mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
removed identical files from pios/posix (use files from common instead)
This commit is contained in:
Corvus Corax
parent
89afbde58a
commit
18ad56d4ed
@ -1,224 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @defgroup PIOS_DEBUGLOG Flash log debugging Functions
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* @brief Debugging functionality
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* @{
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*
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* @file pios_debuglog.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @brief Debugging Functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#include "uavobjectmanager.h"
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#include "debuglogentry.h"
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// global definitions
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// Global variables
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extern uintptr_t pios_user_fs_id; // flash filesystem for logging
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#if defined(PIOS_INCLUDE_FREERTOS)
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static xSemaphoreHandle mutex = 0;
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#define mutexlock() xSemaphoreTakeRecursive(mutex, portMAX_DELAY)
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#define mutexunlock() xSemaphoreGiveRecursive(mutex)
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#else
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#define mutexlock()
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#define mutexunlock()
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#endif
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static bool logging_enabled = false;
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static uint16_t flightnum = 0;
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static uint16_t lognum = 0;
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static DebugLogEntryData *buffer = 0;
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#if !defined(PIOS_INCLUDE_FREERTOS)
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static DebugLogEntryData staticbuffer;
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#endif
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/* Private Function Prototypes */
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/**
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* @brief Initialize the log facility
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*/
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void PIOS_DEBUGLOG_Initialize()
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (!mutex) {
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mutex = xSemaphoreCreateRecursiveMutex();
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buffer = pvPortMalloc(sizeof(DebugLogEntryData));
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}
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#else
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buffer = &staticbuffer;
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#endif
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if (!buffer) {
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return;
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}
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mutexlock();
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lognum = 0;
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flightnum = 0;
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while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
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flightnum++;
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}
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mutexunlock();
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}
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/**
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* @brief Enables or Disables logging globally
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* @param[in] enable or disable logging
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*/
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void PIOS_DEBUGLOG_Enable(uint8_t enabled)
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{
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logging_enabled = enabled;
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}
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/**
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* @brief Write a debug log entry with a uavobject
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* @param[in] objectid
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* @param[in] instanceid
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* @param[in] instanceid
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* @param[in] size of object
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* @param[in] data buffer
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*/
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void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
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{
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if (!logging_enabled || !buffer) {
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return;
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}
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mutexlock();
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buffer->Flight = flightnum;
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#if defined(PIOS_INCLUDE_FREERTOS)
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buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
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#else
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buffer->FlightTime = 0;
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#endif
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buffer->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
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buffer->ObjectID = objid;
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buffer->InstanceID = instid;
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if (size > sizeof(buffer->Data)) {
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size = sizeof(buffer->Data);
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}
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buffer->Size = size;
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memset(buffer->Data, 0xff, sizeof(buffer->Data));
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memcpy(buffer->Data, data, size);
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if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
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lognum++;
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}
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mutexunlock();
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}
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/**
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* @brief Write a debug log entry with text
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* @param[in] format - as in printf
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* @param[in] variable arguments for printf
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* @param...
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*/
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void PIOS_DEBUGLOG_Printf(char *format, ...)
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{
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if (!logging_enabled || !buffer) {
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return;
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}
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va_list args;
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va_start(args, format);
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mutexlock();
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memset(buffer->Data, 0xff, sizeof(buffer->Data));
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vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
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buffer->Flight = flightnum;
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#if defined(PIOS_INCLUDE_FREERTOS)
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buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
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#else
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buffer->FlightTime = 0;
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#endif
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buffer->Entry = lognum;
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buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
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buffer->ObjectID = 0;
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buffer->InstanceID = 0;
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buffer->Size = strlen((const char *)buffer->Data);
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if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
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lognum++;
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}
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mutexunlock();
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}
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/**
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* @brief Load one object instance from the filesystem
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* @param[out] buffer where to store the uavobject
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* @param[in] log entry from which flight
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* @param[in] log entry sequence number
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* @return 0 if success or error code
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* @retval -1 if fs_id is not a valid filesystem instance
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* @retval -2 if failed to start transaction
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* @retval -3 if object not found in filesystem
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* @retval -4 if object size in filesystem does not exactly match buffer size
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* @retval -5 if reading the object data from flash fails
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*/
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int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
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{
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PIOS_Assert(mybuffer);
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return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
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}
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/**
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* @brief Retrieve run time info of logging system
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* @param[out] current flight number
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* @param[out] next entry number
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* @param[out] free slots in filesystem
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* @param[out] used slots in filesystem
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*/
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void PIOS_DEBUGLOG_Info(uint16_t *flight, uint16_t *entry, uint16_t *free, uint16_t *used)
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{
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if (flight) {
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*flight = flightnum;
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}
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if (entry) {
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*entry = lognum;
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}
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struct PIOS_FLASHFS_Stats stats = { 0, 0 };
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PIOS_FLASHFS_GetStats(pios_user_fs_id, &stats);
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if (free) {
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*free = stats.num_free_slots;
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}
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if (used) {
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*used = stats.num_active_slots;
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}
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}
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/**
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* @brief Format entire flash memory!!!
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*/
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void PIOS_DEBUGLOG_Format(void)
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{
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mutexlock();
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PIOS_FLASHFS_Format(pios_user_fs_id);
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lognum = 0;
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flightnum = 0;
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mutexunlock();
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}
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/**
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* @}
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* @}
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*/
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@ -1,261 +0,0 @@
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/**
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******************************************************************************
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* @file pios_dosfs_logfs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @brief Log Structured Filesystem wrapper implemented using dosfs
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_USE_SETTINGS_ON_SDCARD
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#include <openpilot.h>
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#if defined(PIOS_INCLUDE_FREERTOS)
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static xSemaphoreHandle mutex = 0;
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#endif
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struct flashfs_logfs_cfg;
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/**
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* Get an 8 character (plus extension) filename for the object.
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* @param[in] obj The object handle.
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* @param[in] instId The instance ID
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* @param[in] file Filename string pointer -- must be 14 bytes long and allocated
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*/
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static void objectFilename(uint32_t obj_id, uint16_t obj_inst_id, uint8_t *filename)
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{
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uint32_t prefix = obj_id + (obj_inst_id / 256) * 16; // put upper 8 bit of instance id into object id modification,
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// skip least sig nibble since that is used for meta object id
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uint8_t suffix = obj_inst_id & 0xff;
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snprintf((char *)filename, 13, "%08X.o%02X", prefix, suffix);
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}
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/**
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* @brief Initialize the flash object setting FS
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* @return 0 if success, -1 if failure
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*/
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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)
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (!mutex) {
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mutex = xSemaphoreCreateRecursiveMutex();
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}
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#endif
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return 0;
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}
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int32_t PIOS_FLASHFS_Logfs_Destroy(__attribute__((unused)) uintptr_t fs_id)
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{
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// stub, only wrapper for dosfs, does not need destroying
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return 0;
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}
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/**********************************
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*
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* Provide a PIOS_FLASHFS_* driver
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*
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*********************************/
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#include "pios_flashfs.h" /* API for flash filesystem */
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/**
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* @brief Saves one object instance to the filesystem
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* @param[in] fs_id The filesystem to use for this action
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* @param[in] obj UAVObject ID of the object to save
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* @param[in] obj_inst_id The instance number of the object being saved
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* @param[in] obj_data Contents of the object being saved
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* @param[in] obj_size Size of the object being saved
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* @return 0 if success or error code
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* @retval -1 if fs_id is not a valid filesystem instance
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* @retval -2 if failed to start transaction
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* @retval -3 if failure to delete any previous versions of the object
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* @retval -4 if filesystem is entirely full and garbage collection won't help
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* @retval -5 if garbage collection failed
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* @retval -6 if filesystem is full even after garbage collection should have freed space
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* @retval -7 if writing the new object to the filesystem failed
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*/
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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)
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{
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FILEINFO file;
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uint8_t filename[14];
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if (PIOS_SDCARD_IsMounted() == 0) {
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return -1;
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}
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// Lock
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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#endif
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// Get filename
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objectFilename(obj_id, obj_inst_id, filename);
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// Open file
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if (PIOS_FOPEN_WRITE(filename, file)) {
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreGiveRecursive(mutex);
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#endif
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return -2;
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}
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// Append object
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uint32_t bytes_written = 0;
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PIOS_FWRITE(&file, obj_data, obj_size, &bytes_written);
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// Done, close file and unlock
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PIOS_FCLOSE(file);
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreGiveRecursive(mutex);
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#endif
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if (bytes_written != obj_size) {
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return -7;
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}
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return 0;
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}
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/**
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* @brief Load one object instance from the filesystem
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* @param[in] fs_id The filesystem to use for this action
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* @param[in] obj UAVObject ID of the object to load
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* @param[in] obj_inst_id The instance of the object to load
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* @param[in] obj_data Buffer to hold the contents of the loaded object
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* @param[in] obj_size Size of the object to be loaded
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* @return 0 if success or error code
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* @retval -1 if fs_id is not a valid filesystem instance
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* @retval -2 if failed to start transaction
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* @retval -3 if object not found in filesystem
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* @retval -4 if object size in filesystem does not exactly match buffer size
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* @retval -5 if reading the object data from flash fails
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*/
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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)
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{
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FILEINFO file;
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uint8_t filename[14];
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// Check for file system availability
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if (PIOS_SDCARD_IsMounted() == 0) {
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return -1;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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// Lock
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xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
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#endif
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// Get filename
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objectFilename(obj_id, obj_inst_id, filename);
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// Open file
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if (PIOS_FOPEN_READ(filename, file)) {
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreGiveRecursive(mutex);
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#endif
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return -1;
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}
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// Load object
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uint32_t bytes_read = 0;
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uint32_t result = PIOS_FREAD(&file, obj_data, obj_size, &bytes_read);
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// Done, close file and unlock
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PIOS_FCLOSE(file);
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#if defined(PIOS_INCLUDE_FREERTOS)
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xSemaphoreGiveRecursive(mutex);
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#endif
|
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if (result != 0) {
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return -1;
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||||
}
|
||||
return 0;
|
||||
}
|
||||
|
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/**
|
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* @brief Delete one instance of an object from the filesystem
|
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* @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
|
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* @return 0 if success or error code
|
||||
* @retval -1 if fs_id is not a valid filesystem instance
|
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* @retval -2 if failed to start transaction
|
||||
* @retval -3 if failed to delete the object from the filesystem
|
||||
*/
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int32_t PIOS_FLASHFS_ObjDelete(__attribute__((unused)) uintptr_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
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{
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uint8_t filename[14];
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// Check for file system availability
|
||||
if (PIOS_SDCARD_IsMounted() == 0) {
|
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return -1;
|
||||
}
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
// Lock
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||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
||||
#endif
|
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// Get filename
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objectFilename(obj_id, obj_inst_id, filename);
|
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// Delete file
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PIOS_FUNLINK(filename);
|
||||
|
||||
// Done
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
xSemaphoreGiveRecursive(mutex);
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||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
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* @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
|
||||
*/
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||||
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 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -98,6 +98,8 @@ SRC += $(MATHLIB)/sin_lookup.c
|
||||
SRC += $(MATHLIB)/pid.c
|
||||
|
||||
SRC += $(PIOSCORECOMMON)/pios_task_monitor.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c
|
||||
SRC += $(PIOSCORECOMMON)/pios_debuglog.c
|
||||
|
||||
## PIOS Hardware
|
||||
include $(PIOS)/posix/library.mk
|
||||
|
||||
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Reference in New Issue
Block a user