ardupilot/libraries/AP_Logger/AP_Logger_SITL.cpp

101 lines
2.3 KiB
C++

/*
backend for SITL emulation of block logging
*/
#include "AP_Logger_SITL.h"
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <assert.h>
#include <stdio.h>
#define DF_PAGE_SIZE 256UL
#define DF_PAGE_PER_SECTOR 16 // 4k sectors
#define DF_NUM_PAGES 65536UL
#define ERASE_TIME_MS 10000
extern const AP_HAL::HAL& hal;
void AP_Logger_SITL::Init()
{
if (flash_fd == 0) {
flash_fd = open("dataflash.bin", O_RDWR|O_CLOEXEC, 0777);
if (flash_fd == -1) {
flash_fd = open("dataflash.bin", O_RDWR | O_CREAT | O_CLOEXEC, 0777);
StartErase();
erase_started_ms = 0;
}
if (ftruncate(flash_fd, DF_PAGE_SIZE*uint32_t(DF_NUM_PAGES)) != 0) {
AP_HAL::panic("Failed to create dataflash.bin");
}
}
df_PageSize = DF_PAGE_SIZE;
df_PagePerSector = DF_PAGE_PER_SECTOR;
df_NumPages = DF_NUM_PAGES;
AP_Logger_Block::Init();
}
bool AP_Logger_SITL::CardInserted(void) const
{
return df_NumPages > 0;
}
void AP_Logger_SITL::PageToBuffer(uint32_t PageAdr)
{
assert(PageAdr>0 && PageAdr <= df_NumPages+1);
if (pread(flash_fd, buffer, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE) != DF_PAGE_SIZE) {
printf("Failed flash read");
}
}
void AP_Logger_SITL::BufferToPage(uint32_t PageAdr)
{
assert(PageAdr>0 && PageAdr <= df_NumPages+1);
if (pwrite(flash_fd, buffer, DF_PAGE_SIZE, (PageAdr-1)*DF_PAGE_SIZE) != DF_PAGE_SIZE) {
printf("Failed flash write");
}
}
void AP_Logger_SITL::SectorErase(uint32_t SectorAdr)
{
uint8_t fill[DF_PAGE_SIZE*DF_PAGE_PER_SECTOR];
memset(fill, 0xFF, sizeof(fill));
if (pwrite(flash_fd, fill, sizeof(fill), SectorAdr*DF_PAGE_PER_SECTOR*DF_PAGE_SIZE) != sizeof(fill)) {
printf("Failed sector erase");
}
}
void AP_Logger_SITL::StartErase()
{
for (uint32_t i=0; i<DF_NUM_PAGES/DF_PAGE_PER_SECTOR; i++) {
SectorErase(i);
}
erase_started_ms = AP_HAL::millis();
}
bool AP_Logger_SITL::InErase()
{
if (erase_started_ms == 0) {
return false;
}
uint32_t now = AP_HAL::millis();
if (now - erase_started_ms < ERASE_TIME_MS) {
return true;
}
erase_started_ms = 0;
return false;
}
#endif // HAL_BOARD_SITL