ardupilot/libraries/DataFlash/DataFlash_Block.cpp

184 lines
4.5 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* DataFlash.cpp - DataFlash log library generic code
*/
#include <AP_HAL.h>
#include "DataFlash.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 0x28122013
// *** DATAFLASH PUBLIC FUNCTIONS ***
void DataFlash_Block::StartWrite(uint16_t PageAdr)
{
df_BufferIdx = 0;
df_BufferNum = 0;
df_PageAdr = PageAdr;
WaitReady();
}
void DataFlash_Block::FinishWrite(void)
{
// Write Buffer to flash, NO WAIT
BufferToPage(df_BufferNum, df_PageAdr, 0);
df_PageAdr++;
// If we reach the end of the memory, start from the begining
if (df_PageAdr > df_NumPages)
df_PageAdr = 1;
// switch buffer
df_BufferNum ^= 1;
df_BufferIdx = 0;
}
void DataFlash_Block::WriteBlock(const void *pBuffer, uint16_t size)
{
if (!CardInserted() || !log_write_started) {
return;
}
while (size > 0) {
uint16_t n = df_PageSize - df_BufferIdx;
if (n > size) {
n = size;
}
if (df_BufferIdx == 0) {
// if we are at the start of a page we need to insert a
// page header
if (n > df_PageSize - sizeof(struct PageHeader)) {
n -= sizeof(struct PageHeader);
}
struct PageHeader ph = { df_FileNumber, df_FilePage };
BlockWrite(df_BufferNum, df_BufferIdx, &ph, sizeof(ph), pBuffer, n);
df_BufferIdx += n + sizeof(ph);
} else {
BlockWrite(df_BufferNum, df_BufferIdx, NULL, 0, pBuffer, n);
df_BufferIdx += n;
}
size -= n;
pBuffer = (const void *)(n + (uintptr_t)pBuffer);
if (df_BufferIdx == df_PageSize) {
FinishWrite();
df_FilePage++;
}
}
}
// Get the last page written to
uint16_t DataFlash_Block::GetWritePage()
{
return df_PageAdr;
}
// Get the last page read
uint16_t DataFlash_Block::GetPage()
{
return df_Read_PageAdr;
}
void DataFlash_Block::StartRead(uint16_t PageAdr)
{
df_Read_BufferNum = 0;
df_Read_PageAdr = PageAdr;
WaitReady();
// copy flash page to buffer
PageToBuffer(df_Read_BufferNum, df_Read_PageAdr);
// We are starting a new page - read FileNumber and FilePage
struct PageHeader ph;
BlockRead(df_Read_BufferNum, 0, &ph, sizeof(ph));
df_FileNumber = ph.FileNumber;
df_FilePage = ph.FilePage;
df_Read_BufferIdx = sizeof(ph);
}
void DataFlash_Block::ReadBlock(void *pBuffer, uint16_t size)
{
while (size > 0) {
uint16_t n = df_PageSize - df_Read_BufferIdx;
if (n > size) {
n = size;
}
WaitReady();
BlockRead(df_Read_BufferNum, df_Read_BufferIdx, pBuffer, n);
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;
}
PageToBuffer(df_Read_BufferNum, df_Read_PageAdr);
// We are starting a new page - read FileNumber and FilePage
struct PageHeader ph;
BlockRead(df_Read_BufferNum, 0, &ph, sizeof(ph));
df_FileNumber = ph.FileNumber;
df_FilePage = ph.FilePage;
df_Read_BufferIdx = sizeof(ph);
}
}
}
void DataFlash_Block::SetFileNumber(uint16_t FileNumber)
{
df_FileNumber = FileNumber;
df_FilePage = 1;
}
uint16_t DataFlash_Block::GetFileNumber()
{
return df_FileNumber;
}
uint16_t DataFlash_Block::GetFilePage()
{
return df_FilePage;
}
void DataFlash_Block::EraseAll()
{
for (uint16_t j = 1; j <= (df_NumPages+1)/8; j++) {
BlockErase(j);
if (j%6 == 0) {
hal.scheduler->delay(6);
}
}
// write the logging format in the last page
hal.scheduler->delay(100);
StartWrite(df_NumPages+1);
uint32_t version = DF_LOGGING_FORMAT;
log_write_started = true;
WriteBlock(&version, sizeof(version));
log_write_started = false;
FinishWrite();
hal.scheduler->delay(100);
}
/*
* we need to erase if the logging format has changed
*/
bool DataFlash_Block::NeedErase(void)
{
uint32_t version = 0;
StartRead(df_NumPages+1);
ReadBlock(&version, sizeof(version));
StartRead(1);
return version != DF_LOGGING_FORMAT;
}