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ardupilot/libraries/DataFlash/LogFile.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#include "DataFlash.h"
#include <stdlib.h>
#include <AP_Param.h>
#include <AP_Math.h>
extern const AP_HAL::HAL& hal;
// This function determines the number of whole or partial log files in the DataFlash
// Wholly overwritten files are (of course) lost.
uint16_t DataFlash_Block::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;
}
return (last - first + 1);
}
// This function starts a new log file in the DataFlash
uint16_t DataFlash_Block::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");
log_write_started = true;
return 1;
}
uint16_t new_log_num;
// Check for log of length 1 page and suppress
if(GetFilePage() <= 1) {
new_log_num = GetFileNumber();
// Last log too short, reuse its number
// and overwrite it
SetFileNumber(new_log_num);
StartWrite(last_page);
} else {
new_log_num = GetFileNumber()+1;
if (last_page == 0xFFFF) {
last_page=0;
}
SetFileNumber(new_log_num);
StartWrite(last_page + 1);
}
log_write_started = true;
return new_log_num;
}
// 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_Block::get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page)
{
uint16_t num = get_num_logs();
uint16_t look;
if (df_BufferIdx != 0) {
FinishWrite();
}
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 == df_NumPages+1 || start_page == 0) {
start_page = 1;
}
end_page = find_last_page_of_log(log_num);
if (end_page == 0) {
end_page = start_page;
}
}
bool DataFlash_Block::check_wrapped(void)
{
StartRead(df_NumPages);
if(GetFileNumber() == 0xFFFF)
return 0;
else
return 1;
}
// This funciton finds the last log number
uint16_t DataFlash_Block::find_last_log(void)
{
uint16_t last_page = find_last_page();
StartRead(last_page);
return GetFileNumber();
}
// This function finds the last page of the last file
uint16_t DataFlash_Block::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 = ((int32_t)GetFileNumber()<<16) | GetFilePage();
while(top-bottom > 1) {
look = (top+bottom)/2;
StartRead(look);
look_hash = (int32_t)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 = ((int32_t)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
uint16_t DataFlash_Block::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 = (int32_t)log_number<<16 | 0xFFFF;
while(top-bottom > 1)
{
look = (top+bottom)/2;
StartRead(look);
look_hash = (int32_t)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;
}
#define PGM_UINT8(addr) pgm_read_byte((const prog_char *)addr)
/*
read and print a log entry using the format strings from the given structure
*/
void DataFlash_Class::_print_log_entry(uint8_t msg_type,
uint8_t num_types,
const struct LogStructure *structure,
void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
AP_HAL::BetterStream *port)
{
uint8_t i;
for (i=0; i<num_types; i++) {
if (msg_type == PGM_UINT8(&structure[i].msg_type)) {
break;
}
}
if (i == num_types) {
port->printf_P(PSTR("UNKN, %u\n"), (unsigned)msg_type);
return;
}
uint8_t msg_len = PGM_UINT8(&structure[i].msg_len) - 3;
uint8_t pkt[msg_len];
ReadBlock(pkt, msg_len);
port->printf_P(PSTR("%S, "), structure[i].name);
for (uint8_t ofs=0, fmt_ofs=0; ofs<msg_len; fmt_ofs++) {
char fmt = PGM_UINT8(&structure[i].format[fmt_ofs]);
switch (fmt) {
case 'b': {
port->printf_P(PSTR("%d"), (int)pkt[ofs]);
ofs += 1;
break;
}
case 'B': {
port->printf_P(PSTR("%u"), (unsigned)pkt[ofs]);
ofs += 1;
break;
}
case 'h': {
int16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%d"), (int)v);
ofs += sizeof(v);
break;
}
case 'H': {
uint16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%u"), (unsigned)v);
ofs += sizeof(v);
break;
}
case 'i': {
int32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%ld"), (long)v);
ofs += sizeof(v);
break;
}
case 'I': {
uint32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%lu"), (unsigned long)v);
ofs += sizeof(v);
break;
}
case 'f': {
float v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%f"), v);
ofs += sizeof(v);
break;
}
case 'c': {
int16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%.2f"), 0.01f*v);
ofs += sizeof(v);
break;
}
case 'C': {
uint16_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%.2f"), 0.01f*v);
ofs += sizeof(v);
break;
}
case 'e': {
int32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%.2f"), 0.01f*v);
ofs += sizeof(v);
break;
}
case 'E': {
uint32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
port->printf_P(PSTR("%.2f"), 0.01f*v);
ofs += sizeof(v);
break;
}
case 'L': {
int32_t v;
memcpy(&v, &pkt[ofs], sizeof(v));
print_latlon(port, v);
ofs += sizeof(v);
break;
}
case 'n': {
char v[5];
memcpy(&v, &pkt[ofs], sizeof(v));
v[sizeof(v)-1] = 0;
port->printf_P(PSTR("%s"), v);
ofs += sizeof(v)-1;
break;
}
case 'N': {
char v[17];
memcpy(&v, &pkt[ofs], sizeof(v));
v[sizeof(v)-1] = 0;
port->printf_P(PSTR("%s"), v);
ofs += sizeof(v)-1;
break;
}
case 'Z': {
char v[65];
memcpy(&v, &pkt[ofs], sizeof(v));
v[sizeof(v)-1] = 0;
port->printf_P(PSTR("%s"), v);
ofs += sizeof(v)-1;
break;
}
case 'M': {
print_mode(port, pkt[ofs]);
ofs += 1;
break;
}
default:
ofs = msg_len;
break;
}
if (ofs < msg_len) {
port->printf_P(PSTR(", "));
}
}
port->println();
}
/*
Read the log and print it on port
*/
void DataFlash_Block::LogReadProcess(uint16_t log_num,
uint16_t start_page, uint16_t end_page,
uint8_t num_types,
const struct LogStructure *structure,
void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode),
AP_HAL::BetterStream *port)
{
uint8_t log_step = 0;
uint16_t page = start_page;
if (df_BufferIdx != 0) {
FinishWrite();
}
StartRead(start_page);
while (true) {
uint8_t data;
ReadBlock(&data, 1);
// This is a state machine to read the packets
switch(log_step) {
case 0:
if (data == HEAD_BYTE1) {
log_step++;
}
break;
case 1:
if (data == HEAD_BYTE2) {
log_step++;
} else {
log_step = 0;
}
break;
case 2:
log_step = 0;
_print_log_entry(data, num_types, structure, print_mode, port);
break;
}
uint16_t new_page = GetPage();
if (new_page != page) {
if (new_page == end_page || new_page == start_page) {
return;
}
page = new_page;
}
}
}
/*
dump header information from all log pages
*/
void DataFlash_Block::DumpPageInfo(AP_HAL::BetterStream *port)
{
for (uint16_t count=1; count<=df_NumPages; count++) {
StartRead(count);
port->printf_P(PSTR("DF page, log file #, log page: %u,\t"), (unsigned)count);
port->printf_P(PSTR("%u,\t"), (unsigned)GetFileNumber());
port->printf_P(PSTR("%u\n"), (unsigned)GetFilePage());
}
}
/*
show information about the device
*/
void DataFlash_Block::ShowDeviceInfo(AP_HAL::BetterStream *port)
{
if (!CardInserted()) {
port->println_P(PSTR("No dataflash inserted"));
return;
}
ReadManufacturerID();
port->printf_P(PSTR("Manufacturer: 0x%02x Device: 0x%04x\n"),
(unsigned)df_manufacturer,
(unsigned)df_device);
port->printf_P(PSTR("NumPages: %u PageSize: %u\n"),
(unsigned)df_NumPages+1,
(unsigned)df_PageSize);
}
/*
list available log numbers
*/
void DataFlash_Block::ListAvailableLogs(AP_HAL::BetterStream *port)
{
uint16_t num_logs = get_num_logs();
int16_t last_log_num = find_last_log();
uint16_t log_start = 0;
uint16_t log_end = 0;
if (num_logs == 0) {
port->printf_P(PSTR("\nNo logs\n\n"));
return;
}
port->printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
for (uint16_t i=num_logs; i>=1; i--) {
uint16_t last_log_start = log_start, last_log_end = log_end;
uint16_t temp = last_log_num - i + 1;
get_log_boundaries(temp, log_start, log_end);
port->printf_P(PSTR("Log %u, start %u, end %u\n"),
(unsigned)temp,
(unsigned)log_start,
(unsigned)log_end);
if (last_log_start == log_start && last_log_end == log_end) {
// we are printing bogus logs
break;
}
}
port->println();
}
// This function starts a new log file in the DataFlash, and writes
// the format of supported messages in the log, plus all parameters
uint16_t DataFlash_Class::StartNewLog(uint8_t num_types, const struct LogStructure *structures)
{
uint16_t ret;
ret = start_new_log();
// write log formats so the log is self-describing
for (uint8_t i=0; i<num_types; i++) {
Log_Write_Format(&structures[i]);
// avoid corrupting the APM1/APM2 dataflash by writing too fast
hal.scheduler->delay(10);
}
// and all current parameters
Log_Write_Parameters();
return ret;
}
/*
write a structure format to the log
*/
void DataFlash_Class::Log_Write_Format(const struct LogStructure *s)
{
struct log_Format pkt = {
LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG),
type : PGM_UINT8(&s->msg_type),
length : PGM_UINT8(&s->msg_len),
name : {},
format : {},
labels : {}
};
strncpy_P(pkt.name, s->name, sizeof(pkt.name));
strncpy_P(pkt.format, s->format, sizeof(pkt.format));
strncpy_P(pkt.labels, s->labels, sizeof(pkt.labels));
WriteBlock(&pkt, sizeof(pkt));
}
/*
write a parameter to the log
*/
void DataFlash_Class::Log_Write_Parameter(const char *name, float value)
{
struct log_Parameter pkt = {
LOG_PACKET_HEADER_INIT(LOG_PARAMETER_MSG),
name : {},
value : value
};
strncpy(pkt.name, name, sizeof(pkt.name));
WriteBlock(&pkt, sizeof(pkt));
}
/*
write a parameter to the log
*/
void DataFlash_Class::Log_Write_Parameter(const AP_Param *ap,
const AP_Param::ParamToken &token,
enum ap_var_type type)
{
char name[16];
ap->copy_name_token(token, &name[0], sizeof(name), true);
Log_Write_Parameter(name, ap->cast_to_float(type));
}
/*
write all parameters to the log - used when starting a new log so
the log file has a full record of the parameters
*/
void DataFlash_Class::Log_Write_Parameters(void)
{
AP_Param::ParamToken token;
AP_Param *ap;
enum ap_var_type type;
for (ap=AP_Param::first(&token, &type);
ap;
ap=AP_Param::next_scalar(&token, &type)) {
Log_Write_Parameter(ap, token, type);
// slow down the parameter dump to prevent saturating
// the dataflash write bandwidth
hal.scheduler->delay(1);
}
}
// Write an GPS packet
void DataFlash_Class::Log_Write_GPS(const GPS *gps, int32_t relative_alt)
{
struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
status : (uint8_t)gps->status(),
gps_time : gps->time,
num_sats : gps->num_sats,
hdop : gps->hdop,
latitude : gps->latitude,
longitude : gps->longitude,
rel_altitude : relative_alt,
altitude : gps->altitude_cm,
ground_speed : gps->ground_speed_cm,
ground_course : gps->ground_course_cd
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write an raw accel/gyro data packet
void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor *ins)
{
Vector3f gyro = ins->get_gyro();
Vector3f accel = ins->get_accel();
struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU_MSG),
gyro_x : gyro.x,
gyro_y : gyro.y,
gyro_z : gyro.z,
accel_x : accel.x,
accel_y : accel.y,
accel_z : accel.z
};
WriteBlock(&pkt, sizeof(pkt));
}
// Write a text message to the log
void DataFlash_Class::Log_Write_Message(const char *message)
{
struct log_Message pkt = {
LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
msg : {}
};
strncpy(pkt.msg, message, sizeof(pkt.msg));
WriteBlock(&pkt, sizeof(pkt));
}
// Write a text message to the log
void DataFlash_Class::Log_Write_Message_P(const prog_char_t *message)
{
struct log_Message pkt = {
LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
msg : {}
};
strncpy_P(pkt.msg, message, sizeof(pkt.msg));
WriteBlock(&pkt, sizeof(pkt));
}
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