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ardupilot/libraries/AP_Logger/AP_Logger_Block.cpp

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/*
block based logging, for boards with flash logging
*/
#include "AP_Logger_Block.h"
#include <AP_HAL/AP_HAL.h>
#include <stdio.h>
#include <GCS_MAVLink/GCS.h>
extern AP_HAL::HAL& hal;
// the last page holds the log format in first 4 bytes. Please change
// this if (and only if!) the low level format changes
#define DF_LOGGING_FORMAT 0x1901201A
AP_Logger_Block::AP_Logger_Block(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
writebuf(0),
AP_Logger_Backend(front, writer)
{
buffer = (uint8_t *)hal.util->malloc_type(page_size_max, AP_HAL::Util::MEM_DMA_SAFE);
if (buffer == nullptr) {
AP_HAL::panic("Out of DMA memory for logging");
}
}
// init is called after backend init
void AP_Logger_Block::Init(void)
{
if (CardInserted()) {
// reserve space for version in last sector
df_NumPages -= df_PagePerBlock;
// determine and limit file backend buffersize
uint32_t bufsize = _front._params.file_bufsize;
if (bufsize > 64) {
bufsize = 64;
}
bufsize *= 1024;
// If we can't allocate the full size, try to reduce it until we can allocate it
while (!writebuf.set_size(bufsize) && bufsize >= df_PageSize * df_PagePerBlock) {
hal.console->printf("AP_Logger_Block: Couldn't set buffer size to=%u\n", (unsigned)bufsize);
bufsize >>= 1;
}
if (!writebuf.get_size()) {
hal.console->printf("Out of memory for logging\n");
return;
}
hal.console->printf("AP_Logger_Block: buffer size=%u\n", (unsigned)bufsize);
_initialised = true;
}
WITH_SEMAPHORE(sem);
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Logger_Block::io_timer, void));
AP_Logger_Backend::Init();
}
uint32_t AP_Logger_Block::bufferspace_available()
{
// because AP_Logger_Block devices are ring buffers, we *always*
// have room...
return df_NumPages * df_PageSize;
}
// *** LOGGER PUBLIC FUNCTIONS ***
void AP_Logger_Block::StartWrite(uint32_t PageAdr)
{
df_PageAdr = PageAdr;
log_write_started = true;
}
void AP_Logger_Block::FinishWrite(void)
{
// Write Buffer to flash
BufferToPage(df_PageAdr);
df_PageAdr++;
// If we reach the end of the memory, start from the beginning
if (df_PageAdr > df_NumPages) {
df_PageAdr = 1;
}
// when starting a new sector, erase it
if ((df_PageAdr-1) % df_PagePerBlock == 0) {
SectorErase(df_PageAdr / df_PagePerBlock);
}
}
bool AP_Logger_Block::WritesOK() const
{
if (!CardInserted()) {
return false;
}
return true;
}
bool AP_Logger_Block::_WritePrioritisedBlock(const void *pBuffer, uint16_t size, bool is_critical)
{
// is_critical is ignored - we're a ring buffer and never run out
// of space. possibly if we do more complicated bandwidth
// limiting we can reserve bandwidth based on is_critical
if (!WritesOK()) {
return false;
}
if (! WriteBlockCheckStartupMessages()) {
return false;
}
if (writebuf.space() < size) {
// no room in buffer
return false;
}
writebuf.write((uint8_t*)pBuffer, size);
return true;
}
void AP_Logger_Block::StartRead(uint32_t PageAdr)
{
df_Read_PageAdr = PageAdr;
// copy flash page to buffer
if (erase_started) {
memset(buffer, 0xff, df_PageSize);
} else {
PageToBuffer(df_Read_PageAdr);
}
// We are starting a new page - read FileNumber and FilePage
struct PageHeader ph;
BlockRead(0, &ph, sizeof(ph));
df_FileNumber = ph.FileNumber;
df_FilePage = ph.FilePage;
df_Read_BufferIdx = sizeof(ph);
}
bool AP_Logger_Block::ReadBlock(void *pBuffer, uint16_t size)
{
if (erase_started) {
return false;
}
while (size > 0) {
uint16_t n = df_PageSize - df_Read_BufferIdx;
if (n > size) {
n = size;
}
if (!BlockRead(df_Read_BufferIdx, pBuffer, n)) {
return false;
}
size -= n;
pBuffer = (void *)(n + (uintptr_t)pBuffer);
df_Read_BufferIdx += n;
if (df_Read_BufferIdx == df_PageSize) {
df_Read_PageAdr++;
if (df_Read_PageAdr > df_NumPages) {
df_Read_PageAdr = 1;
}
if (erase_started) {
memset(buffer, 0xff, df_PageSize);
} else {
PageToBuffer(df_Read_PageAdr);
}
// We are starting a new page - read FileNumber and FilePage
struct PageHeader ph;
if (!BlockRead(0, &ph, sizeof(ph))) {
return false;
}
df_FileNumber = ph.FileNumber;
df_FilePage = ph.FilePage;
df_Read_BufferIdx = sizeof(ph);
}
}
return true;
}
void AP_Logger_Block::SetFileNumber(uint16_t FileNumber)
{
df_FileNumber = FileNumber;
df_FilePage = 1;
}
uint16_t AP_Logger_Block::GetFileNumber()
{
return df_FileNumber;
}
void AP_Logger_Block::EraseAll()
{
WITH_SEMAPHORE(sem);
if (erase_started) {
// already erasing
return;
}
gcs().send_text(MAV_SEVERITY_INFO, "Chip erase started");
// reset the format version and wrapped status so that any incomplete erase will be caught
Sector4kErase(get_sector(df_NumPages));
log_write_started = false;
StartErase();
erase_started = true;
}
bool AP_Logger_Block::NeedPrep(void)
{
return NeedErase();
}
void AP_Logger_Block::Prep()
{
WITH_SEMAPHORE(sem);
if (hal.util->get_soft_armed()) {
// do not want to do any filesystem operations while we are e.g. flying
return;
}
if (NeedErase()) {
EraseAll();
}
validate_log_structure();
}
/*
* we need to erase if the logging format has changed
*/
bool AP_Logger_Block::NeedErase(void)
{
uint32_t version = 0;
StartRead(df_NumPages+1); // last page
BlockRead(0, &version, sizeof(version));
StartRead(1);
if (version == DF_LOGGING_FORMAT) {
return false;
}
return true;
}
/*
* iterate through all of the logs files looking for ones that are corrupted and correct.
*/
void AP_Logger_Block::validate_log_structure()
{
WITH_SEMAPHORE(sem);
bool wrapped = check_wrapped();
uint32_t page = 1;
uint32_t page_start = 1;
StartRead(page);
uint16_t file = GetFileNumber();
uint16_t first_file = file;
uint16_t next_file = file;
uint16_t last_file = 0;
while (file != 0xFFFF && page <= df_NumPages && (file == next_file || (wrapped && file < next_file))) {
uint32_t end_page = find_last_page_of_log(file);
if (end_page == 0 || end_page < page) { // this can happen and may be responsible for corruption that we have seen
break;
}
page = end_page + 1;
StartRead(page);
file = GetFileNumber();
next_file++;
// skip over the rest of an erased blcok
if (wrapped && file == 0xFFFF) {
StartRead((get_block(page) + 1) * df_PagePerBlock + 1);
file = GetFileNumber();
}
if (wrapped && file < next_file) {
page_start = page;
next_file = file;
first_file = file;
} else if (last_file < next_file) {
last_file = file;
}
if (file == next_file) {
hal.console->printf("Found complete log %d at %X-%X\n", int(file), unsigned(page), unsigned(find_last_page_of_log(file)));
}
}
if (file != 0xFFFF && file != next_file && page <= df_NumPages && page > 0) {
gcs().send_text(MAV_SEVERITY_WARNING, "Found corrupt log %d at 0x%04X, erasing", int(file), unsigned(page));
df_EraseFrom = page;
} else if (next_file != 0xFFFF && page > 0 && next_file > 1) { // chip is empty
gcs().send_text(MAV_SEVERITY_INFO, "Found %d complete logs at 0x%04X-0x%04X", int(next_file - first_file), unsigned(page_start), unsigned(page - 1));
}
}
/**
get raw data from a log
*/
int16_t AP_Logger_Block::get_log_data_raw(uint16_t log_num, uint32_t page, uint32_t offset, uint16_t len, uint8_t *data)
{
WITH_SEMAPHORE(sem);
uint16_t data_page_size = df_PageSize - sizeof(struct PageHeader);
if (offset >= data_page_size) {
page += offset / data_page_size;
offset = offset % data_page_size;
if (page > df_NumPages) {
// pages are one based, not zero
page = 1 + page - df_NumPages;
}
}
if (log_write_started || df_Read_PageAdr != page) {
StartRead(page);
}
df_Read_BufferIdx = offset + sizeof(struct PageHeader);
if (!ReadBlock(data, len)) {
return -1;
}
return (int16_t)len;
}
/**
get data from a log, accounting for adding FMT headers
*/
int16_t AP_Logger_Block::get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data)
{
WITH_SEMAPHORE(sem);
if (offset == 0) {
uint8_t header[3];
if (get_log_data_raw(log_num, page, 0, 3, header) == -1) {
return -1;
}
adding_fmt_headers = (header[0] != HEAD_BYTE1 || header[1] != HEAD_BYTE2 || header[2] != LOG_FORMAT_MSG);
}
uint16_t ret = 0;
if (adding_fmt_headers) {
// the log doesn't start with a FMT message, we need to add
// them
const uint16_t fmt_header_size = num_types() * sizeof(struct log_Format);
while (offset < fmt_header_size && len > 0) {
struct log_Format pkt;
uint8_t t = offset / sizeof(pkt);
uint8_t ofs = offset % sizeof(pkt);
Fill_Format(structure(t), pkt);
uint8_t n = sizeof(pkt) - ofs;
if (n > len) {
n = len;
}
memcpy(data, ofs + (uint8_t *)&pkt, n);
data += n;
offset += n;
len -= n;
ret += n;
}
offset -= fmt_header_size;
}
if (len > 0) {
const int16_t bytes = get_log_data_raw(log_num, page, offset, len, data);
if (bytes == -1) {
return ret == 0 ? -1 : ret;
}
ret += bytes;
}
return ret;
}
// This function determines the number of whole or partial log files in the AP_Logger
// Wholly overwritten files are (of course) lost.
uint16_t AP_Logger_Block::get_num_logs(void)
{
WITH_SEMAPHORE(sem);
uint32_t lastpage;
uint32_t last;
if (!CardInserted() || find_last_page() == 1) {
return 0;
}
StartRead(1);
uint32_t first = GetFileNumber();
if (first == 0xFFFF) {
return 0;
}
lastpage = find_last_page();
StartRead(lastpage);
last = GetFileNumber();
if (check_wrapped()) {
// if we wrapped then the rest of the block will be filled with 0xFFFF because we always erase
// a block before writing to it, in order to find the first page we therefore have to read after the
// next block boundary
StartRead((get_block(lastpage) + 1) * df_PagePerBlock + 1);
first = GetFileNumber();
}
if (last == first) {
return 1;
}
return (last - first + 1);
}
// This function starts a new log file in the AP_Logger
void AP_Logger_Block::start_new_log(void)
{
WITH_SEMAPHORE(sem);
uint32_t last_page = find_last_page();
StartRead(last_page);
if (find_last_log() == 0 || GetFileNumber() == 0xFFFF) {
SetFileNumber(1);
StartWrite(1);
return;
}
uint16_t new_log_num;
// Check for log of length 1 page and suppress
if (df_FilePage <= 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);
}
return;
}
// This function finds the first and last pages of a log file
// The first page may be greater than the last page if the AP_Logger has been filled and partially overwritten.
void AP_Logger_Block::get_log_boundaries(uint16_t log_num, uint32_t & start_page, uint32_t & end_page)
{
WITH_SEMAPHORE(sem);
uint16_t num = get_num_logs();
uint32_t 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 == 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 AP_Logger_Block::check_wrapped(void)
{
StartRead(df_NumPages);
return GetFileNumber() != 0xFFFF;
}
// This function finds the last log number
uint16_t AP_Logger_Block::find_last_log(void)
{
WITH_SEMAPHORE(sem);
uint32_t last_page = find_last_page();
StartRead(last_page);
return GetFileNumber();
}
// This function finds the last page of the last file
uint32_t AP_Logger_Block::find_last_page(void)
{
uint32_t look;
uint32_t bottom = 1;
uint32_t top = df_NumPages;
uint64_t look_hash;
uint64_t bottom_hash;
uint64_t top_hash;
WITH_SEMAPHORE(sem);
StartRead(bottom);
bottom_hash = ((int64_t)GetFileNumber()<<32) | df_FilePage;
while (top-bottom > 1) {
look = (top+bottom)/2;
StartRead(look);
look_hash = (int64_t)GetFileNumber()<<32 | df_FilePage;
// erased sector so can discount everything above
if (look_hash >= 0xFFFF00000000) {
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 = ((int64_t)GetFileNumber()<<32) | df_FilePage;
if (top_hash >= 0xFFFF00000000) {
top_hash = 0;
}
if (top_hash > bottom_hash) {
return top;
}
return bottom;
}
// This function finds the last page of a particular log file
uint32_t AP_Logger_Block::find_last_page_of_log(uint16_t log_number)
{
uint32_t look;
uint32_t bottom;
uint32_t top;
uint64_t look_hash;
uint64_t check_hash;
WITH_SEMAPHORE(sem);
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 = (int64_t)log_number<<32 | 0xFFFFFFFF;
while (top-bottom > 1) {
look = (top+bottom)/2;
StartRead(look);
look_hash = (int64_t)GetFileNumber()<<32 | df_FilePage;
if (look_hash >= 0xFFFF00000000) {
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;
}
gcs().send_text(MAV_SEVERITY_ERROR, "No last page of log %d at top=%X or bot=%X", int(log_number), unsigned(top), unsigned(bottom));
return 0;
}
void AP_Logger_Block::get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc)
{
uint32_t start, end;
WITH_SEMAPHORE(sem);
get_log_boundaries(log_num, start, end);
if (end >= start) {
size = (end + 1 - start) * (uint32_t)df_PageSize;
} else {
size = (df_NumPages + end - start) * (uint32_t)df_PageSize;
}
time_utc = 0;
}
void AP_Logger_Block::PrepForArming()
{
if (logging_started()) {
return;
}
start_new_log();
}
// read size bytes of data from the buffer
bool AP_Logger_Block::BlockRead(uint16_t IntPageAdr, void *pBuffer, uint16_t size)
{
memcpy(pBuffer, &buffer[IntPageAdr], size);
return true;
}
/*
IO timer running on IO thread
*/
void AP_Logger_Block::io_timer(void)
{
if (!_initialised) {
return;
}
WITH_SEMAPHORE(sem);
if (erase_started) {
if (InErase()) {
return;
}
// write the logging format in the last page
StartWrite(df_NumPages+1);
uint32_t version = DF_LOGGING_FORMAT;
memset(buffer, 0, df_PageSize);
memcpy(buffer, &version, sizeof(version));
FinishWrite();
erase_started = false;
gcs().send_text(MAV_SEVERITY_INFO, "Chip erase complete");
return;
}
if (df_EraseFrom > 0) {
const uint32_t sectors = df_NumPages / df_PagePerSector;
const uint32_t sectors_in_64k = 0x10000 / (df_PagePerSector * df_PageSize);
uint32_t next_sector = get_sector(df_EraseFrom);
const uint32_t aligned_sector = sectors - (((df_NumPages - df_EraseFrom + 1) / df_PagePerSector) / sectors_in_64k) * sectors_in_64k;
while (next_sector < aligned_sector) {
Sector4kErase(next_sector);
next_sector++;
}
uint16_t blocks_erased = 0;
while (next_sector < sectors) {
blocks_erased++;
SectorErase(next_sector / sectors_in_64k);
next_sector += sectors_in_64k;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Log recovery complete, erased %d blocks", unsigned(blocks_erased));
df_EraseFrom = 0;
}
if (!CardInserted() || !log_write_started) {
return;
}
while (writebuf.available() >= df_PageSize - sizeof(struct PageHeader)) {
struct PageHeader ph;
ph.FileNumber = df_FileNumber;
ph.FilePage = df_FilePage;
memcpy(buffer, &ph, sizeof(ph));
writebuf.read(&buffer[sizeof(ph)], df_PageSize - sizeof(ph));
FinishWrite();
df_FilePage++;
}
}
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