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this will allow the addition of a DataFlash_File implementation of the DataFlash API which will store logs in a traditional filesystem. That will align better with the PX4 design, and be more useful for fast transfer of logs to a host computermaster
Andrew Tridgell
12 years ago
9 changed files with 183 additions and 146 deletions
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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DataFlash logging - block oriented variant |
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*/ |
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#ifndef DataFlash_block_h |
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#define DataFlash_block_h |
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#include <stdint.h> |
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// the last page holds the log format in first 4 bytes. Please change
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// this if (and only if!) the low level format changes
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#define DF_LOGGING_FORMAT 0x28122013 |
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// we use an invalie logging format to test the chip erase
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#define DF_LOGGING_FORMAT_INVALID 0x28122012 |
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class DataFlash_Block : DataFlash_Class |
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{ |
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public: |
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// initialisation
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virtual void Init(void) = 0; |
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virtual bool CardInserted(void) = 0; |
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// erase handling
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bool NeedErase(void); |
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void EraseAll(); |
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/* Write a block of data at current offset */ |
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void WriteBlock(const void *pBuffer, uint16_t size); |
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/*
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read a packet, stripping off the header bytes |
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*/ |
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void ReadPacket(void *pkt, uint16_t size); |
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// high level interface
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uint16_t find_last_log(void); |
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void get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page); |
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uint8_t get_num_logs(void); |
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void start_new_log(void); |
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uint16_t log_read_process(uint16_t start_page, uint16_t end_page,
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void (*callback)(uint8_t msgid)); |
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void DumpPageInfo(AP_HAL::BetterStream *port); |
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void ShowDeviceInfo(AP_HAL::BetterStream *port); |
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private: |
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struct PageHeader { |
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uint16_t FileNumber; |
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uint16_t FilePage; |
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}; |
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// DataFlash Log variables...
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uint8_t df_BufferNum; |
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uint8_t df_Read_BufferNum; |
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uint16_t df_BufferIdx; |
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uint16_t df_Read_BufferIdx; |
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uint16_t df_PageAdr; |
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uint16_t df_Read_PageAdr; |
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uint16_t df_FileNumber; |
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uint16_t df_FilePage; |
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/*
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functions implemented by the board specific backends |
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*/ |
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virtual void WaitReady() = 0; |
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virtual void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) = 0; |
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virtual void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) = 0; |
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virtual void PageErase(uint16_t PageAdr) = 0; |
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virtual void BlockErase(uint16_t BlockAdr) = 0; |
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virtual void ChipErase() = 0; |
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// write size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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virtual void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr,
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const void *pHeader, uint8_t hdr_size, |
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const void *pBuffer, uint16_t size) = 0; |
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// read size bytes of data to a page. The caller must ensure that
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// the data fits within the page, otherwise it will wrap to the
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// start of the page
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virtual bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) = 0; |
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// internal high level functions
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void StartRead(uint16_t PageAdr); |
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uint16_t find_last_page(void); |
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uint16_t find_last_page_of_log(uint16_t log_number); |
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bool check_wrapped(void); |
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uint16_t GetPage(void); |
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uint16_t GetWritePage(void); |
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void StartWrite(uint16_t PageAdr); |
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void FinishWrite(void); |
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// Read methods
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void ReadBlock(void *pBuffer, uint16_t size); |
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// file numbers
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void SetFileNumber(uint16_t FileNumber); |
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uint16_t GetFilePage(); |
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uint16_t GetFileNumber(); |
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protected: |
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uint8_t df_manufacturer; |
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uint16_t df_device; |
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// page handling
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uint16_t df_PageSize; |
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uint16_t df_NumPages; |
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virtual void ReadManufacturerID() = 0; |
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}; |
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#include "DataFlash_APM1.h" |
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#include "DataFlash_APM2.h" |
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#include "DataFlash_SITL.h" |
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#include "DataFlash_Empty.h" |
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#endif // DataFlash_block_h
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@ -1,14 +0,0 @@
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DataFlash KEYWORD1 |
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Init KEYWORD2 |
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ReadManufacturerID KEYWORD2 |
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GetPage KEYWORD2 |
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PageErase KEYWORD2 |
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StartWrite KEYWORD2 |
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StartRead KEYWORD2 |
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ReadByte KEYWORD2 |
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ReadInt KEYWORD2 |
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ReadLong KEYWORD2 |
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WriteByte KEYWORD2 |
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WriteInt KEYWORD2 |
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WriteLong KEYWORD2 |
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