mirror of https://github.com/ArduPilot/ardupilot
APM: Update for DataFlash changes
This commit is contained in:
Andrew Tridgell
parent
73e6d5ee11
commit
8d87aa41b9
|
|
@ -45,17 +45,15 @@ static const struct Menu::command log_menu_commands[] PROGMEM = {
|
|||
// A Macro to create the Menu
|
||||
MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
|
||||
|
||||
static void get_log_boundaries(byte log_num, int & start_page, int & end_page);
|
||||
|
||||
static bool
|
||||
print_log_menu(void)
|
||||
{
|
||||
int log_start;
|
||||
int log_end;
|
||||
int temp;
|
||||
int last_log_num = find_last_log();
|
||||
int last_log_num = DataFlash.find_last_log();
|
||||
|
||||
uint16_t num_logs = get_num_logs();
|
||||
uint16_t num_logs = DataFlash.get_num_logs();
|
||||
|
||||
Serial.printf_P(PSTR("logs enabled: "));
|
||||
|
||||
|
|
@ -90,7 +88,7 @@ print_log_menu(void)
|
|||
for(int i=num_logs;i>=1;i--) {
|
||||
int last_log_start = log_start, last_log_end = log_end;
|
||||
temp = last_log_num-i+1;
|
||||
get_log_boundaries(temp, log_start, log_end);
|
||||
DataFlash.get_log_boundaries(temp, log_start, log_end);
|
||||
Serial.printf_P(PSTR("Log %d, start %d, end %d\n"), temp, log_start, log_end);
|
||||
if (last_log_start == log_start && last_log_end == log_end) {
|
||||
// we are printing bogus logs
|
||||
|
|
@ -112,7 +110,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
|
|||
|
||||
// check that the requested log number can be read
|
||||
dump_log = argv[1].i;
|
||||
last_log_num = find_last_log();
|
||||
last_log_num = DataFlash.find_last_log();
|
||||
|
||||
if (dump_log == -2) {
|
||||
for(uint16_t count=1; count<=DataFlash.df_NumPages; count++) {
|
||||
|
|
@ -126,12 +124,12 @@ dump_log(uint8_t argc, const Menu::arg *argv)
|
|||
Serial.printf_P(PSTR("dumping all\n"));
|
||||
Log_Read(1, DataFlash.df_NumPages);
|
||||
return(-1);
|
||||
} else if ((argc != 2) || (dump_log <= (last_log_num - get_num_logs())) || (dump_log > last_log_num)) {
|
||||
} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
|
||||
Serial.printf_P(PSTR("bad log number\n"));
|
||||
return(-1);
|
||||
}
|
||||
|
||||
get_log_boundaries(dump_log, dump_log_start, dump_log_end);
|
||||
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
|
||||
Serial.printf_P(PSTR("Dumping Log %d, start pg %d, end pg %d\n"),
|
||||
dump_log,
|
||||
dump_log_start,
|
||||
|
|
@ -142,26 +140,27 @@ dump_log(uint8_t argc, const Menu::arg *argv)
|
|||
return 0;
|
||||
}
|
||||
|
||||
static void
|
||||
do_erase_logs(void (*delay_cb)(unsigned long))
|
||||
|
||||
void erase_callback(unsigned long t) {
|
||||
mavlink_delay(t);
|
||||
if (DataFlash.GetWritePage() % 128 == 0) {
|
||||
Serial.printf_P(PSTR("+"));
|
||||
}
|
||||
}
|
||||
|
||||
static void do_erase_logs(void)
|
||||
{
|
||||
Serial.printf_P(PSTR("\nErasing log...\n"));
|
||||
DataFlash.SetFileNumber(0xFFFF);
|
||||
for(uint16_t j = 1; j <= DataFlash.df_NumPages; j++) {
|
||||
DataFlash.PageErase(j);
|
||||
DataFlash.StartWrite(j); // We need this step to clean FileNumbers
|
||||
if(j%128 == 0) Serial.printf_P(PSTR("+"));
|
||||
delay_cb(1);
|
||||
}
|
||||
|
||||
DataFlash.EraseAll(erase_callback);
|
||||
Serial.printf_P(PSTR("\nLog erased.\n"));
|
||||
DataFlash.FinishWrite();
|
||||
}
|
||||
|
||||
static int8_t
|
||||
erase_logs(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
do_erase_logs(delay);
|
||||
in_mavlink_delay = true;
|
||||
do_erase_logs();
|
||||
in_mavlink_delay = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -216,223 +215,6 @@ process_logs(uint8_t argc, const Menu::arg *argv)
|
|||
}
|
||||
|
||||
|
||||
// This function determines the number of whole or partial log files in the DataFlash
|
||||
// Wholly overwritten files are (of course) lost.
|
||||
static byte get_num_logs(void)
|
||||
{
|
||||
uint16_t lastpage;
|
||||
uint16_t last;
|
||||
uint16_t first;
|
||||
|
||||
if(find_last_page() == 1) return 0;
|
||||
|
||||
DataFlash.StartRead(1);
|
||||
|
||||
if(DataFlash.GetFileNumber() == 0XFFFF) return 0;
|
||||
|
||||
lastpage = find_last_page();
|
||||
DataFlash.StartRead(lastpage);
|
||||
last = DataFlash.GetFileNumber();
|
||||
DataFlash.StartRead(lastpage + 2);
|
||||
first = DataFlash.GetFileNumber();
|
||||
if(first > last) {
|
||||
DataFlash.StartRead(1);
|
||||
first = DataFlash.GetFileNumber();
|
||||
}
|
||||
if(last == first)
|
||||
{
|
||||
return 1;
|
||||
} else {
|
||||
return (last - first + 1);
|
||||
}
|
||||
}
|
||||
|
||||
// This function starts a new log file in the DataFlash
|
||||
static void start_new_log()
|
||||
{
|
||||
uint16_t last_page = find_last_page();
|
||||
|
||||
DataFlash.StartRead(last_page);
|
||||
//Serial.print("last page: "); Serial.println(last_page);
|
||||
//Serial.print("file #: "); Serial.println(DataFlash.GetFileNumber());
|
||||
//Serial.print("file page: "); Serial.println(DataFlash.GetFilePage());
|
||||
|
||||
if(find_last_log() == 0 || DataFlash.GetFileNumber() == 0xFFFF) {
|
||||
DataFlash.SetFileNumber(1);
|
||||
DataFlash.StartWrite(1);
|
||||
//Serial.println("start log from 0");
|
||||
return;
|
||||
}
|
||||
|
||||
// Check for log of length 1 page and suppress
|
||||
if(DataFlash.GetFilePage() <= 1) {
|
||||
DataFlash.SetFileNumber(DataFlash.GetFileNumber()); // Last log too short, reuse its number
|
||||
DataFlash.StartWrite(last_page); // and overwrite it
|
||||
//Serial.println("start log from short");
|
||||
} else {
|
||||
if(last_page == 0xFFFF) last_page=0;
|
||||
DataFlash.SetFileNumber(DataFlash.GetFileNumber()+1);
|
||||
DataFlash.StartWrite(last_page + 1);
|
||||
//Serial.println("start log normal");
|
||||
}
|
||||
}
|
||||
|
||||
// This function finds the first and last pages of a log file
|
||||
// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
|
||||
static void get_log_boundaries(byte log_num, int & start_page, int & end_page)
|
||||
{
|
||||
int num = get_num_logs();
|
||||
int look;
|
||||
|
||||
if(num == 1)
|
||||
{
|
||||
DataFlash.StartRead(DataFlash.df_NumPages);
|
||||
if(DataFlash.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) {
|
||||
DataFlash.StartRead(DataFlash.df_NumPages);
|
||||
if(DataFlash.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 == (int)DataFlash.df_NumPages+1 || start_page == 0) start_page=1;
|
||||
end_page = find_last_page_of_log((uint16_t)log_num);
|
||||
if(end_page <= 0) end_page = start_page;
|
||||
}
|
||||
|
||||
static bool check_wrapped(void)
|
||||
{
|
||||
DataFlash.StartRead(DataFlash.df_NumPages);
|
||||
if(DataFlash.GetFileNumber() == 0xFFFF)
|
||||
return 0;
|
||||
else
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
// This funciton finds the last log number
|
||||
static int find_last_log(void)
|
||||
{
|
||||
int last_page = find_last_page();
|
||||
DataFlash.StartRead(last_page);
|
||||
return DataFlash.GetFileNumber();
|
||||
}
|
||||
|
||||
// This function finds the last page of the last file
|
||||
static int find_last_page(void)
|
||||
{
|
||||
uint16_t look;
|
||||
uint16_t bottom = 1;
|
||||
uint16_t top = DataFlash.df_NumPages;
|
||||
uint32_t look_hash;
|
||||
uint32_t bottom_hash;
|
||||
uint32_t top_hash;
|
||||
|
||||
DataFlash.StartRead(bottom);
|
||||
bottom_hash = ((long)DataFlash.GetFileNumber()<<16) | DataFlash.GetFilePage();
|
||||
|
||||
while(top-bottom > 1)
|
||||
{
|
||||
look = (top+bottom)/2;
|
||||
DataFlash.StartRead(look);
|
||||
look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.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;
|
||||
}
|
||||
}
|
||||
|
||||
DataFlash.StartRead(top);
|
||||
top_hash = ((long)DataFlash.GetFileNumber()<<16) | DataFlash.GetFilePage();
|
||||
if (top_hash >= 0xFFFF0000) top_hash = 0;
|
||||
if (top_hash > bottom_hash)
|
||||
{
|
||||
return top;
|
||||
} else {
|
||||
return bottom;
|
||||
}
|
||||
}
|
||||
|
||||
// This function finds the last page of a particular log file
|
||||
static int 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())
|
||||
{
|
||||
DataFlash.StartRead(1);
|
||||
bottom = DataFlash.GetFileNumber();
|
||||
if (bottom > log_number)
|
||||
{
|
||||
bottom = find_last_page();
|
||||
top = DataFlash.df_NumPages;
|
||||
} else {
|
||||
bottom = 1;
|
||||
top = find_last_page();
|
||||
}
|
||||
} else {
|
||||
bottom = 1;
|
||||
top = find_last_page();
|
||||
}
|
||||
|
||||
check_hash = (long)log_number<<16 | 0xFFFF;
|
||||
|
||||
while(top-bottom > 1)
|
||||
{
|
||||
look = (top+bottom)/2;
|
||||
DataFlash.StartRead(look);
|
||||
look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
|
||||
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
||||
|
||||
if(look_hash > check_hash) {
|
||||
// move down
|
||||
top = look;
|
||||
} else {
|
||||
// move up
|
||||
bottom = look;
|
||||
}
|
||||
}
|
||||
|
||||
DataFlash.StartRead(top);
|
||||
if (DataFlash.GetFileNumber() == log_number) return top;
|
||||
|
||||
DataFlash.StartRead(bottom);
|
||||
if (DataFlash.GetFileNumber() == log_number) return bottom;
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
// Write an attitude packet. Total length : 10 bytes
|
||||
|
|
@ -883,8 +665,6 @@ static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t log_
|
|||
int32_t log_Ground_Speed, int32_t log_Ground_Course, byte log_Fix, byte log_NumSats) {}
|
||||
static void Log_Write_Performance() {}
|
||||
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
|
||||
static byte get_num_logs(void) { return 0; }
|
||||
static void start_new_log() {}
|
||||
static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw) {}
|
||||
static void Log_Write_Control_Tuning() {}
|
||||
static void Log_Write_Raw() {}
|
||||
|
|
|
|||
|
|
@ -58,8 +58,6 @@ static void run_cli(void)
|
|||
|
||||
static void init_ardupilot()
|
||||
{
|
||||
bool need_log_erase = false;
|
||||
|
||||
#if USB_MUX_PIN > 0
|
||||
// on the APM2 board we have a mux thet switches UART0 between
|
||||
// USB and the board header. If the right ArduPPM firmware is
|
||||
|
|
@ -136,12 +134,6 @@ static void init_ardupilot()
|
|||
delay(100); // wait for serial send
|
||||
AP_Var::erase_all();
|
||||
|
||||
// erase DataFlash on format version change
|
||||
#if LOGGING_ENABLED == ENABLED
|
||||
DataFlash.Init();
|
||||
need_log_erase = true;
|
||||
#endif
|
||||
|
||||
// save the current format version
|
||||
g.format_version.set_and_save(Parameters::k_format_version);
|
||||
Serial.println_P(PSTR("done."));
|
||||
|
|
@ -178,9 +170,16 @@ static void init_ardupilot()
|
|||
mavlink_system.sysid = g.sysid_this_mav;
|
||||
|
||||
#if LOGGING_ENABLED == ENABLED
|
||||
if (need_log_erase) {
|
||||
DataFlash.Init(); // DataFlash log initialization
|
||||
if (!DataFlash.CardInserted()) {
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
|
||||
g.log_bitmask.set(0);
|
||||
} else if (DataFlash.NeedErase()) {
|
||||
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
|
||||
do_erase_logs(mavlink_delay);
|
||||
do_erase_logs();
|
||||
}
|
||||
if (g.log_bitmask != 0) {
|
||||
DataFlash.start_new_log();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -204,10 +203,6 @@ static void init_ardupilot()
|
|||
}
|
||||
#endif
|
||||
|
||||
#if LOGGING_ENABLED == ENABLED
|
||||
DataFlash.Init(); // DataFlash log initialization
|
||||
#endif
|
||||
|
||||
// Do GPS init
|
||||
g_gps = &g_gps_driver;
|
||||
g_gps->init(); // GPS Initialization
|
||||
|
|
@ -270,10 +265,6 @@ static void init_ardupilot()
|
|||
Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
|
||||
#endif // CLI_ENABLED
|
||||
|
||||
if(g.log_bitmask != 0){
|
||||
start_new_log();
|
||||
}
|
||||
|
||||
// read in the flight switches
|
||||
update_servo_switches();
|
||||
|
||||
|
|
|
|||
|
|
@ -27,6 +27,7 @@ static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
|
|||
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2
|
||||
static int8_t test_dipswitches(uint8_t argc, const Menu::arg *argv);
|
||||
#endif
|
||||
static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
|
||||
|
||||
// Creates a constant array of structs representing menu options
|
||||
// and stores them in Flash memory, not RAM.
|
||||
|
|
@ -67,6 +68,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
|
|||
{"compass", test_mag},
|
||||
#elif HIL_MODE == HIL_MODE_ATTITUDE
|
||||
#endif
|
||||
{"logging", test_logging},
|
||||
|
||||
};
|
||||
|
||||
|
|
@ -407,6 +409,30 @@ test_modeswitch(uint8_t argc, const Menu::arg *argv)
|
|||
}
|
||||
}
|
||||
|
||||
/*
|
||||
test the dataflash is working
|
||||
*/
|
||||
static int8_t
|
||||
test_logging(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
Serial.println_P(PSTR("Testing dataflash logging"));
|
||||
if (!DataFlash.CardInserted()) {
|
||||
Serial.println_P(PSTR("ERR: No dataflash inserted"));
|
||||
return 0;
|
||||
}
|
||||
DataFlash.ReadManufacturerID();
|
||||
Serial.printf_P(PSTR("Manufacturer: 0x%02x Device: 0x%04x\n"),
|
||||
(unsigned)DataFlash.df_manufacturer,
|
||||
(unsigned)DataFlash.df_device);
|
||||
Serial.printf_P(PSTR("NumPages: %u PageSize: %u\n"),
|
||||
(unsigned)DataFlash.df_NumPages+1,
|
||||
(unsigned)DataFlash.df_PageSize);
|
||||
DataFlash.StartRead(DataFlash.df_NumPages+1);
|
||||
Serial.printf_P(PSTR("Format version: %lx Expected format version: %lx\n"),
|
||||
(unsigned long)DataFlash.ReadLong(), (unsigned long)DF_LOGGING_FORMAT);
|
||||
return 0;
|
||||
}
|
||||
|
||||
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2
|
||||
static int8_t
|
||||
test_dipswitches(uint8_t argc, const Menu::arg *argv)
|
||||
|
|
|
|||
Loading…
Reference in New Issue