mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.0 KiB
C++
82 lines
2.0 KiB
C++
#include "DataFlash_Backend.h"
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#include "DFMessageWriter.h"
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extern const AP_HAL::HAL& hal;
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void DataFlash_Backend::periodic_10Hz(const uint32_t now)
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{
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}
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void DataFlash_Backend::periodic_1Hz(const uint32_t now)
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{
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}
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void DataFlash_Backend::periodic_fullrate(const uint32_t now)
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{
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}
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void DataFlash_Backend::periodic_tasks()
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{
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uint32_t now = hal.scheduler->millis();
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if (now - _last_periodic_1Hz > 1000) {
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periodic_1Hz(now);
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_last_periodic_1Hz = now;
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}
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if (now - _last_periodic_10Hz > 100) {
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periodic_10Hz(now);
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_last_periodic_10Hz = now;
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}
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periodic_fullrate(now);
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}
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void DataFlash_Backend::internal_error() {
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_internal_errors++;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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abort();
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#endif
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}
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// this method can be overridden to do extra things with your buffer.
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// for example, in DataFlash_MAVLink we may push messages into the UART.
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void DataFlash_Backend::push_log_blocks() {
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WriteMoreStartupMessages();
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}
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// returns true if all format messages have been written, and thus it is OK
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// for other messages to go out to the log
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bool DataFlash_Backend::WriteBlockCheckStartupMessages()
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{
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if (_front._startup_messagewriter.fmt_done()) {
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return true;
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}
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if (_writing_startup_messages) {
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// we have been called by a messagewriter, so writing is OK
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return true;
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}
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// we're not writing startup messages, so this must be some random
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// caller hoping to write blocks out. Push out log blocks - we
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// might end up clearing the buffer.....
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push_log_blocks();
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if (_front._startup_messagewriter.fmt_done()) {
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return true;
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}
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// sorry! currently busy writing out startup messages...
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return false;
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}
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// source more messages from the startup message writer:
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void DataFlash_Backend::WriteMoreStartupMessages()
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{
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if (_front._startup_messagewriter.finished()) {
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return;
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}
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_writing_startup_messages = true;
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_front._startup_messagewriter.process();
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_writing_startup_messages = false;
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}
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