mirror of https://github.com/ArduPilot/ardupilot
Change ArduCopter DataFlash log file system to new file system which allows overwriting logs.
Also changed the feature to dump all DataFlash memory to occur when user requests dumping log "-1"
This commit is contained in:
Doug Weibel
parent
83657698d7
commit
9ecfac1156
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@ -53,7 +53,9 @@ 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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byte last_log_num = get_num_logs();
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int temp;
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uint16_t num_logs = get_num_logs();
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Serial.printf_P(PSTR("logs enabled: "));
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@ -75,15 +77,15 @@ print_log_menu(void)
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Serial.println();
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if (last_log_num == 0) {
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Serial.printf_P(PSTR("\nNo logs\nType 'dump 0'.\n\n"));
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if (num_logs == 0) {
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Serial.printf_P(PSTR("\nNo logs\n\n"));
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}else{
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Serial.printf_P(PSTR("\n%d logs\n"), last_log_num);
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Serial.printf_P(PSTR("\n%d logs\n"), num_logs);
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for(int i = 1; i < last_log_num + 1; i++) {
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get_log_boundaries(i, log_start, log_end);
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//Serial.printf_P(PSTR("last_num %d "), last_log_num);
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Serial.printf_P(PSTR("Log # %d, start %d, end %d\n"), i, log_start, log_end);
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for(int i=num_logs;i>=1;i--) {
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temp = g.log_last_filenumber-i+1;
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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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}
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Serial.println();
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}
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@ -93,17 +95,20 @@ print_log_menu(void)
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static int8_t
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dump_log(uint8_t argc, const Menu::arg *argv)
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{
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byte dump_log;
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int dump_log;
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int dump_log_start;
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int dump_log_end;
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byte last_log_num;
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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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if (/*(argc != 2) || */ (dump_log < 1)) {
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Serial.printf_P(PSTR("bad log # %d\n"), dump_log);
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Log_Read(0, 4095);
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erase_logs(NULL, NULL);
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last_log_num = g.log_last_filenumber;
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if (dump_log == -1) {
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Serial.printf_P(PSTR("dumping all\n"));
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Log_Read(1, DF_LAST_PAGE);
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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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Serial.printf_P(PSTR("bad log number\n"));
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return(-1);
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}
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@ -121,31 +126,17 @@ dump_log(uint8_t argc, const Menu::arg *argv)
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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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//for(int i = 10 ; i > 0; i--) {
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// Serial.printf_P(PSTR("ATTENTION - Erasing log in %d seconds.\n"), i);
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// delay(1000);
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//}
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// lay down a bunch of "log end" messages.
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Serial.printf_P(PSTR("\nErasing log...\n"));
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for(int j = 1; j < 4096; j++)
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DataFlash.SetFileNumber(0xFFFF);
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for(int j = 1; j <= DF_LAST_PAGE; j++) {
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DataFlash.PageErase(j);
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clear_header();
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DataFlash.StartWrite(j); // We need this step to clean FileNumbers
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}
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g.log_last_filenumber.set_and_save(0);
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Serial.printf_P(PSTR("\nLog erased.\n"));
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return (0);
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}
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static void clear_header()
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{
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DataFlash.StartWrite(1);
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_INDEX_MSG);
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DataFlash.WriteByte(0);
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DataFlash.WriteByte(END_BYTE);
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DataFlash.FinishWrite();
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return 0;
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}
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static int8_t
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@ -202,158 +193,203 @@ process_logs(uint8_t argc, const Menu::arg *argv)
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}
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// finds out how many logs are available
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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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int page = 1;
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byte data;
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byte log_step = 0;
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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(g.log_last_filenumber < 1) return 0;
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DataFlash.StartRead(1);
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if(DataFlash.GetFileNumber() == 0XFFFF) return 0;
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while (page == 1) {
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data = DataFlash.ReadByte();
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switch(log_step){ //This is a state machine to read the packets
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case 0:
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data == LOG_INDEX_MSG){
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byte num_logs = DataFlash.ReadByte();
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//Serial.printf("num_logs, %d\n", num_logs);
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return num_logs;
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}else{
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//Serial.printf("* %d\n", data);
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log_step = 0; // Restart, we have a problem...
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}
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break;
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}
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page = DataFlash.GetPage();
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lastpage = find_last();
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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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return 0;
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}
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// send the number of the last log?
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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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byte num_existing_logs = get_num_logs();
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uint16_t last_page;
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int start_pages[50] = {0,0,0};
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int end_pages[50] = {0,0,0};
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if(num_existing_logs > 0){
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for(int i = 0; i < num_existing_logs; i++) {
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get_log_boundaries(i + 1, start_pages[i], end_pages[i]);
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}
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end_pages[num_existing_logs - 1] = find_last_log_page(start_pages[num_existing_logs - 1]);
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}
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if(num_existing_logs == 0 ||
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((end_pages[num_existing_logs - 1] < 4095) && (num_existing_logs < MAX_NUM_LOGS /*50*/))) {
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if(num_existing_logs > 0)
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start_pages[num_existing_logs] = end_pages[num_existing_logs - 1] + 1;
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else
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start_pages[0] = 2;
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num_existing_logs++;
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DataFlash.StartWrite(1);
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DataFlash.WriteByte(HEAD_BYTE1);
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DataFlash.WriteByte(HEAD_BYTE2);
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DataFlash.WriteByte(LOG_INDEX_MSG);
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DataFlash.WriteByte(num_existing_logs);
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for(int i = 0; i < MAX_NUM_LOGS; i++) {
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DataFlash.WriteInt(start_pages[i]);
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DataFlash.WriteInt(end_pages[i]);
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}
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DataFlash.WriteByte(END_BYTE);
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DataFlash.FinishWrite();
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DataFlash.StartWrite(start_pages[num_existing_logs - 1]);
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}else{
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gcs_send_text_P(SEVERITY_LOW,PSTR("Logs full"));
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if(g.log_last_filenumber < 1) {
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last_page = 0;
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} else {
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last_page = find_last();
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}
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g.log_last_filenumber.set_and_save(g.log_last_filenumber+1);
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DataFlash.SetFileNumber(g.log_last_filenumber);
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DataFlash.StartWrite(last_page + 1);
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}
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// All log data is stored in page 1?
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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 page = 1;
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byte data;
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byte log_step = 0;
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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(DF_LAST_PAGE);
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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_log_page((uint16_t)log_num);
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} else {
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end_page = find_last_log_page((uint16_t)log_num);
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start_page = end_page + 1;
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}
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DataFlash.StartRead(1);
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while (page == 1) {
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data = DataFlash.ReadByte();
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switch(log_step) //This is a state machine to read the packets
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{
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case 0:
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if(data==HEAD_BYTE1) // Head byte 1
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log_step++;
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break;
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case 1:
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if(data==HEAD_BYTE2) // Head byte 2
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log_step++;
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else
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log_step = 0;
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break;
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case 2:
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if(data==LOG_INDEX_MSG){
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byte num_logs = DataFlash.ReadByte();
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for(int i=0;i<log_num;i++) {
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start_page = DataFlash.ReadInt();
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end_page = DataFlash.ReadInt();
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}
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if(log_num==num_logs)
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end_page = find_last_log_page(start_page);
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return; // This is the normal exit point
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}else{
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log_step=0; // Restart, we have a problem...
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}
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break;
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} else {
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if(log_num==1) {
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DataFlash.StartRead(DF_LAST_PAGE);
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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() + 1;
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}
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page = DataFlash.GetPage();
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} else {
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if(log_num == g.log_last_filenumber - num + 1) {
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start_page = find_last() + 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_log_page(look) + 1;
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look--;
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} while (start_page <= 0);
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}
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}
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}
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// Error condition if we reach here with page = 2 TO DO - report condition
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if(start_page == DF_LAST_PAGE+1 || start_page == 0) start_page=1;
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end_page = find_last_log_page((uint16_t)log_num);
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if(end_page <= 0) end_page = start_page;
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}
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//
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static int find_last_log_page(int bottom_page)
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static bool check_wrapped(void)
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{
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int top_page = 4096;
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int look_page;
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int32_t check;
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while((top_page - bottom_page) > 1) {
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look_page = (top_page + bottom_page) / 2;
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DataFlash.StartRead(look_page);
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check = DataFlash.ReadLong();
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//Serial.printf("look page:%d, check:%d\n", look_page, check);
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if(check == -1L)
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top_page = look_page;
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else
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bottom_page = look_page;
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}
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return top_page;
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DataFlash.StartRead(DF_LAST_PAGE);
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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 function finds the last page of the last file
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static int find_last(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 = DF_LAST_PAGE;
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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_log_page(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();
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top = DF_LAST_PAGE;
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} else {
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bottom = 1;
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top = find_last();
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}
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} else {
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bottom = 1;
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top = find_last();
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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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// Write an GPS packet. Total length : 30 bytes
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static void Log_Write_GPS()
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{
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@ -924,13 +960,36 @@ static void Log_Read_Data()
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Serial.printf_P(PSTR("DATA: %d, %ld\n"), temp1, temp2);
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}
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// Read the DataFlash log memory
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static void Log_Read(int start_page, int end_page)
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{
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int packet_count = 0;
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#ifdef AIRFRAME_NAME
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Serial.printf_P(PSTR((AIRFRAME_NAME)
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#endif
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Serial.printf_P(PSTR("\n" THISFIRMWARE
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"\nFree RAM: %u\n"),
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memcheck_available_memory());
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if(start_page > end_page)
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{
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packet_count = Log_Read_Process(start_page, DF_LAST_PAGE);
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packet_count += Log_Read_Process(1, end_page);
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} else {
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packet_count = Log_Read_Process(start_page, end_page);
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}
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Serial.printf_P(PSTR("Number of packets read: %d\n"), packet_count);
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}
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// Read the DataFlash log memory : Packet Parser
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static void Log_Read(int start_page, int end_page)
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static int Log_Read_Process(int start_page, int end_page)
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{
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byte data;
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byte log_step = 0;
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int page = start_page;
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int packet_count = 0;
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DataFlash.StartRead(start_page);
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@ -1010,9 +1069,18 @@ static void Log_Read(int start_page, int end_page)
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break;
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}
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break;
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case 3:
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if(data == END_BYTE){
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packet_count++;
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}else{
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Serial.printf_P(PSTR("Error Reading END_BYTE: %d\n"),data);
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}
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log_step = 0; // Restart sequence: new packet...
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break;
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}
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page = DataFlash.GetPage();
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}
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return packet_count;
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}
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#else // LOGGING_ENABLED
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