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98 lines
2.7 KiB
98 lines
2.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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DataFlash logging - file oriented variant |
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This uses posix file IO to create log files called logNN.dat in the |
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given directory |
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*/ |
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#ifndef DataFlash_File_h |
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#define DataFlash_File_h |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#include <systemlib/perf_counter.h> |
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#else |
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#define perf_begin(x) |
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#define perf_end(x) |
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#define perf_count(x) |
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#endif |
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class DataFlash_File : public DataFlash_Class |
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{ |
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public: |
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// constructor |
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DataFlash_File(const char *log_directory); |
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// initialisation |
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void Init(const struct LogStructure *structure, uint8_t num_types); |
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bool CardInserted(void); |
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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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// high level interface |
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uint16_t find_last_log(void); |
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page); |
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc); |
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data); |
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uint16_t get_num_logs(void); |
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uint16_t start_new_log(void); |
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void LogReadProcess(uint16_t log_num, |
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uint16_t start_page, uint16_t end_page, |
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void (*print_mode)(AP_HAL::BetterStream *port, uint8_t mode), |
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AP_HAL::BetterStream *port); |
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void DumpPageInfo(AP_HAL::BetterStream *port); |
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void ShowDeviceInfo(AP_HAL::BetterStream *port); |
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void ListAvailableLogs(AP_HAL::BetterStream *port); |
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private: |
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int _write_fd; |
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int _read_fd; |
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uint16_t _read_fd_log_num; |
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uint32_t _read_offset; |
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uint32_t _write_offset; |
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volatile bool _initialised; |
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volatile bool _open_error; |
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const char *_log_directory; |
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/* |
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read a block |
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*/ |
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void ReadBlock(void *pkt, uint16_t size); |
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// write buffer |
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uint8_t *_writebuf; |
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uint16_t _writebuf_size; |
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const uint16_t _writebuf_chunk; |
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volatile uint16_t _writebuf_head; |
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volatile uint16_t _writebuf_tail; |
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uint32_t _last_write_time; |
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/* construct a file name given a log number. Caller must free. */ |
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char *_log_file_name(uint16_t log_num); |
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char *_lastlog_file_name(void); |
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uint32_t _get_log_size(uint16_t log_num); |
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uint32_t _get_log_time(uint16_t log_num); |
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void stop_logging(void); |
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void _io_timer(void); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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// performance counters |
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perf_counter_t _perf_write; |
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perf_counter_t _perf_fsync; |
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perf_counter_t _perf_errors; |
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perf_counter_t _perf_overruns; |
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#endif |
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}; |
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#endif // DataFlash_File_h |
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