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DataFlash: simplify code now that copter is converted 

no longer need as many public functions
This commit is contained in:
Andrew Tridgell 2013-04-20 10:25:10 +10:00
parent a0708460a4
commit 62f190ed15
6 changed files with 16 additions and 157 deletions
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16
libraries/DataFlash/DataFlash.h
View File

@ -34,19 +34,10 @@ public:
/* Write a block of data at current offset */
virtual void WriteBlock(const void *pBuffer, uint16_t size) = 0;
/*
read a packet. The header byte have already been read.
*/
virtual void ReadPacket(void *pkt, uint16_t size) = 0;
// high level interface
virtual uint16_t find_last_log(void) = 0;
virtual void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page) = 0;
virtual uint16_t get_num_logs(void) = 0;
virtual uint16_t start_new_log(void) = 0;
void log_read_process(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
void (*callback)(uint8_t msgid));
virtual void LogReadProcess(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
uint8_t num_types,
@ -90,6 +81,13 @@ protected:
void Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token,
enum ap_var_type type);
void Log_Write_Parameters(void);
virtual uint16_t start_new_log(void) = 0;
/*
read a block
*/
virtual void ReadBlock(void *pkt, uint16_t size) = 0;
};
/*

5
libraries/DataFlash/DataFlash_Block.cpp
View File

@ -131,11 +131,6 @@ void DataFlash_Block::ReadBlock(void *pBuffer, uint16_t size)
}
}
void DataFlash_Block::ReadPacket(void *pkt, uint16_t size)
{
ReadBlock((void *)(sizeof(struct log_Header)+(uintptr_t)pkt), size - sizeof(struct log_Header));
}
void DataFlash_Block::SetFileNumber(uint16_t FileNumber)
{
df_FileNumber = FileNumber;

8
libraries/DataFlash/DataFlash_Block.h
View File

@ -30,19 +30,11 @@ public:
/* Write a block of data at current offset */
void WriteBlock(const void *pBuffer, uint16_t size);
/*
read a packet. The header byte have already been read.
*/
void ReadPacket(void *pkt, uint16_t size);
// high level interface
uint16_t find_last_log(void);
void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
uint16_t get_num_logs(void);
uint16_t start_new_log(void);
void log_read_process(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
void (*callback)(uint8_t msgid));
void LogReadProcess(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
uint8_t num_types,

72
libraries/DataFlash/DataFlash_File.cpp
View File

@ -172,16 +172,12 @@ void DataFlash_File::WriteBlock(const void *pBuffer, uint16_t size)
/*
read a packet. The header bytes have already been read.
*/
void DataFlash_File::ReadPacket(void *pkt, uint16_t size)
void DataFlash_File::ReadBlock(void *pkt, uint16_t size)
{
if (_read_fd == -1 || !_initialised || size <= 3) {
return;
}
// we don't read the 3 header bytes. That happens in log_read_process()
pkt = (void *)(3+(char *)pkt);
size -= 3;
memset(pkt, 0, size);
::read(_read_fd, pkt, size);
_read_offset += size;
@ -362,72 +358,6 @@ void DataFlash_File::LogReadProcess(uint16_t log_num,
_read_fd = -1;
}
/*
start processing a log, called by CLI to display logs
*/
void DataFlash_File::log_read_process(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
void (*callback)(uint8_t msgid))
{
uint8_t log_step = 0;
if (!_initialised) {
return;
}
if (_read_fd != -1) {
::close(_read_fd);
}
char *fname = _log_file_name(log_num);
if (fname == NULL) {
return;
}
_read_fd = ::open(fname, O_RDONLY);
free(fname);
if (_read_fd == -1) {
return;
}
_read_offset = 0;
if (start_page != 0) {
::lseek(_read_fd, start_page * DATAFLASH_PAGE_SIZE, SEEK_SET);
}
while (true) {
uint8_t data;
if (::read(_read_fd, &data, 1) != 1) {
// reached end of file
break;
}
_read_offset++;
// This is a state machine to read the packets
switch(log_step) {
case 0:
if (data == HEAD_BYTE1) {
log_step++;
}
break;
case 1:
if (data == HEAD_BYTE2) {
log_step++;
} else {
log_step = 0;
}
break;
case 2:
log_step = 0;
callback(data);
break;
}
if (_read_offset >= (end_page+1) * DATAFLASH_PAGE_SIZE) {
break;
}
}
::close(_read_fd);
_read_fd = -1;
}
/*
this is a lot less verbose than the block interface. Dumping 2Gbyte
of logs a page at a time isn't so useful. Just pull the SD card out

13
libraries/DataFlash/DataFlash_File.h
View File

@ -27,19 +27,11 @@ public:
/* Write a block of data at current offset */
void WriteBlock(const void *pBuffer, uint16_t size);
/*
read a packet. The header byte have already been read.
*/
void ReadPacket(void *pkt, uint16_t size);
// high level interface
uint16_t find_last_log(void);
void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
uint16_t get_num_logs(void);
uint16_t start_new_log(void);
void log_read_process(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
void (*callback)(uint8_t msgid));
void LogReadProcess(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
uint8_t num_types,
@ -56,6 +48,11 @@ private:
static volatile bool _initialised;
const char *_log_directory;
/*
read a block
*/
void ReadBlock(void *pkt, uint16_t size);
// write buffer
static uint8_t *_writebuf;
static const uint16_t _writebuf_size;

59
libraries/DataFlash/LogFile.cpp
View File

@ -282,11 +282,11 @@ void DataFlash_Class::_print_log_entry(uint8_t msg_type,
port->printf_P(PSTR("UNKN, %u\n"), (unsigned)msg_type);
return;
}
uint8_t msg_len = PGM_UINT8(&structure[i].msg_len);
uint8_t msg_len = PGM_UINT8(&structure[i].msg_len) - 3;
uint8_t pkt[msg_len];
ReadPacket(pkt, msg_len);
ReadBlock(pkt, msg_len);
port->printf_P(PSTR("%S, "), structure[i].name);
for (uint8_t ofs=3, fmt_ofs=0; ofs<msg_len; fmt_ofs++) {
for (uint8_t ofs=0, fmt_ofs=0; ofs<msg_len; fmt_ofs++) {
char fmt = PGM_UINT8(&structure[i].format[fmt_ofs]);
switch (fmt) {
case 'b': {
@ -451,59 +451,6 @@ void DataFlash_Block::LogReadProcess(uint16_t log_num,
}
}
/*
Read the DataFlash log memory
This is obsolete and will be removed when plane and copter are
converted to LogReadProcess()
*/
void DataFlash_Block::log_read_process(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
void (*callback)(uint8_t msgid))
{
uint8_t log_step = 0;
uint16_t page = start_page;
if (df_BufferIdx != 0) {
FinishWrite();
}
StartRead(start_page);
while (true) {
uint8_t data;
ReadBlock(&data, 1);
// This is a state machine to read the packets
switch(log_step) {
case 0:
if (data == HEAD_BYTE1) {
log_step++;
}
break;
case 1:
if (data == HEAD_BYTE2) {
log_step++;
} else {
log_step = 0;
}
break;
case 2:
log_step = 0;
callback(data);
break;
}
uint16_t new_page = GetPage();
if (new_page != page) {
if (new_page == end_page || new_page == start_page) {
return;
}
page = new_page;
}
}
}
/*
dump header information from all log pages
*/