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AP_Logger: account for expected delays and boot time delays in block logger.

This commit is contained in:
Andy Piper 2020-11-21 20:07:37 +00:00 committed by Andrew Tridgell
parent fdbffd19c6
commit a6436851b4
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_Logger/AP_Logger_Block.cpp
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@ -822,10 +822,12 @@ bool AP_Logger_Block::logging_failed() const
return false; return false;
} }
// detect whether the IO thread is running, since this is considered a catastrophic failure for the logging system
// better be really, really sure
bool AP_Logger_Block::io_thread_alive() const bool AP_Logger_Block::io_thread_alive() const
{ {
// if the io thread hasn't had a heartbeat in 1s it is dead // if the io thread hasn't had a heartbeat in 3s it is dead
return (AP_HAL::millis() - io_timer_heartbeat) < 1000U; return (AP_HAL::millis() - io_timer_heartbeat) < 3000U || hal.scheduler->in_expected_delay();
} }
/* /*
@ -872,12 +874,14 @@ void AP_Logger_Block::io_timer(void)
const uint32_t aligned_sector = sectors - (((df_NumPages - df_EraseFrom + 1) / df_PagePerSector) / sectors_in_64k) * sectors_in_64k; const uint32_t aligned_sector = sectors - (((df_NumPages - df_EraseFrom + 1) / df_PagePerSector) / sectors_in_64k) * sectors_in_64k;
while (next_sector < aligned_sector) { while (next_sector < aligned_sector) {
Sector4kErase(next_sector); Sector4kErase(next_sector);
io_timer_heartbeat = AP_HAL::millis();
next_sector++; next_sector++;
} }
uint16_t blocks_erased = 0; uint16_t blocks_erased = 0;
while (next_sector < sectors) { while (next_sector < sectors) {
blocks_erased++; blocks_erased++;
SectorErase(next_sector / sectors_in_64k); SectorErase(next_sector / sectors_in_64k);
io_timer_heartbeat = AP_HAL::millis();
next_sector += sectors_in_64k; next_sector += sectors_in_64k;
} }
status_msg = StatusMessage::RECOVERY_COMPLETE; status_msg = StatusMessage::RECOVERY_COMPLETE;