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AP_Logger: user sync_block from littlefs to decide when to sync when using littlefs

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Andy Piper 2024-12-11 18:26:22 +00:00 committed by Andrew Tridgell
parent 8a992740f5
commit b556ffd1e0
1 changed files with 5 additions and 24 deletions
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29
libraries/AP_Logger/AP_Logger_File.cpp
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@ -16,6 +16,9 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Filesystem/AP_Filesystem.h>
#if AP_FILESYSTEM_LITTLEFS_ENABLED
#include <AP_Filesystem/AP_Filesystem_FlashMemory_LittleFS.h>
#endif
#include "AP_Logger.h"
#include "AP_Logger_File.h"
@ -984,29 +987,7 @@ void AP_Logger_File::io_timer(void)
}
#if AP_FILESYSTEM_LITTLEFS_ENABLED
// see https://github.com/littlefs-project/littlefs/issues/564#issuecomment-2363032827
// n = (N − w/8 ( popcount( N/(B − 2w/8) − 1) + 2))/(B − 2w/8))
// off = N − ( B − 2w/8 ) n − w/8popcount( n )
#define BLOCK_INDEX(N, B) \
(N - sizeof(uint32_t) * (__builtin_popcount(N/(B - 2 * sizeof(uint32_t)) -1) + 2))/(B - 2 * sizeof(uint32_t))
#define BLOCK_OFFSET(N, B, n) \
(N - (B - 2*sizeof(uint32_t)) * n - sizeof(uint32_t) * __builtin_popcount(n))
uint32_t blocksize = AP::FS().get_sync_size();
uint32_t block_index = BLOCK_INDEX(_write_offset, blocksize);
uint32_t block_offset = BLOCK_OFFSET(_write_offset, blocksize, block_index);
bool end_of_block = false;
if (blocksize - block_offset <= nbytes) {
if (blocksize == block_offset) {
// exactly at the end of the block, sync and then write all the data
AP::FS().fsync(_write_fd);
} else {
// near the end of the block, fill in the remaining gap
nbytes = blocksize - block_offset;
end_of_block = true;
}
}
bool sync_block = AP::littlefs().sync_block(_write_fd, _write_offset, nbytes);
#endif // AP_FILESYSTEM_LITTLEFS_ENABLED
ssize_t nwritten = AP::FS().write(_write_fd, head, nbytes);
@ -1034,7 +1015,7 @@ void AP_Logger_File::io_timer(void)
required since the whole point of the filesystem is to avoid corruption
*/
#if AP_FILESYSTEM_LITTLEFS_ENABLED
if (end_of_block)
if (sync_block)
#endif // AP_FILESYSTEM_LITTLEFS_ENABLED
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
{