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DataFlash: parameterise dataflash-over-mavlink cachesize

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This commit is contained in:
Peter Barker 2018-04-23 14:35:29 +10:00 committed by Andrew Tridgell
parent cb2e3424ee
commit 5bf2fb186c
4 changed files with 14 additions and 4 deletions
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7
libraries/DataFlash/DataFlash.cpp
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@ -50,6 +50,13 @@ const AP_Param::GroupInfo DataFlash_Class::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("_FILE_DSRMROT", 4, DataFlash_Class, _params.file_disarm_rot, 0), AP_GROUPINFO("_FILE_DSRMROT", 4, DataFlash_Class, _params.file_disarm_rot, 0),
// @Param: _MAV_BUFSIZE
// @DisplayName: Maximum DataFlash MAVLink Backend buffer size
// @Description: Maximum amount of memory to allocate to DataFlash-over-mavlink
// @User: Advanced
// @Units: kB
AP_GROUPINFO("_MAV_BUFSIZE", 5, DataFlash_Class, _params.mav_bufsize, 8),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/DataFlash/DataFlash.h
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@ -198,6 +198,7 @@ public:
AP_Int8 file_disarm_rot; AP_Int8 file_disarm_rot;
AP_Int8 log_disarmed; AP_Int8 log_disarmed;
AP_Int8 log_replay; AP_Int8 log_replay;
AP_Int8 mav_bufsize; // in kilobytes
} _params; } _params;
const struct LogStructure *structure(uint16_t num) const; const struct LogStructure *structure(uint16_t num) const;

2
libraries/DataFlash/DataFlash_MAVLink.cpp
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@ -35,7 +35,7 @@ void DataFlash_MAVLink::Init()
_blocks = nullptr; _blocks = nullptr;
while (_blockcount >= 8) { // 8 is a *magic* number while (_blockcount >= 8) { // 8 is a *magic* number
_blocks = (struct dm_block *) calloc(_blockcount, sizeof(_blocks[0])); _blocks = (struct dm_block *) calloc(_blockcount, sizeof(struct dm_block));
if (_blocks != nullptr) { if (_blocks != nullptr) {
break; break;
} }

8
libraries/DataFlash/DataFlash_MAVLink.h
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@ -23,10 +23,12 @@ public:
// constructor // constructor
DataFlash_MAVLink(DataFlash_Class &front, DFMessageWriter_DFLogStart *writer) : DataFlash_MAVLink(DataFlash_Class &front, DFMessageWriter_DFLogStart *writer) :
DataFlash_Backend(front, writer), DataFlash_Backend(front, writer),
_max_blocks_per_send_blocks(8), _max_blocks_per_send_blocks(8)
_blockcount(32) // this may get reduced in Init if allocation fails
,_perf_packing(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "DM_packing")) ,_perf_packing(hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "DM_packing"))
{ } {
_blockcount = 1024*((uint8_t)_front._params.mav_bufsize) / sizeof(struct dm_block);
// ::fprintf(stderr, "DM: Using %u blocks\n", _blockcount);
}
// initialisation // initialisation
void Init() override; void Init() override;