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DataFlash: improve reliability of microSD for logs

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This commit is contained in:
Andrew Tridgell 2014-01-14 12:39:49 +11:00
parent b88bb0751c
commit b4b66210ff
2 changed files with 27 additions and 10 deletions
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36
libraries/DataFlash/DataFlash_File.cpp
View File

@ -23,6 +23,7 @@
#include <AP_Math.h> #include <AP_Math.h>
#include <stdio.h> #include <stdio.h>
#include <time.h> #include <time.h>
#include <dirent.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -41,8 +42,7 @@ DataFlash_File::DataFlash_File(const char *log_directory) :
_log_directory(log_directory), _log_directory(log_directory),
_writebuf(NULL), _writebuf(NULL),
_writebuf_size(16*1024), _writebuf_size(16*1024),
_writebuf_chunk(512), // until multiblock write support works on _writebuf_chunk(4096),
// px4, we are best off keeping writes small
_writebuf_head(0), _writebuf_head(0),
_writebuf_tail(0), _writebuf_tail(0),
_last_write_time(0) _last_write_time(0)
@ -61,6 +61,22 @@ void DataFlash_File::Init(const struct LogStructure *structure, uint8_t num_type
// create the log directory if need be // create the log directory if need be
int ret; int ret;
struct stat st; struct stat st;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// try to cope with an existing lowercase log directory
// name. NuttX does not handle case insensitive VFAT well
DIR *d = opendir("/fs/microsd/APM");
if (d != NULL) {
for (struct dirent *de=readdir(d); de; de=readdir(d)) {
if (strcmp(de->d_name, "logs") == 0) {
rename("/fs/microsd/APM/logs", "/fs/microsd/APM/OLDLOGS");
break;
}
}
closedir(d);
}
#endif
ret = stat(_log_directory, &st); ret = stat(_log_directory, &st);
if (ret == -1) { if (ret == -1) {
ret = mkdir(_log_directory, 0777); ret = mkdir(_log_directory, 0777);
@ -370,7 +386,7 @@ uint16_t DataFlash_File::start_new_log(void)
// now update lastlog.txt with the new log number // now update lastlog.txt with the new log number
fname = _lastlog_file_name(); fname = _lastlog_file_name();
FILE *f = ::fopen(fname, "w"); FILE *f = ::fopen(fname, "w");
fprintf(f, "%u\n", (unsigned)log_num); fprintf(f, "%u\r\n", (unsigned)log_num);
fclose(f); fclose(f);
free(fname); free(fname);
@ -513,6 +529,7 @@ void DataFlash_File::_io_timer(void)
if (_write_fd == -1 || !_initialised) { if (_write_fd == -1 || !_initialised) {
return; return;
} }
uint16_t nbytes = BUF_AVAILABLE(_writebuf); uint16_t nbytes = BUF_AVAILABLE(_writebuf);
if (nbytes == 0) { if (nbytes == 0) {
return; return;
@ -555,13 +572,14 @@ void DataFlash_File::_io_timer(void)
_initialised = false; _initialised = false;
} else { } else {
_write_offset += nwritten; _write_offset += nwritten;
BUF_ADVANCEHEAD(_writebuf, nwritten); /*
if (hal.scheduler->millis() - last_fsync_ms > 10000) { the best strategy for minimising corruption on microSD cards
last_fsync_ms = hal.scheduler->millis(); seems to be to write in 4k chunks and fsync the file on each
perf_begin(_perf_fsync); chunk, ensuring the directory entry is updated after each
write.
*/
::fsync(_write_fd); ::fsync(_write_fd);
perf_end(_perf_fsync); BUF_ADVANCEHEAD(_writebuf, nwritten);
}
} }
perf_end(_perf_write); perf_end(_perf_write);
} }

1
libraries/DataFlash/DataFlash_File.h
View File

@ -58,7 +58,6 @@ private:
uint32_t _write_offset; uint32_t _write_offset;
volatile bool _initialised; volatile bool _initialised;
const char *_log_directory; const char *_log_directory;
uint32_t last_fsync_ms;
/* /*
read a block read a block