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