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DataFlash: support ChibiOS FATFS implementation

This commit is contained in:
Andrew Tridgell 2018-01-05 18:16:47 +11:00
parent 3cd5386a7e
commit 43a6ed4099
3 changed files with 47 additions and 13 deletions
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2
libraries/DataFlash/DataFlash.cpp
View File

@ -76,7 +76,7 @@ void DataFlash_Class::Init(const struct LogStructure *structures, uint8_t num_ty
_num_types = num_types;
_structures = structures;
#if HAL_OS_POSIX_IO && defined(HAL_BOARD_LOG_DIRECTORY)
#if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO) && defined(HAL_BOARD_LOG_DIRECTORY)
if (_params.backend_types == DATAFLASH_BACKEND_FILE ||
_params.backend_types == DATAFLASH_BACKEND_BOTH) {
DFMessageWriter_DFLogStart *message_writer =

56
libraries/DataFlash/DataFlash_File.cpp
View File

@ -12,12 +12,12 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_OS_POSIX_IO
#if HAL_OS_POSIX_IO || HAL_OS_FATFS_IO
#include "DataFlash_File.h"
#include <AP_Common/AP_Common.h>
#include <sys/stat.h>
#include <sys/types.h>
#if HAL_OS_POSIX_IO
#include <unistd.h>
#include <errno.h>
#include <stdlib.h>
@ -25,17 +25,25 @@
#include <sys/stat.h>
#include <fcntl.h>
#include <assert.h>
#include <AP_Math/AP_Math.h>
#include <stdio.h>
#include <time.h>
#include <dirent.h>
#include <GCS_MAVLink/GCS.h>
#if defined(__APPLE__) && defined(__MACH__)
#include <sys/param.h>
#include <sys/mount.h>
#elif !DATAFLASH_FILE_MINIMAL
#include <sys/statfs.h>
#endif
#endif
#if HAL_OS_FATFS_IO
#include <stdio.h>
#endif
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
#define MAX_LOG_FILES 500U
@ -103,7 +111,7 @@ void DataFlash_File::Init()
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// try to cope with an existing lowercase log directory
// name. NuttX does not handle case insensitive VFAT well
DIR *d = opendir("/fs/microsd/APM");
@ -117,7 +125,6 @@ void DataFlash_File::Init()
closedir(d);
}
#endif
const char* custom_dir = hal.util->get_custom_log_directory();
if (custom_dir != nullptr){
_log_directory = custom_dir;
@ -129,7 +136,7 @@ void DataFlash_File::Init()
ret = mkdir(_log_directory, 0777);
}
if (ret == -1) {
hal.console->printf("Failed to create log directory %s\n", _log_directory);
printf("Failed to create log directory %s : %s\n", _log_directory, strerror(errno));
return;
}
#endif
@ -232,12 +239,14 @@ bool DataFlash_File::CardInserted(void) const
// returns -1 on error
int64_t DataFlash_File::disk_space_avail()
{
#if !DATAFLASH_FILE_MINIMAL
#if !DATAFLASH_FILE_MINIMAL && HAL_OS_POSIX_IO
struct statfs _stats;
if (statfs(_log_directory, &_stats) < 0) {
return -1;
}
return (((int64_t)_stats.f_bavail) * _stats.f_bsize);
#elif HAL_OS_FATFS_IO
return fs_getfree();
#else
// return a fake disk space size
return 100*1000*1000UL;
@ -249,12 +258,14 @@ int64_t DataFlash_File::disk_space_avail()
// returns -1 on error
int64_t DataFlash_File::disk_space()
{
#if !DATAFLASH_FILE_MINIMAL
#if !DATAFLASH_FILE_MINIMAL && HAL_OS_POSIX_IO
struct statfs _stats;
if (statfs(_log_directory, &_stats) < 0) {
return -1;
}
return (((int64_t)_stats.f_blocks) * _stats.f_bsize);
#elif HAL_OS_FATFS_IO
return fs_gettotal();
#else
// return fake disk space size
return 200*1000*1000UL;
@ -623,7 +634,11 @@ uint16_t DataFlash_File::find_last_log()
char buf[10];
memset(buf, 0, sizeof(buf));
if (read(fd, buf, sizeof(buf)-1) > 0) {
sscanf(buf, "%u", &ret);
#if HAL_OS_POSIX_IO
sscanf(buf, "%u", &ret);
#else
ret = strtol(buf, NULL, 10);
#endif
}
close(fd);
}
@ -641,6 +656,7 @@ uint32_t DataFlash_File::_get_log_size(const uint16_t log_num) const
}
struct stat st;
if (::stat(fname, &st) != 0) {
printf("Unable to fetch Log File Size: %s\n", strerror(errno));
free(fname);
return 0;
}
@ -903,7 +919,12 @@ uint16_t DataFlash_File::start_new_log(void)
_open_error = true;
return 0xFFFF;
}
#if HAL_OS_POSIX_IO
_write_fd = ::open(fname, O_WRONLY|O_CREAT|O_TRUNC|O_CLOEXEC, 0666);
#else
//TODO add support for mode flags
_write_fd = ::open(fname, O_WRONLY|O_CREAT|O_TRUNC|O_CLOEXEC);
#endif
_cached_oldest_log = 0;
if (_write_fd == -1) {
@ -928,7 +949,11 @@ uint16_t DataFlash_File::start_new_log(void)
// we avoid fopen()/fprintf() here as it is not available on as many
// systems as open/write (specifically the QURT RTOS)
#if HAL_OS_POSIX_IO
int fd = open(fname, O_WRONLY|O_CREAT|O_CLOEXEC, 0644);
#else
int fd = open(fname, O_WRONLY|O_CREAT|O_CLOEXEC);
#endif
free(fname);
if (fd == -1) {
_open_error = true;
@ -1113,7 +1138,11 @@ void DataFlash_File::flush(void)
hal.scheduler->resume_timer_procs();
if (write_fd_semaphore->take(1)) {
if (_write_fd != -1) {
#if HAL_OS_POSIX_IO
::fsync(_write_fd);
#else
syncfs(_write_fd);
#endif
}
write_fd_semaphore->give();
} else {
@ -1190,6 +1219,7 @@ void DataFlash_File::_io_timer(void)
last_io_operation = "";
_write_fd = -1;
_initialised = false;
printf("Failed to write to File: %s\n", strerror(errno));
} else {
_write_offset += nwritten;
_writebuf.advance(nwritten);
@ -1201,7 +1231,11 @@ void DataFlash_File::_io_timer(void)
*/
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD != HAL_BOARD_QURT
last_io_operation = "fsync";
#if HAL_OS_POSIX_IO
::fsync(_write_fd);
#else
syncfs(_write_fd);
#endif
last_io_operation = "";
#endif
}

2
libraries/DataFlash/DataFlash_File.h
View File

@ -6,7 +6,7 @@
*/
#pragma once
#if HAL_OS_POSIX_IO
#if HAL_OS_POSIX_IO || HAL_OS_FATFS_IO
#include <AP_HAL/utility/RingBuffer.h>
#include "DataFlash_Backend.h"