mirror of https://github.com/ArduPilot/ardupilot
426 lines
11 KiB
C++
426 lines
11 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
DataFlash.cpp - DataFlash log library generic code
|
|
*/
|
|
|
|
#include <stdint.h>
|
|
#include "DataFlash.h"
|
|
|
|
|
|
// *** DATAFLASH PUBLIC FUNCTIONS ***
|
|
void DataFlash_Class::StartWrite(int16_t PageAdr)
|
|
{
|
|
df_BufferNum=1;
|
|
df_BufferIdx=4;
|
|
df_PageAdr=PageAdr;
|
|
df_Stop_Write=0;
|
|
WaitReady();
|
|
|
|
// We are starting a new page - write FileNumber and FilePage
|
|
BufferWrite(df_BufferNum,0,df_FileNumber>>8); // High byte
|
|
BufferWrite(df_BufferNum,1,df_FileNumber&0xFF); // Low byte
|
|
BufferWrite(df_BufferNum,2,df_FilePage>>8); // High byte
|
|
BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
|
|
}
|
|
|
|
void DataFlash_Class::FinishWrite(void)
|
|
{
|
|
df_BufferIdx=0;
|
|
BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
|
|
df_PageAdr++;
|
|
if (DF_OVERWRITE_DATA==1) {
|
|
if (df_PageAdr>df_NumPages) // If we reach the end of the memory, start from the begining
|
|
df_PageAdr = 1;
|
|
} else {
|
|
if (df_PageAdr>df_NumPages) // If we reach the end of the memory, stop here
|
|
df_Stop_Write=1;
|
|
}
|
|
|
|
if (df_BufferNum==1) // Change buffer to continue writing...
|
|
df_BufferNum=2;
|
|
else
|
|
df_BufferNum=1;
|
|
}
|
|
|
|
|
|
void DataFlash_Class::WriteByte(uint8_t data)
|
|
{
|
|
if (!df_Stop_Write) {
|
|
BufferWrite(df_BufferNum,df_BufferIdx,data);
|
|
df_BufferIdx++;
|
|
if (df_BufferIdx >= df_PageSize) // End of buffer?
|
|
{
|
|
df_BufferIdx=4; //(4 bytes for FileNumber, FilePage)
|
|
BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
|
|
df_PageAdr++;
|
|
if (DF_OVERWRITE_DATA==1)
|
|
{
|
|
if (df_PageAdr>df_NumPages) // If we reach the end of the memory, start from the begining
|
|
df_PageAdr = 1;
|
|
}
|
|
else
|
|
{
|
|
if (df_PageAdr>df_NumPages) // If we reach the end of the memory, stop here
|
|
df_Stop_Write=1;
|
|
}
|
|
|
|
if (df_BufferNum==1) // Change buffer to continue writing...
|
|
df_BufferNum=2;
|
|
else
|
|
df_BufferNum=1;
|
|
|
|
// We are starting a new page - write FileNumber and FilePage
|
|
BufferWrite(df_BufferNum,0,df_FileNumber>>8); // High byte
|
|
BufferWrite(df_BufferNum,1,df_FileNumber&0xFF); // Low byte
|
|
df_FilePage++;
|
|
BufferWrite(df_BufferNum,2,df_FilePage>>8); // High byte
|
|
BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
|
|
}
|
|
}
|
|
}
|
|
|
|
void DataFlash_Class::WriteInt(int16_t data)
|
|
{
|
|
WriteByte(data>>8); // High byte
|
|
WriteByte(data&0xFF); // Low byte
|
|
}
|
|
|
|
void DataFlash_Class::WriteLong(int32_t data)
|
|
{
|
|
WriteByte(data>>24); // First byte
|
|
WriteByte(data>>16);
|
|
WriteByte(data>>8);
|
|
WriteByte(data&0xFF); // Last byte
|
|
}
|
|
|
|
// Get the last page written to
|
|
int16_t DataFlash_Class::GetWritePage()
|
|
{
|
|
return df_PageAdr;
|
|
}
|
|
|
|
// Get the last page read
|
|
int16_t DataFlash_Class::GetPage()
|
|
{
|
|
return df_Read_PageAdr-1;
|
|
}
|
|
|
|
void DataFlash_Class::StartRead(int16_t PageAdr)
|
|
{
|
|
df_Read_BufferNum=1;
|
|
df_Read_BufferIdx=4;
|
|
df_Read_PageAdr=PageAdr;
|
|
WaitReady();
|
|
PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write Memory page to buffer
|
|
//Serial.print(df_Read_PageAdr, DEC); Serial.print("\t");
|
|
df_Read_PageAdr++;
|
|
|
|
// We are starting a new page - read FileNumber and FilePage
|
|
df_FileNumber = BufferRead(df_Read_BufferNum,0); // High byte
|
|
//Serial.print(df_FileNumber, DEC); Serial.print("\t");
|
|
df_FileNumber = (df_FileNumber<<8) | BufferRead(df_Read_BufferNum,1); // Low byte
|
|
//Serial.println(df_FileNumber, DEC); Serial.print("\t");
|
|
df_FilePage = BufferRead(df_Read_BufferNum,2); // High byte
|
|
df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
|
|
}
|
|
|
|
uint8_t DataFlash_Class::ReadByte()
|
|
{
|
|
uint8_t result;
|
|
|
|
WaitReady();
|
|
result = BufferRead(df_Read_BufferNum,df_Read_BufferIdx);
|
|
df_Read_BufferIdx++;
|
|
if (df_Read_BufferIdx >= df_PageSize) // End of buffer?
|
|
{
|
|
df_Read_BufferIdx=4; //(4 bytes for FileNumber, FilePage)
|
|
PageToBuffer(df_Read_BufferNum,df_Read_PageAdr); // Write memory page to Buffer
|
|
df_Read_PageAdr++;
|
|
if (df_Read_PageAdr>df_NumPages) // If we reach the end of the memory, start from the begining
|
|
{
|
|
df_Read_PageAdr = 0;
|
|
}
|
|
|
|
// We are starting a new page - read FileNumber and FilePage
|
|
df_FileNumber = BufferRead(df_Read_BufferNum,0); // High byte
|
|
df_FileNumber = (df_FileNumber<<8) | BufferRead(df_Read_BufferNum,1); // Low byte
|
|
df_FilePage = BufferRead(df_Read_BufferNum,2); // High byte
|
|
df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
|
|
}
|
|
return result;
|
|
}
|
|
|
|
int16_t DataFlash_Class::ReadInt()
|
|
{
|
|
uint16_t result;
|
|
|
|
result = ReadByte(); // High byte
|
|
result = (result<<8) | ReadByte(); // Low byte
|
|
return (int16_t)result;
|
|
}
|
|
|
|
int32_t DataFlash_Class::ReadLong()
|
|
{
|
|
uint32_t result;
|
|
|
|
result = ReadByte(); // First byte
|
|
result = (result<<8) | ReadByte();
|
|
result = (result<<8) | ReadByte();
|
|
result = (result<<8) | ReadByte(); // Last byte
|
|
return (int32_t)result;
|
|
}
|
|
|
|
void DataFlash_Class::SetFileNumber(uint16_t FileNumber)
|
|
{
|
|
df_FileNumber = FileNumber;
|
|
df_FilePage = 1;
|
|
}
|
|
|
|
uint16_t DataFlash_Class::GetFileNumber()
|
|
{
|
|
return df_FileNumber;
|
|
}
|
|
|
|
uint16_t DataFlash_Class::GetFilePage()
|
|
{
|
|
return df_FilePage;
|
|
}
|
|
|
|
void DataFlash_Class::EraseAll(void (*delay_cb)(unsigned long))
|
|
{
|
|
ChipErase(delay_cb);
|
|
SetFileNumber(0xFFFF);
|
|
// write the logging format in the last page
|
|
StartWrite(df_NumPages+1);
|
|
WriteLong(DF_LOGGING_FORMAT);
|
|
FinishWrite();
|
|
}
|
|
|
|
/*
|
|
we need to erase if the logging format has changed
|
|
*/
|
|
bool DataFlash_Class::NeedErase(void)
|
|
{
|
|
StartRead(df_NumPages+1);
|
|
return ReadLong() != DF_LOGGING_FORMAT;
|
|
}
|
|
|
|
|
|
|
|
// This function determines the number of whole or partial log files in the DataFlash
|
|
// Wholly overwritten files are (of course) lost.
|
|
uint8_t DataFlash_Class::get_num_logs(void)
|
|
{
|
|
uint16_t lastpage;
|
|
uint16_t last;
|
|
uint16_t first;
|
|
|
|
if(find_last_page() == 1) return 0;
|
|
|
|
StartRead(1);
|
|
|
|
if(GetFileNumber() == 0XFFFF) return 0;
|
|
|
|
lastpage = find_last_page();
|
|
StartRead(lastpage);
|
|
last = GetFileNumber();
|
|
StartRead(lastpage + 2);
|
|
first = GetFileNumber();
|
|
if(first > last) {
|
|
StartRead(1);
|
|
first = GetFileNumber();
|
|
}
|
|
if(last == first)
|
|
{
|
|
return 1;
|
|
} else {
|
|
return (last - first + 1);
|
|
}
|
|
}
|
|
|
|
// This function starts a new log file in the DataFlash
|
|
void DataFlash_Class::start_new_log(void)
|
|
{
|
|
uint16_t last_page = find_last_page();
|
|
|
|
StartRead(last_page);
|
|
//Serial.print("last page: "); Serial.println(last_page);
|
|
//Serial.print("file #: "); Serial.println(GetFileNumber());
|
|
//Serial.print("file page: "); Serial.println(GetFilePage());
|
|
|
|
if(find_last_log() == 0 || GetFileNumber() == 0xFFFF) {
|
|
SetFileNumber(1);
|
|
StartWrite(1);
|
|
//Serial.println("start log from 0");
|
|
return;
|
|
}
|
|
|
|
// Check for log of length 1 page and suppress
|
|
if(GetFilePage() <= 1) {
|
|
SetFileNumber(GetFileNumber()); // Last log too short, reuse its number
|
|
StartWrite(last_page); // and overwrite it
|
|
//Serial.println("start log from short");
|
|
} else {
|
|
if(last_page == 0xFFFF) last_page=0;
|
|
SetFileNumber(GetFileNumber()+1);
|
|
StartWrite(last_page + 1);
|
|
//Serial.println("start log normal");
|
|
}
|
|
}
|
|
|
|
// This function finds the first and last pages of a log file
|
|
// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
|
|
void DataFlash_Class::get_log_boundaries(uint8_t log_num, int & start_page, int & end_page)
|
|
{
|
|
int num = get_num_logs();
|
|
int look;
|
|
|
|
if(num == 1)
|
|
{
|
|
StartRead(df_NumPages);
|
|
if(GetFileNumber() == 0xFFFF)
|
|
{
|
|
start_page = 1;
|
|
end_page = find_last_page_of_log((uint16_t)log_num);
|
|
} else {
|
|
end_page = find_last_page_of_log((uint16_t)log_num);
|
|
start_page = end_page + 1;
|
|
}
|
|
|
|
} else {
|
|
if(log_num==1) {
|
|
StartRead(df_NumPages);
|
|
if(GetFileNumber() == 0xFFFF) {
|
|
start_page = 1;
|
|
} else {
|
|
start_page = find_last_page() + 1;
|
|
}
|
|
} else {
|
|
if(log_num == find_last_log() - num + 1) {
|
|
start_page = find_last_page() + 1;
|
|
} else {
|
|
look = log_num-1;
|
|
do {
|
|
start_page = find_last_page_of_log(look) + 1;
|
|
look--;
|
|
} while (start_page <= 0 && look >=1);
|
|
}
|
|
}
|
|
}
|
|
if(start_page == (int)df_NumPages+1 || start_page == 0) start_page=1;
|
|
end_page = find_last_page_of_log((uint16_t)log_num);
|
|
if(end_page <= 0) end_page = start_page;
|
|
}
|
|
|
|
bool DataFlash_Class::check_wrapped(void)
|
|
{
|
|
StartRead(df_NumPages);
|
|
if(GetFileNumber() == 0xFFFF)
|
|
return 0;
|
|
else
|
|
return 1;
|
|
}
|
|
|
|
|
|
// This funciton finds the last log number
|
|
int DataFlash_Class::find_last_log(void)
|
|
{
|
|
int last_page = find_last_page();
|
|
StartRead(last_page);
|
|
return GetFileNumber();
|
|
}
|
|
|
|
// This function finds the last page of the last file
|
|
int DataFlash_Class::find_last_page(void)
|
|
{
|
|
uint16_t look;
|
|
uint16_t bottom = 1;
|
|
uint16_t top = df_NumPages;
|
|
uint32_t look_hash;
|
|
uint32_t bottom_hash;
|
|
uint32_t top_hash;
|
|
|
|
StartRead(bottom);
|
|
bottom_hash = ((long)GetFileNumber()<<16) | GetFilePage();
|
|
|
|
while(top-bottom > 1) {
|
|
look = (top+bottom)/2;
|
|
StartRead(look);
|
|
look_hash = (long)GetFileNumber()<<16 | GetFilePage();
|
|
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
|
|
|
if(look_hash < bottom_hash) {
|
|
// move down
|
|
top = look;
|
|
} else {
|
|
// move up
|
|
bottom = look;
|
|
bottom_hash = look_hash;
|
|
}
|
|
}
|
|
|
|
StartRead(top);
|
|
top_hash = ((long)GetFileNumber()<<16) | GetFilePage();
|
|
if (top_hash >= 0xFFFF0000) {
|
|
top_hash = 0;
|
|
}
|
|
if (top_hash > bottom_hash) {
|
|
return top;
|
|
}
|
|
|
|
return bottom;
|
|
}
|
|
|
|
// This function finds the last page of a particular log file
|
|
int DataFlash_Class::find_last_page_of_log(uint16_t log_number)
|
|
{
|
|
uint16_t look;
|
|
uint16_t bottom;
|
|
uint16_t top;
|
|
uint32_t look_hash;
|
|
uint32_t check_hash;
|
|
|
|
if(check_wrapped())
|
|
{
|
|
StartRead(1);
|
|
bottom = GetFileNumber();
|
|
if (bottom > log_number)
|
|
{
|
|
bottom = find_last_page();
|
|
top = df_NumPages;
|
|
} else {
|
|
bottom = 1;
|
|
top = find_last_page();
|
|
}
|
|
} else {
|
|
bottom = 1;
|
|
top = find_last_page();
|
|
}
|
|
|
|
check_hash = (long)log_number<<16 | 0xFFFF;
|
|
|
|
while(top-bottom > 1)
|
|
{
|
|
look = (top+bottom)/2;
|
|
StartRead(look);
|
|
look_hash = (long)GetFileNumber()<<16 | GetFilePage();
|
|
if (look_hash >= 0xFFFF0000) look_hash = 0;
|
|
|
|
if(look_hash > check_hash) {
|
|
// move down
|
|
top = look;
|
|
} else {
|
|
// move up
|
|
bottom = look;
|
|
}
|
|
}
|
|
|
|
StartRead(top);
|
|
if (GetFileNumber() == log_number) return top;
|
|
|
|
StartRead(bottom);
|
|
if (GetFileNumber() == log_number) return bottom;
|
|
|
|
return -1;
|
|
}
|