Modified uavobjectmanager to only use logfs calls for UAVObject flash transactions, abstracted dosfs calls to use logfs wrapper class for simpiosix and SD-card access

flight/pios/common/pios_dosfs_logfs.c

@@ -0,0 +1,273 @@
+/**
+ ******************************************************************************
+ * @file       pios_dosfs_logfs.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @brief Log Structured Filesystem wrapper implemented using dosfs
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#include "pios.h"
+
+#ifdef PIOS_USE_SETTINGS_ON_SDCARD
+
+#include <openpilot.h>
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static xSemaphoreHandle mutex;
+#endif
+
+struct flashfs_logfs_cfg;
+
+
+/**
+ * Wrapper for the unimplemented sprintf function
+ * warning, no buffer length boundary checks, use with caution!
+ */
+static void customSPrintf(uint8_t *buffer, uint8_t *format, ...)
+{
+    va_list args;
+
+    va_start(args, format);
+    vsprintf((char *)buffer, (char *)format, args);
+}
+
+
+/**
+ * Get an 8 character (plus extension) filename for the object.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file Filename string pointer WARNING, must be 14 bytes long and allocated, no checks!
+ */
+static void objectFilename(uint32_t obj_id, uint16_t obj_inst_id, uint8_t *filename)
+{
+    uint32_t prefix = obj_id + (obj_inst_id / 256);
+    uint8_t suffix  = obj_inst_id & 0xff;
+
+    customSPrintf(filename, (uint8_t *)"%08X.o%02X", prefix, suffix);
+}
+
+
+/**
+ * @brief Initialize the flash object setting FS
+ * @return 0 if success, -1 if failure
+ */
+int32_t PIOS_FLASHFS_Logfs_Init(__attribute__((unused)) uintptr_t *fs_id, __attribute__((unused)) const struct flashfs_logfs_cfg *cfg, __attribute__((unused)) const struct pios_flash_driver *driver, __attribute__((unused)) uintptr_t flash_id)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+    if (!mutex) {
+        mutex = xSemaphoreCreateRecursiveMutex();
+    }
+#endif
+    return 0;
+}
+
+int32_t PIOS_FLASHFS_Logfs_Destroy(__attribute__((unused)) uintptr_t fs_id)
+{
+    // stub, only wrapper for dosfs, does not need destroying
+    return 0;
+}
+
+/**********************************
+ *
+ * Provide a PIOS_FLASHFS_* driver
+ *
+ *********************************/
+#include "pios_flashfs.h" /* API for flash filesystem */
+
+/**
+ * @brief Saves one object instance to the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to save
+ * @param[in] obj_inst_id The instance number of the object being saved
+ * @param[in] obj_data Contents of the object being saved
+ * @param[in] obj_size Size of the object being saved
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if failure to delete any previous versions of the object
+ * @retval -4 if filesystem is entirely full and garbage collection won't help
+ * @retval -5 if garbage collection failed
+ * @retval -6 if filesystem is full even after garbage collection should have freed space
+ * @retval -7 if writing the new object to the filesystem failed
+ */
+int32_t PIOS_FLASHFS_ObjSave(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
+{
+    FILEINFO file;
+    uint8_t filename[14];
+
+    if (PIOS_SDCARD_IsMounted() == 0) {
+        return -1;
+    }
+
+    // Lock
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+#endif
+
+    // Get filename
+    objectFilename(obj_id, obj_inst_id, filename);
+
+    // Open file
+    if (PIOS_FOPEN_WRITE(filename, file)) {
+#if defined(PIOS_INCLUDE_FREERTOS)
+        xSemaphoreGiveRecursive(mutex);
+#endif
+        return -2;
+    }
+    // Append object
+    uint32_t bytes_written = 0;
+    PIOS_FWRITE(&file, obj_data, obj_size, &bytes_written);
+
+    // Done, close file and unlock
+    PIOS_FCLOSE(file);
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreGiveRecursive(mutex);
+#endif
+
+    if (bytes_written != obj_size) {
+        return -7;
+    }
+
+    return 0;
+}
+
+/**
+ * @brief Load one object instance from the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to load
+ * @param[in] obj_inst_id The instance of the object to load
+ * @param[in] obj_data Buffer to hold the contents of the loaded object
+ * @param[in] obj_size Size of the object to be loaded
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if object not found in filesystem
+ * @retval -4 if object size in filesystem does not exactly match buffer size
+ * @retval -5 if reading the object data from flash fails
+ */
+int32_t PIOS_FLASHFS_ObjLoad(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
+{
+    FILEINFO file;
+    uint8_t filename[14];
+
+    // Check for file system availability
+    if (PIOS_SDCARD_IsMounted() == 0) {
+        return -1;
+    }
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+    // Lock
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+#endif
+    // Get filename
+    objectFilename(obj_id, obj_inst_id, filename);
+
+    // Open file
+    if (PIOS_FOPEN_READ(filename, file)) {
+#if defined(PIOS_INCLUDE_FREERTOS)
+        xSemaphoreGiveRecursive(mutex);
+#endif
+        return -1;
+    }
+    // Load object
+    uint32_t bytes_read = 0;
+    uint32_t result     = PIOS_FREAD(&file, obj_data, obj_size, &bytes_read);
+
+    // Done, close file and unlock
+    PIOS_FCLOSE(file);
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreGiveRecursive(mutex);
+#endif
+    if (result != 0) {
+        return -1;
+    }
+    return 0;
+}
+
+/**
+ * @brief Delete one instance of an object from the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to delete
+ * @param[in] obj_inst_id The instance of the object to delete
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if failed to delete the object from the filesystem
+ */
+int32_t PIOS_FLASHFS_ObjDelete(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
+{
+    uint8_t filename[14];
+
+    // Check for file system availability
+    if (PIOS_SDCARD_IsMounted() == 0) {
+        return -1;
+    }
+#if defined(PIOS_INCLUDE_FREERTOS)
+    // Lock
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+#endif
+    // Get filename
+    objectFilename(obj_id, obj_inst_id, filename);
+
+    // Delete file
+    PIOS_FUNLINK(filename);
+
+    // Done
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreGiveRecursive(mutex);
+#endif
+    return 0;
+}
+
+/**
+ * @brief Erases all filesystem arenas and activate the first arena
+ * @param[in] fs_id The filesystem to use for this action
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if failed to erase all arenas
+ * @retval -4 if failed to activate arena 0
+ * @retval -5 if failed to mount arena 0
+ */
+int32_t PIOS_FLASHFS_Format(__attribute__((unused)) uintptr_t fs_id)
+{
+    /* stub - not implemented */
+    return -1;
+}
+
+/**
+ * @brief Returs stats for the filesystems
+ * @param[in] fs_id The filesystem to use for this action
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ */
+int32_t PIOS_FLASHFS_GetStats(__attribute__((unused)) uintptr_t fs_id, __attribute__((unused)) struct PIOS_FLASHFS_Stats *stats)
+{
+    /* stub - not implemented */
+    return 0;
+}
+
+#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
+
+/**
+ * @}
+ * @}
+ */

flight/pios/pios_sim_posix.h

@@ -80,6 +80,8 @@ extern void PIOS_LED_Init(void);
 #include <pios_debug.h>
 #include <pios_crc.h>
 #include <pios_rcvr.h>
+#include <pios_flash.h>
+#include <pios_flashfs.h>
 
 #if defined(PIOS_INCLUDE_IAP)
 #include <pios_iap.h>

flight/pios/posix/pios_dosfs_logfs.c

@@ -0,0 +1,273 @@
+/**
+ ******************************************************************************
+ * @file       pios_dosfs_logfs.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @brief Log Structured Filesystem wrapper implemented using dosfs
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#include "pios.h"
+
+#ifdef PIOS_USE_SETTINGS_ON_SDCARD
+
+#include <openpilot.h>
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static xSemaphoreHandle mutex;
+#endif
+
+struct flashfs_logfs_cfg;
+
+
+/**
+ * Wrapper for the unimplemented sprintf function
+ * warning, no buffer length boundary checks, use with caution!
+ */
+static void customSPrintf(uint8_t *buffer, uint8_t *format, ...)
+{
+    va_list args;
+
+    va_start(args, format);
+    vsprintf((char *)buffer, (char *)format, args);
+}
+
+
+/**
+ * Get an 8 character (plus extension) filename for the object.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file Filename string pointer WARNING, must be 14 bytes long and allocated, no checks!
+ */
+static void objectFilename(uint32_t obj_id, uint16_t obj_inst_id, uint8_t *filename)
+{
+    uint32_t prefix = obj_id + (obj_inst_id / 256);
+    uint8_t suffix  = obj_inst_id & 0xff;
+
+    customSPrintf(filename, (uint8_t *)"%08X.o%02X", prefix, suffix);
+}
+
+
+/**
+ * @brief Initialize the flash object setting FS
+ * @return 0 if success, -1 if failure
+ */
+int32_t PIOS_FLASHFS_Logfs_Init(__attribute__((unused)) uintptr_t *fs_id, __attribute__((unused)) const struct flashfs_logfs_cfg *cfg, __attribute__((unused)) const struct pios_flash_driver *driver, __attribute__((unused)) uintptr_t flash_id)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+    if (!mutex) {
+        mutex = xSemaphoreCreateRecursiveMutex();
+    }
+#endif
+    return 0;
+}
+
+int32_t PIOS_FLASHFS_Logfs_Destroy(__attribute__((unused)) uintptr_t fs_id)
+{
+    // stub, only wrapper for dosfs, does not need destroying
+    return 0;
+}
+
+/**********************************
+ *
+ * Provide a PIOS_FLASHFS_* driver
+ *
+ *********************************/
+#include "pios_flashfs.h" /* API for flash filesystem */
+
+/**
+ * @brief Saves one object instance to the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to save
+ * @param[in] obj_inst_id The instance number of the object being saved
+ * @param[in] obj_data Contents of the object being saved
+ * @param[in] obj_size Size of the object being saved
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if failure to delete any previous versions of the object
+ * @retval -4 if filesystem is entirely full and garbage collection won't help
+ * @retval -5 if garbage collection failed
+ * @retval -6 if filesystem is full even after garbage collection should have freed space
+ * @retval -7 if writing the new object to the filesystem failed
+ */
+int32_t PIOS_FLASHFS_ObjSave(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
+{
+    FILEINFO file;
+    uint8_t filename[14];
+
+    if (PIOS_SDCARD_IsMounted() == 0) {
+        return -1;
+    }
+
+    // Lock
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+#endif
+
+    // Get filename
+    objectFilename(obj_id, obj_inst_id, filename);
+
+    // Open file
+    if (PIOS_FOPEN_WRITE(filename, file)) {
+#if defined(PIOS_INCLUDE_FREERTOS)
+        xSemaphoreGiveRecursive(mutex);
+#endif
+        return -2;
+    }
+    // Append object
+    uint32_t bytes_written = 0;
+    PIOS_FWRITE(&file, obj_data, obj_size, &bytes_written);
+
+    // Done, close file and unlock
+    PIOS_FCLOSE(file);
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreGiveRecursive(mutex);
+#endif
+
+    if (bytes_written != obj_size) {
+        return -7;
+    }
+
+    return 0;
+}
+
+/**
+ * @brief Load one object instance from the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to load
+ * @param[in] obj_inst_id The instance of the object to load
+ * @param[in] obj_data Buffer to hold the contents of the loaded object
+ * @param[in] obj_size Size of the object to be loaded
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if object not found in filesystem
+ * @retval -4 if object size in filesystem does not exactly match buffer size
+ * @retval -5 if reading the object data from flash fails
+ */
+int32_t PIOS_FLASHFS_ObjLoad(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t *obj_data, uint16_t obj_size)
+{
+    FILEINFO file;
+    uint8_t filename[14];
+
+    // Check for file system availability
+    if (PIOS_SDCARD_IsMounted() == 0) {
+        return -1;
+    }
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+    // Lock
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+#endif
+    // Get filename
+    objectFilename(obj_id, obj_inst_id, filename);
+
+    // Open file
+    if (PIOS_FOPEN_READ(filename, file)) {
+#if defined(PIOS_INCLUDE_FREERTOS)
+        xSemaphoreGiveRecursive(mutex);
+#endif
+        return -1;
+    }
+    // Load object
+    uint32_t bytes_read = 0;
+    uint32_t result     = PIOS_FREAD(&file, obj_data, obj_size, &bytes_read);
+
+    // Done, close file and unlock
+    PIOS_FCLOSE(file);
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreGiveRecursive(mutex);
+#endif
+    if (result != 0) {
+        return -1;
+    }
+    return 0;
+}
+
+/**
+ * @brief Delete one instance of an object from the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to delete
+ * @param[in] obj_inst_id The instance of the object to delete
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if failed to delete the object from the filesystem
+ */
+int32_t PIOS_FLASHFS_ObjDelete(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
+{
+    uint8_t filename[14];
+
+    // Check for file system availability
+    if (PIOS_SDCARD_IsMounted() == 0) {
+        return -1;
+    }
+#if defined(PIOS_INCLUDE_FREERTOS)
+    // Lock
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+#endif
+    // Get filename
+    objectFilename(obj_id, obj_inst_id, filename);
+
+    // Delete file
+    PIOS_FUNLINK(filename);
+
+    // Done
+#if defined(PIOS_INCLUDE_FREERTOS)
+    xSemaphoreGiveRecursive(mutex);
+#endif
+    return 0;
+}
+
+/**
+ * @brief Erases all filesystem arenas and activate the first arena
+ * @param[in] fs_id The filesystem to use for this action
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ * @retval -2 if failed to start transaction
+ * @retval -3 if failed to erase all arenas
+ * @retval -4 if failed to activate arena 0
+ * @retval -5 if failed to mount arena 0
+ */
+int32_t PIOS_FLASHFS_Format(__attribute__((unused)) uintptr_t fs_id)
+{
+    /* stub - not implemented */
+    return -1;
+}
+
+/**
+ * @brief Returs stats for the filesystems
+ * @param[in] fs_id The filesystem to use for this action
+ * @return 0 if success or error code
+ * @retval -1 if fs_id is not a valid filesystem instance
+ */
+int32_t PIOS_FLASHFS_GetStats(__attribute__((unused)) uintptr_t fs_id, __attribute__((unused)) struct PIOS_FLASHFS_Stats *stats)
+{
+    /* stub - not implemented */
+    return 0;
+}
+
+#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
+
+/**
+ * @}
+ * @}
+ */

flight/targets/boards/simposix/board_hw_defs.c

@@ -69,3 +69,7 @@ const struct pios_udp_cfg pios_udp_aux_cfg = {
 #include <pios_com_priv.h>
 
 #endif /* PIOS_INCLUDE_COM */
+
+#if defined(PIOS_INCLUDE_FLASH)
+#include "pios_flashfs_logfs_priv.h"
+#endif

flight/targets/boards/simposix/firmware/pios_board.c

@@ -75,6 +75,7 @@ uint32_t pios_com_telem_rf_id  = 0;
 uint32_t pios_com_bridge_id    = 0;
 
 uintptr_t pios_uavo_settings_fs_id;
+uintptr_t pios_user_fs_id;
 
 /*
  * Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only
@@ -118,6 +119,13 @@ void PIOS_Board_Init(void)
     /* Delay system */
     PIOS_DELAY_Init();
 
+    // Initialize dosfs fake flash logfs
+    if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, NULL, NULL, 0)) {
+        PIOS_DEBUG_Assert(0);
+    }
+    pios_user_fs_id = pios_uavo_settings_fs_id;
+
+
     /* Initialize the task monitor */
     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
         PIOS_Assert(0);

flight/uavobjects/uavobjectmanager.c

@@ -184,15 +184,6 @@ static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
 static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
                              UAVObjEventCallback cb);
 
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD) && defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
-#error Both PIOS_USE_SETTINGS_ON_SDCARD and PIOS_INCLUDE_FLASH_LOGFS_SETTINGS. Only one settings storage allowed.
-#endif
-
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-static void objectFilename(UAVObjHandle obj_handle, uint8_t *filename);
-static void customSPrintf(uint8_t *buffer, uint8_t *format, ...);
-#endif
-
 // Private variables
 static xSemaphoreHandle mutex;
 static const UAVObjMetadata defMetadata = {
@@ -713,82 +704,6 @@ unlock_exit:
     return rc;
 }
 
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-/**
- * Save the data of the specified object instance to the file system (SD card).
- * The object will be appended and the file will not be closed.
- * The object data can be restored using the UAVObjLoad function.
- * @param[in] obj The object handle.
- * @param[in] instId The instance ID
- * @param[in] file File to append to
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
-                         FILEINFO *file)
-{
-    PIOS_Assert(obj_handle);
-
-    uint32_t bytesWritten;
-    // Check for file system availability
-    if (PIOS_SDCARD_IsMounted() == 0) {
-        return -1;
-    }
-    // Lock
-    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-    if (UAVObjIsMetaobject(obj_handle)) {
-        // Get the instance information
-        if (instId != 0) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-        // Write the object ID
-        uint32_t objId = UAVObjGetID(obj_handle);
-        PIOS_FWRITE(file, &objId, sizeof(objId),
-                    &bytesWritten);
-
-        // Write the data and check that the write was successful
-        PIOS_FWRITE(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes,
-                    &bytesWritten);
-        if (bytesWritten != MetaNumBytes) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-    } else {
-        struct UAVOData *uavo;
-        InstanceHandle instEntry;
-
-        // Cast to object
-        uavo = (struct UAVOData *)obj_handle;
-
-        // Get the instance information
-        instEntry = getInstance(uavo, instId);
-        if (instEntry == NULL) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-        // Write the object ID
-        PIOS_FWRITE(file, &uavo->id, sizeof(uavo->id),
-                    &bytesWritten);
-
-        // Write the instance ID
-        if (!UAVObjIsSingleInstance(obj_handle)) {
-            PIOS_FWRITE(file, &instId,
-                        sizeof(instId), &bytesWritten);
-        }
-        // Write the data and check that the write was successful
-        PIOS_FWRITE(file, InstanceData(instEntry), uavo->instance_size,
-                    &bytesWritten);
-        if (bytesWritten != uavo->instance_size) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-    }
-    // Done
-    xSemaphoreGiveRecursive(mutex);
-    return 0;
-}
-#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
 
 /**
  * Save the data of the specified object to the file system (SD card).
@@ -804,7 +719,6 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
 {
     PIOS_Assert(obj_handle);
 
-#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
     if (UAVObjIsMetaobject(obj_handle)) {
         if (instId != 0) {
             return -1;
@@ -828,131 +742,9 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
             return -1;
         }
     }
-#endif /* if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS) */
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-    FILEINFO file;
-    uint8_t filename[14];
-
-    // Check for file system availability
-    if (PIOS_SDCARD_IsMounted() == 0) {
-        return -1;
-    }
-    // Lock
-    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-    // Get filename
-    objectFilename(obj_handle, filename);
-
-    // Open file
-    if (PIOS_FOPEN_WRITE(filename, file)) {
-        xSemaphoreGiveRecursive(mutex);
-        return -1;
-    }
-    // Append object
-    if (UAVObjSaveToFile(obj_handle, instId, &file) == -1) {
-        PIOS_FCLOSE(file);
-        xSemaphoreGiveRecursive(mutex);
-        return -1;
-    }
-    // Done, close file and unlock
-    PIOS_FCLOSE(file);
-    xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
     return 0;
 }
 
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-/**
- * Load an object from the file system (SD card).
- * @param[in] obj The object handle.
- * @param[in] file File to read from
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoadFromFile(UAVObjHandle obj_handle, FILEINFO *file)
-{
-    uint32_t bytesRead;
-    struct UAVOBase *objEntry;
-    InstanceHandle instEntry;
-    uint32_t objId;
-    uint16_t instId;
-
-    // Check for file system availability
-    if (PIOS_SDCARD_IsMounted() == 0) {
-        return -1;
-    }
-    // Get the object
-    if (obj_handle == 0) {
-        return -1;
-    }
-    objEntry = (struct UAVOBase *)obj_handle;
-
-    // Lock
-    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-    // Read the object ID
-    if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
-        xSemaphoreGiveRecursive(mutex);
-        return -1;
-    }
-
-    // Check that the IDs match
-    if (objId != UAVObjGetID(obj_handle)) {
-        xSemaphoreGiveRecursive(mutex);
-        return -1;
-    }
-
-    // Get the instance ID
-    instId = 0;
-    if (!UAVObjIsSingleInstance(obj_handle)) {
-        if (PIOS_FREAD
-                (file, &instId, sizeof(instId), &bytesRead)) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-    }
-
-    if (UAVObjIsMetaobject(obj_handle)) {
-        // If the instance does not exist create it and any other instances before it
-        if (instId != 0) {
-            // Error, unlock and return
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-        // Read the instance data
-        if (PIOS_FREAD
-                (file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes, &bytesRead)) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-    } else {
-        // Get the instance information
-        instEntry = getInstance((struct UAVOData *)objEntry, instId);
-
-        // If the instance does not exist create it and any other instances before it
-        if (instEntry == NULL) {
-            instEntry = createInstance((struct UAVOData *)objEntry, instId);
-            if (instEntry == NULL) {
-                // Error, unlock and return
-                xSemaphoreGiveRecursive(mutex);
-                return -1;
-            }
-        }
-        // Read the instance data
-        if (PIOS_FREAD
-                (file, InstanceData(instEntry), ((struct UAVOData *)objEntry)->instance_size, &bytesRead)) {
-            xSemaphoreGiveRecursive(mutex);
-            return -1;
-        }
-    }
-
-    // Fire event
-    sendEvent(objEntry, instId, EV_UNPACKED);
-
-    // Unlock
-    xSemaphoreGiveRecursive(mutex);
-    return 0;
-}
-#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
 
 /**
  * Load an object from the file system (SD card).
@@ -966,7 +758,6 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
 {
     PIOS_Assert(obj_handle);
 
-#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
     if (UAVObjIsMetaobject(obj_handle)) {
         if (instId != 0) {
             return -1;
@@ -993,37 +784,7 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
         }
     }
 
-#endif /* if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS) */
 
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-    FILEINFO file;
-    uint8_t filename[14];
-
-    // Check for file system availability
-    if (PIOS_SDCARD_IsMounted() == 0) {
-        return -1;
-    }
-    // Lock
-    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-    // Get filename
-    objectFilename(obj_handle, filename);
-
-    // Open file
-    if (PIOS_FOPEN_READ(filename, file)) {
-        xSemaphoreGiveRecursive(mutex);
-        return -1;
-    }
-    // Load object
-    if (UAVObjLoadFromFile(obj_handle, &file) != 0) {
-        PIOS_FCLOSE(file);
-        xSemaphoreGiveRecursive(mutex);
-        return -1;
-    }
-    // Done, close file and unlock
-    PIOS_FCLOSE(file);
-    xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
     return 0;
 }
 
@@ -1036,28 +797,7 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t ins
 int32_t UAVObjDelete(UAVObjHandle obj_handle, __attribute__((unused)) uint16_t instId)
 {
     PIOS_Assert(obj_handle);
-#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
     PIOS_FLASHFS_ObjDelete(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId);
-#endif
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-    uint8_t filename[14];
-
-    // Check for file system availability
-    if (PIOS_SDCARD_IsMounted() == 0) {
-        return -1;
-    }
-    // Lock
-    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-    // Get filename
-    objectFilename(obj_handle, filename);
-
-    // Delete file
-    PIOS_FUNLINK(filename);
-
-    // Done
-    xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_USE_SETTINGS_ON_SDCARD */
     return 0;
 }
 
@@ -2043,24 +1783,3 @@ static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
     // If this point is reached the queue was not found
     return -1;
 }
-
-#if defined(PIOS_USE_SETTINGS_ON_SDCARD)
-/**
- * Wrapper for the sprintf function
- */
-static void customSPrintf(uint8_t *buffer, uint8_t *format, ...)
-{
-    va_list args;
-
-    va_start(args, format);
-    vsprintf((char *)buffer, (char *)format, args);
-}
-
-/**
- * Get an 8 character (plus extension) filename for the object.
- */
-static void objectFilename(UAVObjHandle obj_handle, uint8_t *filename)
-{
-    customSPrintf(filename, (uint8_t *)"%X.obj", UAVObjGetID(obj_handle));
-}
-#endif /* PIOS_USE_SETTINGS_ON_SDCARD */