mirror of https://github.com/ArduPilot/ardupilot
ACM: update for DataFlash changes
This commit is contained in:
Andrew Tridgell
parent
5e4f66e525
commit
73e6d5ee11
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@ -46,17 +46,15 @@ const struct Menu::command log_menu_commands[] PROGMEM = {
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// A Macro to create the Menu
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MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
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static void get_log_boundaries(byte log_num, int & start_page, int & end_page);
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static bool
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print_log_menu(void)
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{
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int log_start;
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int log_end;
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int temp;
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int last_log_num = find_last_log();
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int last_log_num = DataFlash.find_last_log();
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uint16_t num_logs = get_num_logs();
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uint16_t num_logs = DataFlash.get_num_logs();
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Serial.printf_P(PSTR("logs enabled: "));
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@ -86,7 +84,7 @@ print_log_menu(void)
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for(int i=num_logs;i>=1;i--) {
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int last_log_start = log_start, last_log_end = log_end;
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temp = last_log_num-i+1;
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get_log_boundaries(temp, log_start, log_end);
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DataFlash.get_log_boundaries(temp, log_start, log_end);
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Serial.printf_P(PSTR("Log %d, start %d, end %d\n"), temp, log_start, log_end);
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if (last_log_start == log_start && last_log_end == log_end) {
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// we are printing bogus logs
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@ -108,7 +106,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
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// check that the requested log number can be read
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dump_log = argv[1].i;
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last_log_num = find_last_log();
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last_log_num = DataFlash.find_last_log();
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if (dump_log == -2) {
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for(int count=1; count<=DataFlash.df_NumPages; count++) {
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@ -122,12 +120,12 @@ dump_log(uint8_t argc, const Menu::arg *argv)
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Serial.printf_P(PSTR("dumping all\n"));
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Log_Read(1, DataFlash.df_NumPages);
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return(-1);
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} else if ((argc != 2) || (dump_log <= (last_log_num - get_num_logs())) || (dump_log > last_log_num)) {
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} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
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Serial.printf_P(PSTR("bad log number\n"));
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return(-1);
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}
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get_log_boundaries(dump_log, dump_log_start, dump_log_end);
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DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
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/*Serial.printf_P(PSTR("Dumping Log number %d, start %d, end %d\n"),
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dump_log,
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dump_log_start,
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@ -138,26 +136,26 @@ dump_log(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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static void
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do_erase_logs(void (*delay_cb)(unsigned long))
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void erase_callback(unsigned long t) {
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mavlink_delay(t);
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if (DataFlash.GetWritePage() % 128 == 0) {
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Serial.printf_P(PSTR("+"));
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}
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}
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static void do_erase_logs(void)
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{
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Serial.printf_P(PSTR("\nErasing log...\n"));
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DataFlash.SetFileNumber(0xFFFF);
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for(int j = 1; j <= DataFlash.df_NumPages; j++) {
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DataFlash.PageErase(j);
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DataFlash.StartWrite(j); // We need this step to clean FileNumbers
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if(j%128 == 0) Serial.printf_P(PSTR("+"));
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delay_cb(1);
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}
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DataFlash.EraseAll(erase_callback);
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Serial.printf_P(PSTR("\nLog erased.\n"));
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DataFlash.FinishWrite();
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}
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static int8_t
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erase_logs(uint8_t argc, const Menu::arg *argv)
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{
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do_erase_logs(delay);
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in_mavlink_delay = true;
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do_erase_logs();
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in_mavlink_delay = false;
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return 0;
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}
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@ -216,220 +214,6 @@ process_logs(uint8_t argc, const Menu::arg *argv)
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// This function determines the number of whole or partial log files in the DataFlash
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// Wholly overwritten files are (of course) lost.
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static byte get_num_logs(void)
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{
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uint16_t lastpage;
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uint16_t last;
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uint16_t first;
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if(find_last_page() == 1) return 0;
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DataFlash.StartRead(1);
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if(DataFlash.GetFileNumber() == 0XFFFF) return 0;
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lastpage = find_last_page();
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DataFlash.StartRead(lastpage);
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last = DataFlash.GetFileNumber();
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DataFlash.StartRead(lastpage + 2);
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first = DataFlash.GetFileNumber();
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if(first > last) {
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DataFlash.StartRead(1);
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first = DataFlash.GetFileNumber();
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}
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if(last == first)
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{
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return 1;
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} else {
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return (last - first + 1);
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}
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}
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// This function starts a new log file in the DataFlash
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static void start_new_log()
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{
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uint16_t last_page = find_last_page();
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DataFlash.StartRead(last_page);
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//Serial.print("last page: "); Serial.println(last_page);
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//Serial.print("file #: "); Serial.println(DataFlash.GetFileNumber());
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//Serial.print("file page: "); Serial.println(DataFlash.GetFilePage());
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if(find_last_log() == 0 || DataFlash.GetFileNumber() == 0xFFFF) {
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DataFlash.SetFileNumber(1);
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DataFlash.StartWrite(1);
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//Serial.println("start log from 0");
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return;
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}
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// Check for log of length 1 page and suppress
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if(DataFlash.GetFilePage() <= 1) {
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DataFlash.SetFileNumber(DataFlash.GetFileNumber()); // Last log too short, reuse its number
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DataFlash.StartWrite(last_page); // and overwrite it
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//Serial.println("start log from short");
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} else {
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if(last_page == 0xFFFF) last_page=0;
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DataFlash.SetFileNumber(DataFlash.GetFileNumber()+1);
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DataFlash.StartWrite(last_page + 1);
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//Serial.println("start log normal");
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}
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}
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// This function finds the first and last pages of a log file
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// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
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static void get_log_boundaries(byte log_num, int & start_page, int & end_page)
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{
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int num = get_num_logs();
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int look;
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if(num == 1)
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{
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DataFlash.StartRead(DataFlash.df_NumPages);
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if(DataFlash.GetFileNumber() == 0xFFFF)
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{
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start_page = 1;
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end_page = find_last_page_of_log((uint16_t)log_num);
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} else {
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end_page = find_last_page_of_log((uint16_t)log_num);
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start_page = end_page + 1;
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}
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} else {
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if(log_num==1) {
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DataFlash.StartRead(DataFlash.df_NumPages);
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if(DataFlash.GetFileNumber() == 0xFFFF) {
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start_page = 1;
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} else {
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start_page = find_last_page() + 1;
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}
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} else {
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if(log_num == find_last_log() - num + 1) {
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start_page = find_last_page() + 1;
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} else {
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look = log_num-1;
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do {
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start_page = find_last_page_of_log(look) + 1;
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look--;
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} while (start_page <= 0 && look >=1);
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}
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}
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}
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if(start_page == DataFlash.df_NumPages+1 || start_page == 0) start_page=1;
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end_page = find_last_page_of_log((uint16_t)log_num);
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if(end_page <= 0) end_page = start_page;
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}
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static bool check_wrapped(void)
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{
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DataFlash.StartRead(DataFlash.df_NumPages);
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if(DataFlash.GetFileNumber() == 0xFFFF)
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return 0;
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else
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return 1;
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}
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// This funciton finds the last log number
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static int find_last_log(void)
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{
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int last_page = find_last_page();
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DataFlash.StartRead(last_page);
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return DataFlash.GetFileNumber();
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}
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// This function finds the last page of the last file
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static int find_last_page(void)
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{
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uint16_t look;
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uint16_t bottom = 1;
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uint16_t top = DataFlash.df_NumPages;
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uint32_t look_hash;
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uint32_t bottom_hash;
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uint32_t top_hash;
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DataFlash.StartRead(bottom);
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bottom_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
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while(top-bottom > 1)
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{
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look = (top+bottom)/2;
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DataFlash.StartRead(look);
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look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
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if (look_hash >= 0xFFFF0000) look_hash = 0;
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if(look_hash < bottom_hash) {
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// move down
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top = look;
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} else {
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// move up
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bottom = look;
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bottom_hash = look_hash;
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}
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}
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DataFlash.StartRead(top);
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top_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
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if (top_hash >= 0xFFFF0000) top_hash = 0;
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if (top_hash > bottom_hash)
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{
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return top;
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} else {
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return bottom;
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}
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}
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// This function finds the last page of a particular log file
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static int find_last_page_of_log(uint16_t log_number)
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{
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uint16_t look;
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uint16_t bottom;
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uint16_t top;
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uint32_t look_hash;
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uint32_t check_hash;
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if(check_wrapped())
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{
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DataFlash.StartRead(1);
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bottom = DataFlash.GetFileNumber();
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if (bottom > log_number)
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{
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bottom = find_last_page();
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top = DataFlash.df_NumPages;
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} else {
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bottom = 1;
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top = find_last_page();
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}
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} else {
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bottom = 1;
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top = find_last_page();
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}
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check_hash = (long)log_number<<16 | 0xFFFF;
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while(top-bottom > 1)
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{
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look = (top+bottom)/2;
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DataFlash.StartRead(look);
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look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
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if (look_hash >= 0xFFFF0000) look_hash = 0;
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if(look_hash > check_hash) {
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// move down
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top = look;
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} else {
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// move up
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bottom = look;
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}
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}
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DataFlash.StartRead(top);
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if (DataFlash.GetFileNumber() == log_number) return top;
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DataFlash.StartRead(bottom);
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if (DataFlash.GetFileNumber() == log_number) return bottom;
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return -1;
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}
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// print_latlon - prints an latitude or longitude value held in an int32_t
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// probably this should be moved to AP_Common
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@ -1136,7 +920,6 @@ static void Log_Read_Startup() {}
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static void Log_Read(int start_page, int end_page) {}
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static void Log_Write_Cmd(byte num, struct Location *wp) {}
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static void Log_Write_Mode(byte mode) {}
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static void start_new_log() {}
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static void Log_Write_Raw() {}
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static void Log_Write_GPS() {}
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static void Log_Write_Current() {}
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@ -55,8 +55,6 @@ static void run_cli(void)
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static void init_ardupilot()
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{
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bool need_log_erase = false;
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#if USB_MUX_PIN > 0
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// on the APM2 board we have a mux thet switches UART0 between
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// USB and the board header. If the right ArduPPM firmware is
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@ -174,13 +172,6 @@ static void init_ardupilot()
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delay(100); // wait for serial send
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AP_Var::erase_all();
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// erase DataFlash on format version change
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init();
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#endif
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need_log_erase = true;
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// save the new format version
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g.format_version.set_and_save(Parameters::k_format_version);
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@ -212,13 +203,19 @@ static void init_ardupilot()
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// identify ourselves correctly with the ground station
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mavlink_system.sysid = g.sysid_this_mav;
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if (need_log_erase) {
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init();
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if (!DataFlash.CardInserted()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash inserted"));
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g.log_bitmask.set(0);
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} else if (DataFlash.NeedErase()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
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#if LOGGING_ENABLED == ENABLED
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do_erase_logs(mavlink_delay);
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#endif
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do_erase_logs();
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}
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if (g.log_bitmask != 0){
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DataFlash.start_new_log();
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}
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#endif
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#ifdef RADIO_OVERRIDE_DEFAULTS
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{
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@ -270,10 +267,6 @@ static void init_ardupilot()
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USERHOOK_INIT
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#endif
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#if LOGGING_ENABLED == ENABLED
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DataFlash.Init();
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#endif
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#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
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// If the switch is in 'menu' mode, run the main menu.
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//
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@ -290,14 +283,6 @@ static void init_ardupilot()
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Serial.printf_P(PSTR("\nPress ENTER 3 times for CLI\n\n"));
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#endif // CLI_ENABLED
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#if LOGGING_ENABLED == ENABLED
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if(g.log_bitmask != 0){
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// TODO - Here we will check on the length of the last log
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// We don't want to create a bunch of little logs due to powering on and off
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start_new_log();
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}
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#endif
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GPS_enabled = false;
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#if HIL_MODE == HIL_MODE_DISABLED
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@ -30,6 +30,7 @@ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
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static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
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static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
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@ -80,6 +81,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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{"optflow", test_optflow},
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//{"xbee", test_xbee},
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{"eedump", test_eedump},
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{"logging", test_logging},
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// {"rawgps", test_rawgps},
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// {"mission", test_mission},
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//{"reverse", test_reverse},
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@ -1030,6 +1032,31 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
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}
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/*
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test the dataflash is working
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*/
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static int8_t
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test_logging(uint8_t argc, const Menu::arg *argv)
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{
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Serial.println_P(PSTR("Testing dataflash logging"));
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if (!DataFlash.CardInserted()) {
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Serial.println_P(PSTR("ERR: No dataflash inserted"));
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return 0;
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}
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DataFlash.ReadManufacturerID();
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Serial.printf_P(PSTR("Manufacturer: 0x%02x Device: 0x%04x\n"),
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(unsigned)DataFlash.df_manufacturer,
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(unsigned)DataFlash.df_device);
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Serial.printf_P(PSTR("NumPages: %u PageSize: %u\n"),
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(unsigned)DataFlash.df_NumPages+1,
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(unsigned)DataFlash.df_PageSize);
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DataFlash.StartRead(DataFlash.df_NumPages+1);
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Serial.printf_P(PSTR("Format version: %lx Expected format version: %lx\n"),
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(unsigned long)DataFlash.ReadLong(), (unsigned long)DF_LOGGING_FORMAT);
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return 0;
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}
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/*
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static int8_t
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//test_mission(uint8_t argc, const Menu::arg *argv)
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