DataFlash: added Block layer in classes

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 computer

libraries/DataFlash/DataFlash.h

@@ -23,26 +23,26 @@ public:
     virtual bool CardInserted(void) = 0;
 
     // erase handling
-    bool NeedErase(void);
-    void EraseAll();
+    virtual bool NeedErase(void) = 0;
+    virtual void EraseAll() = 0;
 
     /* Write a block of data at current offset */
-    void WriteBlock(const void *pBuffer, uint16_t size);
+    virtual void WriteBlock(const void *pBuffer, uint16_t size) = 0;
 
     /*
       read a packet, stripping off the header bytes
     */
-    void ReadPacket(void *pkt, uint16_t size);
+    virtual void ReadPacket(void *pkt, uint16_t size) = 0;
 
     // high level interface
-    uint16_t find_last_log(void);
-    void get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page);
-    uint8_t get_num_logs(void);
-    void start_new_log(void);
-    uint16_t log_read_process(uint16_t start_page, uint16_t end_page, 
-                              void (*callback)(uint8_t msgid));
-    void DumpPageInfo(AP_HAL::BetterStream *port);
-    void ShowDeviceInfo(AP_HAL::BetterStream *port);
+    virtual uint16_t find_last_log(void) = 0;
+    virtual void get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page) = 0;
+    virtual uint8_t get_num_logs(void) = 0;
+    virtual void start_new_log(void) = 0;
+    virtual uint16_t log_read_process(uint16_t start_page, uint16_t end_page, 
+                              void (*callback)(uint8_t msgid)) = 0;
+    virtual void DumpPageInfo(AP_HAL::BetterStream *port) = 0;
+    virtual void ShowDeviceInfo(AP_HAL::BetterStream *port) = 0;
 
 	/*
       every logged packet starts with 3 bytes
@@ -50,71 +50,6 @@ public:
     struct log_Header {
         uint8_t head1, head2, msgid;
     };
-
-private:
-    struct PageHeader {
-        uint16_t FileNumber;
-        uint16_t FilePage;
-    };
-
-    // DataFlash Log variables...
-    uint8_t df_BufferNum;
-    uint8_t df_Read_BufferNum;
-    uint16_t df_BufferIdx;
-    uint16_t df_Read_BufferIdx;
-    uint16_t df_PageAdr;
-    uint16_t df_Read_PageAdr;
-    uint16_t df_FileNumber;
-    uint16_t df_FilePage;
-
-    virtual void WaitReady() = 0;
-    virtual void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) = 0;
-    virtual void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) = 0;
-    virtual void PageErase(uint16_t PageAdr) = 0;
-    virtual void BlockErase(uint16_t BlockAdr) = 0;
-    virtual void ChipErase() = 0;
-
-    // write size bytes of data to a page. The caller must ensure that
-    // the data fits within the page, otherwise it will wrap to the
-    // start of the page
-    virtual void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, 
-                            const void *pHeader, uint8_t hdr_size,
-                            const void *pBuffer, uint16_t size) = 0;
-    
-    // read size bytes of data to a page. The caller must ensure that
-    // the data fits within the page, otherwise it will wrap to the
-    // start of the page
-    virtual bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) = 0;
-
-    // start reading at the given page
-    void StartRead(uint16_t PageAdr);
-
-    // internal high level functions
-    uint16_t find_last_page(void);
-    uint16_t find_last_page_of_log(uint16_t log_number);
-    bool check_wrapped(void);
-    uint16_t GetPage(void);
-    uint16_t GetWritePage(void);
-    void StartWrite(uint16_t PageAdr);
-    void FinishWrite(void);
-
-    // Read methods
-    void ReadBlock(void *pBuffer, uint16_t size);
-
-    // file numbers
-    void SetFileNumber(uint16_t FileNumber);
-    uint16_t GetFilePage();
-    uint16_t GetFileNumber();
-
-protected:
-    uint8_t df_manufacturer;
-    uint16_t df_device;
-
-    // page handling
-    uint16_t df_PageSize;
-    uint16_t df_NumPages;
-
-    virtual void ReadManufacturerID() = 0;
 };
 
 /*
@@ -129,10 +64,6 @@ protected:
 #define HEAD_BYTE1  0xA3    // Decimal 163
 #define HEAD_BYTE2  0x95    // Decimal 149
 
-
-#include "DataFlash_APM1.h"
-#include "DataFlash_APM2.h"
-#include "DataFlash_SITL.h"
-#include "DataFlash_Empty.h"
+#include "DataFlash_Block.h"
 
 #endif

libraries/DataFlash/DataFlash_APM1.h

@@ -9,7 +9,7 @@
 #include <AP_HAL.h>
 #include "DataFlash.h"
 
-class DataFlash_APM1 : public DataFlash_Class
+class DataFlash_APM1 : public DataFlash_Block
 {
 private:
     //Methods
@@ -39,9 +39,8 @@ private:
     
     AP_HAL::SPIDeviceDriver *_spi;
     AP_HAL::Semaphore *_spi_sem;
-public:
 
-    DataFlash_APM1() {}
+public:
     void        Init();
     void        ReadManufacturerID();
     bool        CardInserted();

libraries/DataFlash/DataFlash_APM2.h

@@ -9,7 +9,7 @@
 #include <AP_HAL.h>
 #include "DataFlash.h"
 
-class DataFlash_APM2 : public DataFlash_Class
+class DataFlash_APM2 : public DataFlash_Block
 {
 private:
     //Methods
@@ -40,9 +40,8 @@ private:
 
     AP_HAL::SPIDeviceDriver* _spi;
     AP_HAL::Semaphore* _spi_sem;
-public:
-    DataFlash_APM2() {}
 
+public:
     void        Init();
     void        ReadManufacturerID();
     bool        CardInserted();

libraries/DataFlash/DataFlash_Block.cpp

@@ -9,7 +9,7 @@
 extern AP_HAL::HAL& hal;
 
 // *** DATAFLASH PUBLIC FUNCTIONS ***
-void DataFlash_Class::StartWrite(uint16_t PageAdr)
+void DataFlash_Block::StartWrite(uint16_t PageAdr)
 {
     df_BufferIdx  = 0;
     df_BufferNum  = 0;
@@ -17,7 +17,7 @@ void DataFlash_Class::StartWrite(uint16_t PageAdr)
     WaitReady();
 }
 
-void DataFlash_Class::FinishWrite(void)
+void DataFlash_Block::FinishWrite(void)
 {
     // Write Buffer to flash, NO WAIT
     BufferToPage(df_BufferNum, df_PageAdr, 0);      
@@ -31,7 +31,7 @@ void DataFlash_Class::FinishWrite(void)
     df_BufferIdx = 0;
 }
 
-void DataFlash_Class::WriteBlock(const void *pBuffer, uint16_t size)
+void DataFlash_Block::WriteBlock(const void *pBuffer, uint16_t size)
 {
     while (size > 0) {
         uint16_t n = df_PageSize - df_BufferIdx;
@@ -65,18 +65,18 @@ void DataFlash_Class::WriteBlock(const void *pBuffer, uint16_t size)
 
 
 // Get the last page written to
-uint16_t DataFlash_Class::GetWritePage()
+uint16_t DataFlash_Block::GetWritePage()
 {
     return df_PageAdr;
 }
 
 // Get the last page read
-uint16_t DataFlash_Class::GetPage()
+uint16_t DataFlash_Block::GetPage()
 {
     return df_Read_PageAdr;
 }
 
-void DataFlash_Class::StartRead(uint16_t PageAdr)
+void DataFlash_Block::StartRead(uint16_t PageAdr)
 {
     df_Read_BufferNum = 0;
     df_Read_PageAdr   = PageAdr;
@@ -94,7 +94,7 @@ void DataFlash_Class::StartRead(uint16_t PageAdr)
     df_Read_BufferIdx = sizeof(ph);
 }
 
-void DataFlash_Class::ReadBlock(void *pBuffer, uint16_t size)
+void DataFlash_Block::ReadBlock(void *pBuffer, uint16_t size)
 {
     while (size > 0) {
         uint16_t n = df_PageSize - df_Read_BufferIdx;
@@ -128,28 +128,28 @@ void DataFlash_Class::ReadBlock(void *pBuffer, uint16_t size)
     }
 }
 
-void DataFlash_Class::ReadPacket(void *pkt, uint16_t size)
+void DataFlash_Block::ReadPacket(void *pkt, uint16_t size)
 {
     ReadBlock((void *)(sizeof(struct log_Header)+(uintptr_t)pkt), size - sizeof(struct log_Header));
 }
 
-void DataFlash_Class::SetFileNumber(uint16_t FileNumber)
+void DataFlash_Block::SetFileNumber(uint16_t FileNumber)
 {
     df_FileNumber = FileNumber;
     df_FilePage = 1;
 }
 
-uint16_t DataFlash_Class::GetFileNumber()
+uint16_t DataFlash_Block::GetFileNumber()
 {
     return df_FileNumber;
 }
 
-uint16_t DataFlash_Class::GetFilePage()
+uint16_t DataFlash_Block::GetFilePage()
 {
     return df_FilePage;
 }
 
-void DataFlash_Class::EraseAll()
+void DataFlash_Block::EraseAll()
 {
     for(uint16_t j = 1; j <= (df_NumPages+1)/8; j++) {
         BlockErase(j);
@@ -167,7 +167,7 @@ void DataFlash_Class::EraseAll()
 /*
  *  we need to erase if the logging format has changed
  */
-bool DataFlash_Class::NeedErase(void)
+bool DataFlash_Block::NeedErase(void)
 {
     uint32_t version;
     StartRead(df_NumPages+1);

libraries/DataFlash/DataFlash_Block.h

@@ -0,0 +1,122 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/* 
+   DataFlash logging - block oriented variant
+ */
+
+#ifndef DataFlash_block_h
+#define DataFlash_block_h
+
+#include <stdint.h>
+
+// 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
+
+// we use an invalie logging format to test the chip erase
+#define DF_LOGGING_FORMAT_INVALID   0x28122012
+
+class DataFlash_Block : DataFlash_Class
+{
+public:
+    // initialisation
+    virtual void Init(void) = 0;
+    virtual bool CardInserted(void) = 0;
+
+    // erase handling
+    bool NeedErase(void);
+    void EraseAll();
+
+    /* Write a block of data at current offset */
+    void WriteBlock(const void *pBuffer, uint16_t size);
+
+    /*
+      read a packet, stripping off the header bytes
+    */
+    void ReadPacket(void *pkt, uint16_t size);
+
+    // high level interface
+    uint16_t find_last_log(void);
+    void get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page);
+    uint8_t get_num_logs(void);
+    void start_new_log(void);
+    uint16_t log_read_process(uint16_t start_page, uint16_t end_page, 
+                              void (*callback)(uint8_t msgid));
+    void DumpPageInfo(AP_HAL::BetterStream *port);
+    void ShowDeviceInfo(AP_HAL::BetterStream *port);
+
+private:
+    struct PageHeader {
+        uint16_t FileNumber;
+        uint16_t FilePage;
+    };
+
+    // DataFlash Log variables...
+    uint8_t df_BufferNum;
+    uint8_t df_Read_BufferNum;
+    uint16_t df_BufferIdx;
+    uint16_t df_Read_BufferIdx;
+    uint16_t df_PageAdr;
+    uint16_t df_Read_PageAdr;
+    uint16_t df_FileNumber;
+    uint16_t df_FilePage;
+
+    /*
+      functions implemented by the board specific backends
+     */
+    virtual void WaitReady() = 0;
+    virtual void BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait) = 0;
+    virtual void PageToBuffer(uint8_t BufferNum, uint16_t PageAdr) = 0;
+    virtual void PageErase(uint16_t PageAdr) = 0;
+    virtual void BlockErase(uint16_t BlockAdr) = 0;
+    virtual void ChipErase() = 0;
+
+    // write size bytes of data to a page. The caller must ensure that
+    // the data fits within the page, otherwise it will wrap to the
+    // start of the page
+    virtual void BlockWrite(uint8_t BufferNum, uint16_t IntPageAdr, 
+                            const void *pHeader, uint8_t hdr_size,
+                            const void *pBuffer, uint16_t size) = 0;
+    
+    // read size bytes of data to a page. The caller must ensure that
+    // the data fits within the page, otherwise it will wrap to the
+    // start of the page
+    virtual bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size) = 0;
+
+    // internal high level functions
+    void StartRead(uint16_t PageAdr);
+    uint16_t find_last_page(void);
+    uint16_t find_last_page_of_log(uint16_t log_number);
+    bool check_wrapped(void);
+    uint16_t GetPage(void);
+    uint16_t GetWritePage(void);
+    void StartWrite(uint16_t PageAdr);
+    void FinishWrite(void);
+
+    // Read methods
+    void ReadBlock(void *pBuffer, uint16_t size);
+
+    // file numbers
+    void SetFileNumber(uint16_t FileNumber);
+    uint16_t GetFilePage();
+    uint16_t GetFileNumber();
+
+protected:
+    uint8_t df_manufacturer;
+    uint16_t df_device;
+
+    // page handling
+    uint16_t df_PageSize;
+    uint16_t df_NumPages;
+
+    virtual void ReadManufacturerID() = 0;
+};
+
+
+#include "DataFlash_APM1.h"
+#include "DataFlash_APM2.h"
+#include "DataFlash_SITL.h"
+#include "DataFlash_Empty.h"
+
+#endif // DataFlash_block_h
+

libraries/DataFlash/DataFlash_Empty.h

@@ -1,3 +1,5 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
 /* ************************************************************ */
 /* DataFlash_EMPTY Log library                                 */
 /* ************************************************************ */
@@ -7,7 +9,7 @@
 #include <AP_HAL.h>
 #include "DataFlash.h"
 
-class DataFlash_Empty : public DataFlash_Class
+class DataFlash_Empty : public DataFlash_Block
 {
 private:
     //Methods
@@ -27,9 +29,8 @@ private:
                     const void *pHeader, uint8_t hdr_size,
                     const void *pBuffer, uint16_t size);
     bool BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size);
-public:
 
-    DataFlash_Empty() {}
+public:
     void        Init();
     void        ReadManufacturerID();
     bool        CardInserted();

libraries/DataFlash/DataFlash_SITL.h

@@ -9,7 +9,7 @@
 #include <AP_HAL.h>
 #include "DataFlash.h"
 
-class DataFlash_SITL : public DataFlash_Class
+class DataFlash_SITL : public DataFlash_Block
 {
 private:
     //Methods

libraries/DataFlash/LogFile.cpp

@@ -5,7 +5,7 @@
 
 // This function determines the number of whole or partial log files in the DataFlash
 // Wholly overwritten files are (of course) lost.
-uint8_t DataFlash_Class::get_num_logs(void)
+uint8_t DataFlash_Block::get_num_logs(void)
 {
     uint16_t lastpage;
     uint16_t last;
@@ -40,7 +40,7 @@ uint8_t DataFlash_Class::get_num_logs(void)
 
 
 // This function starts a new log file in the DataFlash
-void DataFlash_Class::start_new_log(void)
+void DataFlash_Block::start_new_log(void)
 {
     uint16_t last_page = find_last_page();
 
@@ -71,7 +71,7 @@ void DataFlash_Class::start_new_log(void)
 
 // 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_Class::get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page)
+void DataFlash_Block::get_log_boundaries(uint8_t log_num, uint16_t & start_page, uint16_t & end_page)
 {
     uint16_t num = get_num_logs();
     uint16_t look;
@@ -117,7 +117,7 @@ void DataFlash_Class::get_log_boundaries(uint8_t log_num, uint16_t & start_page,
     }
 }
 
-bool DataFlash_Class::check_wrapped(void)
+bool DataFlash_Block::check_wrapped(void)
 {
     StartRead(df_NumPages);
     if(GetFileNumber() == 0xFFFF)
@@ -128,7 +128,7 @@ bool DataFlash_Class::check_wrapped(void)
 
 
 // This funciton finds the last log number
-uint16_t DataFlash_Class::find_last_log(void)
+uint16_t DataFlash_Block::find_last_log(void)
 {
     uint16_t last_page = find_last_page();
     StartRead(last_page);
@@ -136,7 +136,7 @@ uint16_t DataFlash_Class::find_last_log(void)
 }
 
 // This function finds the last page of the last file
-uint16_t DataFlash_Class::find_last_page(void)
+uint16_t DataFlash_Block::find_last_page(void)
 {
     uint16_t look;
     uint16_t bottom = 1;
@@ -177,7 +177,7 @@ uint16_t DataFlash_Class::find_last_page(void)
 }
 
 // This function finds the last page of a particular log file
-uint16_t DataFlash_Class::find_last_page_of_log(uint16_t log_number)
+uint16_t DataFlash_Block::find_last_page_of_log(uint16_t log_number)
 {
     uint16_t look;
     uint16_t bottom;
@@ -235,7 +235,7 @@ uint16_t DataFlash_Class::find_last_page_of_log(uint16_t log_number)
   Call the callback() function on each log message found in the page
   range. Return the number of log messages found
 */
-uint16_t DataFlash_Class::log_read_process(uint16_t start_page, uint16_t end_page, 
+uint16_t DataFlash_Block::log_read_process(uint16_t start_page, uint16_t end_page, 
                                            void (*callback)(uint8_t msgid))
 {
     uint8_t log_step = 0;
@@ -285,7 +285,7 @@ uint16_t DataFlash_Class::log_read_process(uint16_t start_page, uint16_t end_pag
 /*
   dump header information from all log pages
  */
-void DataFlash_Class::DumpPageInfo(AP_HAL::BetterStream *port)
+void DataFlash_Block::DumpPageInfo(AP_HAL::BetterStream *port)
 {
     for (uint16_t count=1; count<=df_NumPages; count++) {
         StartRead(count);
@@ -298,7 +298,7 @@ void DataFlash_Class::DumpPageInfo(AP_HAL::BetterStream *port)
 /*
   show information about the device
  */
-void DataFlash_Class::ShowDeviceInfo(AP_HAL::BetterStream *port)
+void DataFlash_Block::ShowDeviceInfo(AP_HAL::BetterStream *port)
 {
     if (!CardInserted()) {
         port->println_P(PSTR("No dataflash inserted"));
@@ -312,4 +312,3 @@ void DataFlash_Class::ShowDeviceInfo(AP_HAL::BetterStream *port)
                    (unsigned)df_NumPages+1,
                    (unsigned)df_PageSize);
 }
-

libraries/DataFlash/keywords.txt

@@ -1,14 +0,0 @@
-DataFlash	KEYWORD1
-Init	KEYWORD2
-ReadManufacturerID	KEYWORD2
-GetPage	KEYWORD2
-PageErase	KEYWORD2
-StartWrite	KEYWORD2
-StartRead	KEYWORD2
-ReadByte	KEYWORD2
-ReadInt	KEYWORD2
-ReadLong	KEYWORD2
-WriteByte	KEYWORD2
-WriteInt	KEYWORD2
-WriteLong	KEYWORD2
-