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DataFlash: leave room in buffer for non-startup messages

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Peter Barker 2015-09-17 20:58:35 +10:00 committed by Andrew Tridgell
parent 63a45000b4
commit 8f1471c137
2 changed files with 20 additions and 4 deletions
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20
libraries/DataFlash/DataFlash_File.cpp
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@ -354,10 +354,22 @@ bool DataFlash_File::WritePrioritisedBlock(const void *pBuffer, uint16_t size, b
uint16_t _head;
uint16_t space = BUF_SPACE(_writebuf);
// we reserve some amount of space for critical messages:
if (!is_critical && space < critical_message_reserved_space()) {
_dropped++;
return false;
if (_writing_startup_messages &&
_front._startup_messagewriter.fmt_done()) {
// the state machine has called us, and it has finished
// writing format messages out. It can always get back to us
// with more messages later, so let's leave room for other
// things:
if (space < non_messagewriter_message_reserved_space()) {
// this message isn't dropped, it will be sent again...
return false;
}
} else {
// we reserve some amount of space for critical messages:
if (!is_critical && space < critical_message_reserved_space()) {
_dropped++;
return false;
}
}
// if no room for entire message - drop it:

4
libraries/DataFlash/DataFlash_File.h
View File

@ -115,6 +115,10 @@ private:
// possibly make this a proportional to buffer size?
return 1024;
};
uint16_t non_messagewriter_message_reserved_space() const {
// possibly make this a proportional to buffer size?
return 1024;
};
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// performance counters