HEAD_BYTE2 || header[2] != LOG_FORMAT_MSG);
|
||||
}
|
||||
uint16_t ret = 0;
|
||||
|
||||
if (adding_fmt_headers) {
|
||||
// the log doesn't start with a FMT message, we need to add
|
||||
// them
|
||||
const uint16_t fmt_header_size = num_types() * sizeof(struct log_Format);
|
||||
while (offset < fmt_header_size && len > 0) {
|
||||
struct log_Format pkt;
|
||||
uint8_t t = offset / sizeof(pkt);
|
||||
uint8_t ofs = offset % sizeof(pkt);
|
||||
Fill_Format(structure(t), pkt);
|
||||
uint8_t n = sizeof(pkt) - ofs;
|
||||
if (n > len) {
|
||||
n = len;
|
||||
}
|
||||
memcpy(data, ofs + (uint8_t *)&pkt, n);
|
||||
data += n;
|
||||
offset += n;
|
||||
len -= n;
|
||||
ret += n;
|
||||
}
|
||||
offset -= fmt_header_size;
|
||||
}
|
||||
|
||||
if (len > 0) {
|
||||
ret += get_log_data_raw(log_num, page, offset, len, data);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
// Public Methods //////////////////////////////////////////////////////////////
|
||||
void AP_Logger_Revo::Init()
|
||||
{
|
||||
|
||||
df_NumPages=0;
|
||||
|
||||
#if BOARD_DATAFLASH_ERASE_SIZE >= 65536
|
||||
erase_cmd=JEDEC_PAGE_ERASE;
|
||||
#else
|
||||
erase_cmd=JEDEC_SECTOR_ERASE;
|
||||
#endif
|
||||
erase_size = BOARD_DATAFLASH_ERASE_SIZE;
|
||||
|
||||
GPIO::_pinMode(DF_RESET,OUTPUT);
|
||||
GPIO::_setSpeed(DF_RESET, GPIO_speed_100MHz);
|
||||
// Reset the chip
|
||||
GPIO::_write(DF_RESET,0);
|
||||
Scheduler::_delay(1);
|
||||
GPIO::_write(DF_RESET,1);
|
||||
|
||||
_spi = hal.spi->get_device(HAL_DATAFLASH_NAME);
|
||||
|
||||
if (!_spi) {
|
||||
AP_HAL::panic("PANIC: AP_Logger SPIDeviceDriver not found");
|
||||
return; /* never reached */
|
||||
}
|
||||
|
||||
_spi_sem = _spi->get_semaphore();
|
||||
if (!_spi_sem) {
|
||||
AP_HAL::panic("PANIC: AP_Logger SPIDeviceDriver semaphore is null");
|
||||
return; /* never reached */
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
WITH_SEMAPHORE(_spi_sem);
|
||||
_spi->set_speed(AP_HAL::Device::SPEED_LOW);
|
||||
|
||||
AP_Logger_Backend::Init();
|
||||
}
|
||||
|
||||
df_NumPages = BOARD_DATAFLASH_PAGES - 1; // reserve last page for config information
|
||||
|
||||
ReadManufacturerID();
|
||||
|
||||
getSectorCount(&df_NumPages);
|
||||
|
||||
flash_died=false;
|
||||
|
||||
log_write_started = true;
|
||||
|
||||
df_PageSize = DF_PAGE_SIZE;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void AP_Logger_Revo::WaitReady() {
|
||||
if(flash_died) return;
|
||||
|
||||
uint32_t t = AP_HAL::millis();
|
||||
while(ReadStatus()!=0){
|
||||
|
||||
Scheduler::yield(0); // пока ждем пусть другие работают
|
||||
|
||||
if(AP_HAL::millis() - t > 4000) {
|
||||
flash_died = true;
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// try to take a semaphore safely from both in a timer and outside
|
||||
bool AP_Logger_Revo::_sem_take(uint8_t timeout)
|
||||
{
|
||||
|
||||
if(!_spi_sem || flash_died) return false;
|
||||
|
||||
return _spi_sem->take(timeout);
|
||||
}
|
||||
|
||||
bool AP_Logger_Revo::cs_assert(){
|
||||
if (!_sem_take(HAL_SEMAPHORE_BLOCK_FOREVER))
|
||||
return false;
|
||||
|
||||
_spi->set_speed(AP_HAL::Device::SPEED_HIGH);
|
||||
|
||||
GPIO::_write(DF_RESET,0);
|
||||
return true;
|
||||
}
|
||||
|
||||
void AP_Logger_Revo::cs_release(){
|
||||
GPIO::_write(DF_RESET,1);
|
||||
|
||||
_spi_sem->give();
|
||||
}
|
||||
|
||||
|
||||
// This function is mainly to test the device
|
||||
void AP_Logger_Revo::ReadManufacturerID()
|
||||
{
|
||||
if (!cs_assert()) return;
|
||||
|
||||
// Read manufacturer and ID command...
|
||||
cmd[0] = JEDEC_DEVICE_ID;
|
||||
|
||||
_spi->transfer(cmd, 1, buffer[1], 4);
|
||||
|
||||
df_manufacturer = buffer[1][0];
|
||||
df_device = (buffer[1][1] << 8) | buffer[1][2]; //capacity
|
||||
|
||||
cs_release();
|
||||
}
|
||||
|
||||
bool AP_Logger_Revo::getSectorCount(uint32_t *ptr){
|
||||
uint8_t capacity = df_device & 0xFF;
|
||||
uint8_t memtype = (df_device>>8) & 0xFF;
|
||||
uint32_t size=0;
|
||||
|
||||
|
||||
const char * mfg=NULL;
|
||||
|
||||
switch(df_manufacturer){
|
||||
case 0xEF: // Winbond Serial Flash
|
||||
if (memtype == 0x40) {
|
||||
mfg="Winbond";
|
||||
size = (1 << ((capacity & 0x0f) + 8));
|
||||
/*
|
||||
const uint8_t _capID[11] = {0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x43};
|
||||
const uint32_t _memSize[11] = {64L*K, 128L*K, 256L*K, 512L*K, 1L*M, 2L*M, 4L*M, 8L*M, 16L*M, 32L*M, 8L*M};
|
||||
*/
|
||||
erase_size=4096;
|
||||
erase_cmd=JEDEC_SECTOR_ERASE;
|
||||
}
|
||||
break;
|
||||
case 0xbf: // SST
|
||||
if (memtype == 0x25) {
|
||||
mfg="Microchip";
|
||||
size = (1 << ((capacity & 0x07) + 12));
|
||||
}
|
||||
break;
|
||||
|
||||
case 0x20: // micron
|
||||
if (memtype == 0xba){// JEDEC_ID_MICRON_N25Q128 0x20ba18
|
||||
mfg="Micron";
|
||||
size = (1 << ((capacity & 0x0f) + 8));
|
||||
erase_size=4096;
|
||||
erase_cmd=JEDEC_SECTOR_ERASE;
|
||||
} else if(memtype==0x20) { // JEDEC_ID_MICRON_M25P16 0x202015
|
||||
mfg="Micron";
|
||||
size = (1 << ((capacity & 0x0f) + 8));
|
||||
}
|
||||
break;
|
||||
|
||||
case 0xC2: //JEDEC_ID_MACRONIX_MX25L6406E 0xC22017
|
||||
if (memtype == 0x20) {
|
||||
mfg="MACRONIX";
|
||||
size = (1 << ((capacity & 0x0f) + 8));
|
||||
erase_size=4096;
|
||||
erase_cmd=JEDEC_SECTOR_ERASE;
|
||||
}
|
||||
break;
|
||||
|
||||
case 0x9D: // ISSI
|
||||
if (memtype == 0x40 || memtype == 0x30) {
|
||||
mfg = "ISSI";
|
||||
size = (1 << ((capacity & 0x0f) + 8));
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
if(mfg && size) {
|
||||
printf("%s SPI Flash found sectors=%ld\n", mfg, size);
|
||||
}else {
|
||||
printf("\nUnknown Flash! SPI Flash codes: mfg=%x type=%x cap=%x\n ",df_manufacturer, memtype, capacity);
|
||||
size = BOARD_DATAFLASH_PAGES; // as defined
|
||||
}
|
||||
|
||||
|
||||
///////
|
||||
|
||||
size -= (erase_size/DF_PAGE_SIZE); // reserve last page for config information
|
||||
|
||||
*ptr = size; // in 256b blocks
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
// Read the status register
|
||||
uint8_t AP_Logger_Revo::ReadStatusReg()
|
||||
{
|
||||
uint8_t tmp;
|
||||
|
||||
// activate dataflash command decoder
|
||||
if (!cs_assert()) return JEDEC_STATUS_BUSY;
|
||||
|
||||
// Read status command
|
||||
#if 0
|
||||
spi_write(JEDEC_READ_STATUS);
|
||||
tmp = spi_read(); // We only want to extract the READY/BUSY bit
|
||||
#else
|
||||
cmd[0] = JEDEC_READ_STATUS;
|
||||
|
||||
_spi->transfer(cmd, 1, &cmd[1], 1);
|
||||
tmp = cmd[1];
|
||||
#endif
|
||||
// release SPI bus for use by other sensors
|
||||
cs_release();
|
||||
|
||||
return tmp;
|
||||
}
|
||||
|
||||
uint8_t AP_Logger_Revo::ReadStatus()
|
||||
{
|
||||
// We only want to extract the READY/BUSY bit
|
||||
int32_t status = ReadStatusReg();
|
||||
if (status < 0)
|
||||
return -1;
|
||||
return status & JEDEC_STATUS_BUSY;
|
||||
}
|
||||
|
||||
|
||||
void AP_Logger_Revo::PageToBuffer(unsigned char BufferNum, uint16_t pageNum)
|
||||
{
|
||||
|
||||
uint32_t PageAdr = pageNum * DF_PAGE_SIZE;
|
||||
|
||||
if (!cs_assert()) return;
|
||||
|
||||
cmd[0] = JEDEC_READ_DATA;
|
||||
cmd[1] = (PageAdr >> 16) & 0xff;
|
||||
cmd[2] = (PageAdr >> 8) & 0xff;
|
||||
cmd[3] = (PageAdr >> 0) & 0xff;
|
||||
|
||||
_spi->transfer(cmd, 4, buffer[BufferNum], DF_PAGE_SIZE);
|
||||
|
||||
cs_release();
|
||||
}
|
||||
|
||||
void AP_Logger_Revo::BufferToPage (unsigned char BufferNum, uint16_t pageNum)
|
||||
{
|
||||
uint32_t PageAdr = pageNum * DF_PAGE_SIZE;
|
||||
|
||||
Flash_Jedec_WriteEnable();
|
||||
|
||||
if (!cs_assert()) return;
|
||||
|
||||
cmd[0] = JEDEC_PAGE_WRITE;
|
||||
cmd[1] = (PageAdr >> 16) & 0xff;
|
||||
cmd[2] = (PageAdr >> 8) & 0xff;
|
||||
cmd[3] = (PageAdr >> 0) & 0xff;
|
||||
|
||||
_spi->transfer(cmd, 4,NULL, 0);
|
||||
|
||||
_spi->transfer(buffer[BufferNum], DF_PAGE_SIZE, NULL, 0);
|
||||
|
||||
cs_release();
|
||||
}
|
||||
|
||||
void AP_Logger_Revo::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
|
||||
{
|
||||
buffer[BufferNum][IntPageAdr] = (uint8_t)Data;
|
||||
}
|
||||
|
||||
void AP_Logger_Revo::BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
|
||||
const void *pHeader, uint8_t hdr_size,
|
||||
const void *pBuffer, uint16_t size)
|
||||
{
|
||||
if (hdr_size) {
|
||||
memcpy(&buffer[BufferNum][IntPageAdr],
|
||||
pHeader,
|
||||
hdr_size);
|
||||
}
|
||||
memcpy(&buffer[BufferNum][IntPageAdr+hdr_size],
|
||||
pBuffer,
|
||||
size);
|
||||
}
|
||||
|
||||
// read size bytes of data to a page. The caller must ensure that
|
||||
// the data fits within the page, otherwise it will wrap to the
|
||||
// start of the page
|
||||
bool AP_Logger_Revo::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size)
|
||||
{
|
||||
memcpy(pBuffer, &buffer[BufferNum][IntPageAdr], size);
|
||||
return true;
|
||||
}
|
||||
|
||||
/*
|
||||
|
||||
* 2 097 152 bytes (8 bits each)
|
||||
* 32 sectors (512 Kbits, 65536 bytes each)
|
||||
* 8192 pages (256 bytes each).
|
||||
|
||||
*/
|
||||
|
||||
void AP_Logger_Revo::PageErase (uint16_t pageNum)
|
||||
{
|
||||
|
||||
uint32_t PageAdr = pageNum * DF_PAGE_SIZE;
|
||||
|
||||
cmd[0] = erase_cmd;
|
||||
cmd[1] = (PageAdr >> 16) & 0xff;
|
||||
cmd[2] = (PageAdr >> 8) & 0xff;
|
||||
cmd[3] = (PageAdr >> 0) & 0xff;
|
||||
|
||||
Flash_Jedec_WriteEnable();
|
||||
|
||||
if (!cs_assert()) return;
|
||||
|
||||
_spi->transfer(cmd, 4, NULL, 0);
|
||||
|
||||
cs_release();
|
||||
}
|
||||
|
||||
|
||||
void AP_Logger_Revo::ChipErase()
|
||||
{
|
||||
|
||||
cmd[0] = JEDEC_BULK_ERASE;
|
||||
|
||||
Flash_Jedec_WriteEnable();
|
||||
|
||||
if (!cs_assert()) return;
|
||||
|
||||
_spi->transfer(cmd, 1, NULL, 0);
|
||||
|
||||
cs_release();
|
||||
}
|
||||
|
||||
|
||||
void AP_Logger_Revo::Flash_Jedec_WriteEnable(void)
|
||||
{
|
||||
// activate dataflash command decoder
|
||||
if (!cs_assert()) return;
|
||||
|
||||
spi_write(JEDEC_WRITE_ENABLE);
|
||||
|
||||
cs_release();
|
||||
}
|
||||
|
||||
//////////////////////////////////////////
|
||||
|
||||
// This function determines the number of whole or partial log files in the AP_Logger
|
||||
// Wholly overwritten files are (of course) lost.
|
||||
uint16_t AP_Logger_Revo::get_num_logs(void)
|
||||
{
|
||||
uint16_t lastpage;
|
||||
uint16_t last;
|
||||
uint16_t first;
|
||||
|
||||
if (find_last_page() == 1) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
StartRead(1);
|
||||
|
||||
if (GetFileNumber() == 0xFFFF) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
lastpage = find_last_page();
|
||||
StartRead(lastpage);
|
||||
last = GetFileNumber();
|
||||
StartRead(lastpage + 2);
|
||||
if (GetFileNumber() == 0xFFFF)
|
||||
StartRead(((lastpage >> 8) + 1) << 8); // next sector
|
||||
first = GetFileNumber();
|
||||
if(first > last) {
|
||||
StartRead(1);
|
||||
first = GetFileNumber();
|
||||
}
|
||||
|
||||
if (last == first) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
return (last - first + 1);
|
||||
}
|
||||
|
||||
|
||||
// This function starts a new log file in the AP_Logger
|
||||
uint16_t AP_Logger_Revo::start_new_log(void)
|
||||
{
|
||||
uint16_t last_page = find_last_page();
|
||||
|
||||
StartRead(last_page);
|
||||
//Serial.print("last page: "); Serial.println(last_page);
|
||||
//Serial.print("file #: "); Serial.println(GetFileNumber());
|
||||
//Serial.print("file page: "); Serial.println(GetFilePage());
|
||||
|
||||
if(find_last_log() == 0 || GetFileNumber() == 0xFFFF) {
|
||||
SetFileNumber(1);
|
||||
StartWrite(1);
|
||||
//Serial.println("start log from 0");
|
||||
log_write_started = true;
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint16_t new_log_num;
|
||||
|
||||
// Check for log of length 1 page and suppress
|
||||
if(GetFilePage() <= 1) {
|
||||
new_log_num = GetFileNumber();
|
||||
// Last log too short, reuse its number
|
||||
// and overwrite it
|
||||
SetFileNumber(new_log_num);
|
||||
StartWrite(last_page);
|
||||
} else {
|
||||
new_log_num = GetFileNumber()+1;
|
||||
if (last_page == 0xFFFF) {
|
||||
last_page=0;
|
||||
}
|
||||
SetFileNumber(new_log_num);
|
||||
StartWrite(last_page + 1);
|
||||
}
|
||||
log_write_started = true;
|
||||
return new_log_num;
|
||||
}
|
||||
|
||||
// This function finds the first and last pages of a log file
|
||||
// The first page may be greater than the last page if the AP_Logger has been filled and partially overwritten.
|
||||
void AP_Logger_Revo::get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page)
|
||||
{
|
||||
uint16_t num = get_num_logs();
|
||||
uint16_t look;
|
||||
|
||||
if (df_BufferIdx != 0) {
|
||||
FinishWrite();
|
||||
hal.scheduler->delay(100);
|
||||
}
|
||||
|
||||
if(num == 1)
|
||||
{
|
||||
StartRead(df_NumPages);
|
||||
if (GetFileNumber() == 0xFFFF)
|
||||
{
|
||||
start_page = 1;
|
||||
end_page = find_last_page_of_log((uint16_t)log_num);
|
||||
} else {
|
||||
end_page = find_last_page_of_log((uint16_t)log_num);
|
||||
start_page = end_page + 1;
|
||||
}
|
||||
|
||||
} else {
|
||||
if(log_num==1) {
|
||||
StartRead(df_NumPages);
|
||||
if(GetFileNumber() == 0xFFFF) {
|
||||
start_page = 1;
|
||||
} else {
|
||||
start_page = find_last_page() + 1;
|
||||
}
|
||||
} else {
|
||||
if(log_num == find_last_log() - num + 1) {
|
||||
start_page = find_last_page() + 1;
|
||||
} else {
|
||||
look = log_num-1;
|
||||
do {
|
||||
start_page = find_last_page_of_log(look) + 1;
|
||||
look--;
|
||||
} while (start_page <= 0 && look >=1);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (start_page == df_NumPages+1 || start_page == 0) {
|
||||
start_page = 1;
|
||||
}
|
||||
end_page = find_last_page_of_log(log_num);
|
||||
if (end_page == 0) {
|
||||
end_page = start_page;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
bool AP_Logger_Revo::check_wrapped(void)
|
||||
{
|
||||
StartRead(df_NumPages);
|
||||
if(GetFileNumber() == 0xFFFF)
|
||||
return 0;
|
||||
else
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
// This funciton finds the last log number
|
||||
uint16_t AP_Logger_Revo::find_last_log(void)
|
||||
{
|
||||
uint16_t last_page = find_last_page();
|
||||
StartRead(last_page);
|
||||
return GetFileNumber();
|
||||
}
|
||||
|
||||
// This function finds the last page of the last file
|
||||
uint16_t AP_Logger_Revo::find_last_page(void)
|
||||
{
|
||||
uint16_t look;
|
||||
uint16_t bottom = 1;
|
||||
uint16_t top = df_NumPages;
|
||||
uint32_t look_hash;
|
||||
uint32_t bottom_hash;
|
||||
uint32_t top_hash;
|
||||
|
||||
StartRead(bottom);
|
||||
bottom_hash = ((int32_t)GetFileNumber()<<16) | GetFilePage();
|
||||
|
||||
while(top-bottom > 1) {
|
||||
look = (top+bottom)/2;
|
||||
StartRead(look);
|
||||
look_hash = (int32_t)GetFileNumber()<<16 | GetFilePage();
|
||||
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
||||
|
||||
if(look_hash < bottom_hash) {
|
||||
// move down
|
||||
top = look;
|
||||
} else {
|
||||
// move up
|
||||
bottom = look;
|
||||
bottom_hash = look_hash;
|
||||
}
|
||||
}
|
||||
|
||||
StartRead(top);
|
||||
top_hash = ((int32_t)GetFileNumber()<<16) | GetFilePage();
|
||||
if (top_hash >= 0xFFFF0000) {
|
||||
top_hash = 0;
|
||||
}
|
||||
if (top_hash > bottom_hash) {
|
||||
return top;
|
||||
}
|
||||
|
||||
return bottom;
|
||||
}
|
||||
|
||||
// This function finds the last page of a particular log file
|
||||
uint16_t AP_Logger_Revo::find_last_page_of_log(uint16_t log_number)
|
||||
{
|
||||
uint16_t look;
|
||||
uint16_t bottom;
|
||||
uint16_t top;
|
||||
uint32_t look_hash;
|
||||
uint32_t check_hash;
|
||||
|
||||
if(check_wrapped()) {
|
||||
StartRead(1);
|
||||
bottom = GetFileNumber();
|
||||
if (bottom > log_number)
|
||||
{
|
||||
bottom = find_last_page();
|
||||
top = df_NumPages;
|
||||
} else {
|
||||
bottom = 1;
|
||||
top = find_last_page();
|
||||
}
|
||||
} else {
|
||||
bottom = 1;
|
||||
top = find_last_page();
|
||||
}
|
||||
|
||||
check_hash = (int32_t)log_number<<16 | 0xFFFF;
|
||||
|
||||
while(top-bottom > 1)
|
||||
{
|
||||
look = (top+bottom)/2;
|
||||
StartRead(look);
|
||||
look_hash = (int32_t)GetFileNumber()<<16 | GetFilePage();
|
||||
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
||||
|
||||
if(look_hash > check_hash) {
|
||||
// move down
|
||||
top = look;
|
||||
} else {
|
||||
// move up
|
||||
bottom = look;
|
||||
}
|
||||
}
|
||||
|
||||
StartRead(top);
|
||||
if (GetFileNumber() == log_number) return top;
|
||||
|
||||
StartRead(bottom);
|
||||
if (GetFileNumber() == log_number) return bottom;
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
void AP_Logger_Revo::get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc)
|
||||
{
|
||||
uint16_t start, end;
|
||||
get_log_boundaries(log_num, start, end);
|
||||
if (end >= start) {
|
||||
size = (end + 1 - start) * (uint32_t)df_PageSize;
|
||||
} else {
|
||||
size = (df_NumPages + end - start) * (uint32_t)df_PageSize;
|
||||
}
|
||||
time_utc = 0;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -1,193 +0,0 @@
|
|||
/* ************************************************************ */
|
||||
/* AP_Logger_Revo Log library */
|
||||
/* ************************************************************ */
|
||||
#pragma once
|
||||
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include "AP_Logger_Backend.h"
|
||||
#include <AP_HAL_F4Light/AP_HAL_F4Light.h>
|
||||
#include <AP_HAL_F4Light/GPIO.h>
|
||||
|
||||
|
||||
// flash size
|
||||
#define DF_PAGE_SIZE 256L
|
||||
|
||||
#define DF_RESET BOARD_DATAFLASH_CS_PIN // RESET (PB3)
|
||||
|
||||
//Micron M25P16 Serial Flash Embedded Memory 16 Mb, 3V
|
||||
#define JEDEC_WRITE_ENABLE 0x06
|
||||
#define JEDEC_WRITE_DISABLE 0x04
|
||||
#define JEDEC_READ_STATUS 0x05
|
||||
#define JEDEC_WRITE_STATUS 0x01
|
||||
#define JEDEC_READ_DATA 0x03
|
||||
#define JEDEC_FAST_READ 0x0b
|
||||
#define JEDEC_DEVICE_ID 0x9F
|
||||
#define JEDEC_PAGE_WRITE 0x02
|
||||
|
||||
#define JEDEC_BULK_ERASE 0xC7
|
||||
#define JEDEC_SECTOR_ERASE 0x20 // 4k erase
|
||||
#define JEDEC_PAGE_ERASE 0xD8 // 64K erase
|
||||
|
||||
#define JEDEC_STATUS_BUSY 0x01
|
||||
#define JEDEC_STATUS_WRITEPROTECT 0x02
|
||||
#define JEDEC_STATUS_BP0 0x04
|
||||
#define JEDEC_STATUS_BP1 0x08
|
||||
#define JEDEC_STATUS_BP2 0x10
|
||||
#define JEDEC_STATUS_TP 0x20
|
||||
#define JEDEC_STATUS_SEC 0x40
|
||||
#define JEDEC_STATUS_SRP0 0x80
|
||||
|
||||
|
||||
using namespace F4Light;
|
||||
|
||||
|
||||
class AP_Logger_Revo : public AP_Logger_Backend
|
||||
{
|
||||
private:
|
||||
//Methods
|
||||
void BufferWrite (uint8_t BufferNum, uint16_t IntPageAdr, uint8_t Data);
|
||||
void BufferToPage (uint8_t BufferNum, uint16_t PageAdr);
|
||||
void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr);
|
||||
void WaitReady();
|
||||
uint8_t ReadStatusReg();
|
||||
uint16_t PageSize() { return df_PageSize; }
|
||||
void PageErase (uint16_t PageAdr);
|
||||
void ChipErase();
|
||||
|
||||
void Flash_Jedec_WriteEnable();
|
||||
void Flash_Jedec_EraseSector(uint32_t chip_offset);
|
||||
|
||||
// write size bytes of data to a page. The caller must ensure that
|
||||
// the data fits within the page, otherwise it will wrap to the
|
||||
// start of the page
|
||||
// If pHeader is not nullptr then write the header bytes before the data
|
||||
void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
|
||||
const void *pHeader, uint8_t hdr_size,
|
||||
const void *pBuffer, uint16_t size);
|
||||
|
||||
// read size bytes of data to a page. The caller must ensure that
|
||||
// the data fits within the page, otherwise it will wrap to the
|
||||
// start of the page
|
||||
bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size);
|
||||
|
||||
|
||||
//////////////////
|
||||
static AP_HAL::OwnPtr<AP_HAL::SPIDevice> _spi;
|
||||
static AP_HAL::Semaphore *_spi_sem;
|
||||
static bool log_write_started;
|
||||
|
||||
static bool _sem_take(uint8_t timeout); // take a semaphore safely
|
||||
|
||||
bool cs_assert(); // Select device
|
||||
void cs_release(); // Deselect device
|
||||
|
||||
// uint8_t spi_read(void) { uint8_t b; _spi->transfer(NULL,0, &b, 1); return b; }
|
||||
inline void spi_write(uint8_t b) { _spi->transfer(&b,1, NULL, 0); }
|
||||
inline void spi_write(int data) { spi_write((uint8_t)data); }
|
||||
|
||||
static bool flash_died;
|
||||
|
||||
//[ from died Dataflash_Block
|
||||
|
||||
struct PageHeader {
|
||||
uint16_t FileNumber;
|
||||
uint16_t FilePage;
|
||||
};
|
||||
|
||||
// AP_Logger Log variables...
|
||||
uint8_t df_BufferNum;
|
||||
uint8_t df_Read_BufferNum;
|
||||
uint16_t df_BufferIdx;
|
||||
uint16_t df_Read_BufferIdx;
|
||||
uint16_t df_PageAdr;
|
||||
uint16_t df_Read_PageAdr;
|
||||
uint16_t df_FileNumber;
|
||||
uint16_t df_FilePage;
|
||||
|
||||
// offset from adding FMT messages to log data
|
||||
bool adding_fmt_headers;
|
||||
|
||||
// erase handling
|
||||
bool NeedErase(void);
|
||||
|
||||
// internal high level functions
|
||||
void StartRead(uint16_t PageAdr);
|
||||
uint16_t find_last_page(void);
|
||||
uint16_t find_last_page_of_log(uint16_t log_number);
|
||||
bool check_wrapped(void);
|
||||
uint16_t GetPage(void);
|
||||
uint16_t GetWritePage(void);
|
||||
void StartWrite(uint16_t PageAdr);
|
||||
void FinishWrite(void);
|
||||
bool getSectorCount(uint32_t *ptr);
|
||||
|
||||
// Read methods
|
||||
bool ReadBlock(void *pBuffer, uint16_t size);
|
||||
|
||||
// file numbers
|
||||
void SetFileNumber(uint16_t FileNumber);
|
||||
uint16_t GetFilePage();
|
||||
uint16_t GetFileNumber();
|
||||
|
||||
uint8_t erase_cmd;
|
||||
uint32_t erase_size;
|
||||
uint16_t last_block_num;
|
||||
|
||||
protected:
|
||||
uint8_t df_manufacturer;
|
||||
uint16_t df_device;
|
||||
|
||||
// page handling
|
||||
uint16_t df_PageSize;
|
||||
uint32_t df_NumPages;
|
||||
|
||||
bool WritesOK() const override;
|
||||
|
||||
//]
|
||||
|
||||
|
||||
public:
|
||||
AP_Logger_Revo(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
|
||||
AP_Logger_Backend(front, writer) { }
|
||||
|
||||
void Init() override;
|
||||
void ReadManufacturerID();
|
||||
bool CardInserted(void) const { return true; }
|
||||
|
||||
uint8_t ReadStatus();
|
||||
|
||||
bool logging_enabled() const { return true; }
|
||||
bool logging_failed() const { return false; };
|
||||
|
||||
void stop_logging(void) { log_write_started = false; }
|
||||
|
||||
//[ from died Dataflash_Block
|
||||
|
||||
// erase handling
|
||||
void EraseAll();
|
||||
|
||||
bool NeedPrep(void);
|
||||
void Prep();
|
||||
|
||||
/* Write a block of data at current offset */
|
||||
bool _WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical);
|
||||
|
||||
// high level interface
|
||||
uint16_t get_num_logs() override;
|
||||
uint16_t start_new_log(void);
|
||||
void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
|
||||
uint16_t find_last_log() override;
|
||||
|
||||
void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);
|
||||
|
||||
int16_t get_log_data_raw(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
|
||||
int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
|
||||
|
||||
uint32_t bufferspace_available();
|
||||
|
||||
bool logging_started(void) const { return log_write_started; }
|
||||
};
|
||||
|
||||
#endif // CONFIG_HAL_BOARD == HAL_BOARD_Revo
|
||||
|
|
@ -14,10 +14,7 @@
|
|||
|
||||
#include "AP_Logger.h"
|
||||
#include "AP_Logger_File.h"
|
||||
#include "AP_Logger_File_sd.h"
|
||||
#include "AP_Logger_MAVLink.h"
|
||||
#include "AP_Logger_Revo.h"
|
||||
#include "AP_Logger_File_sd.h"
|
||||
#include "LoggerMessageWriter.h"
|
||||
|
||||
extern const AP_HAL::HAL& hal;
|
||||
|
|
|
|||
Loading…
Reference in New Issue