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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1395_flight_log_enhancements' into next

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This commit is contained in:
Alessio Morale 2014-08-02 20:41:58 +02:00
commit 6884e9f378
10 changed files with 219 additions and 88 deletions
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130
flight/pios/common/pios_debuglog.c
View File

@ -49,6 +49,9 @@ static xSemaphoreHandle mutex = 0;
#endif #endif
static bool logging_enabled = false; static bool logging_enabled = false;
#define MAX_CONSECUTIVE_FAILS_COUNT 10
static bool log_is_full = false;
static uint8_t fails_count = 0;
static uint16_t flightnum = 0; static uint16_t flightnum = 0;
static uint16_t lognum = 0; static uint16_t lognum = 0;
static DebugLogEntryData *buffer = 0; static DebugLogEntryData *buffer = 0;
@ -56,8 +59,16 @@ static DebugLogEntryData *buffer = 0;
static DebugLogEntryData staticbuffer; static DebugLogEntryData staticbuffer;
#endif #endif
/* Private Function Prototypes */ #define LOG_ENTRY_MAX_DATA_SIZE (sizeof(((DebugLogEntryData *)0)->Data))
#define LOG_ENTRY_HEADER_SIZE (sizeof(DebugLogEntryData) - LOG_ENTRY_MAX_DATA_SIZE)
// build the obj_id as a DEBUGLOGENTRY ID with least significant byte zeroed and filled with flight number
#define LOG_GET_FLIGHT_OBJID(x) ((DEBUGLOGENTRY_OBJID & ~0xFF) | (x & 0xFF))
static uint32_t used_buffer_space = 0;
/* Private Function Prototypes */
static void enqueue_data(uint32_t objid, uint16_t instid, size_t size, uint8_t *data);
static bool write_current_buffer();
/** /**
* @brief Initialize the log facility * @brief Initialize the log facility
*/ */
@ -75,9 +86,12 @@ void PIOS_DEBUGLOG_Initialize()
return; return;
} }
mutexlock(); mutexlock();
lognum = 0; lognum = 0;
flightnum = 0; flightnum = 0;
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) { fails_count = 0;
used_buffer_space = 0;
log_is_full = false;
while (PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
flightnum++; flightnum++;
} }
mutexunlock(); mutexunlock();
@ -90,6 +104,11 @@ void PIOS_DEBUGLOG_Initialize()
*/ */
void PIOS_DEBUGLOG_Enable(uint8_t enabled) void PIOS_DEBUGLOG_Enable(uint8_t enabled)
{ {
// increase the flight num as soon as logging is disabled
if (logging_enabled && !enabled) {
flightnum++;
lognum = 0;
}
logging_enabled = enabled; logging_enabled = enabled;
} }
@ -103,30 +122,13 @@ void PIOS_DEBUGLOG_Enable(uint8_t enabled)
*/ */
void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data) void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{ {
if (!logging_enabled || !buffer) { if (!logging_enabled || !buffer || log_is_full) {
return; return;
} }
mutexlock(); mutexlock();
buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#else
buffer->FlightTime = 0;
#endif
buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
buffer->ObjectID = objid;
buffer->InstanceID = instid;
if (size > sizeof(buffer->Data)) {
size = sizeof(buffer->Data);
}
buffer->Size = size;
memset(buffer->Data, 0xff, sizeof(buffer->Data));
memcpy(buffer->Data, data, size);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) { enqueue_data(objid, instid, size, data);
lognum++;
}
mutexunlock(); mutexunlock();
} }
/** /**
@ -137,27 +139,30 @@ void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8
*/ */
void PIOS_DEBUGLOG_Printf(char *format, ...) void PIOS_DEBUGLOG_Printf(char *format, ...)
{ {
if (!logging_enabled || !buffer) { if (!logging_enabled || !buffer || log_is_full) {
return; return;
} }
va_list args; va_list args;
va_start(args, format); va_start(args, format);
mutexlock(); mutexlock();
// flush any pending buffer before writing debug text
if (used_buffer_space) {
write_current_buffer();
}
memset(buffer->Data, 0xff, sizeof(buffer->Data)); memset(buffer->Data, 0xff, sizeof(buffer->Data));
vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args); vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
buffer->Flight = flightnum; buffer->Flight = flightnum;
#if defined(PIOS_INCLUDE_FREERTOS)
buffer->FlightTime = xTaskGetTickCount() * portTICK_RATE_MS; buffer->FlightTime = PIOS_DELAY_GetuS();
#else
buffer->FlightTime = 0;
#endif
buffer->Entry = lognum; buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_TEXT; buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
buffer->ObjectID = 0; buffer->ObjectID = 0;
buffer->InstanceID = 0; buffer->InstanceID = 0;
buffer->Size = strlen((const char *)buffer->Data); buffer->Size = strlen((const char *)buffer->Data);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, flightnum * 256, lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) { if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++; lognum++;
} }
mutexunlock(); mutexunlock();
@ -179,7 +184,7 @@ void PIOS_DEBUGLOG_Printf(char *format, ...)
int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst) int32_t PIOS_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
{ {
PIOS_Assert(mybuffer); PIOS_Assert(mybuffer);
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, flight * 256, inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData)); return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flight), inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
} }
/** /**
@ -214,11 +219,68 @@ void PIOS_DEBUGLOG_Format(void)
{ {
mutexlock(); mutexlock();
PIOS_FLASHFS_Format(pios_user_fs_id); PIOS_FLASHFS_Format(pios_user_fs_id);
lognum = 0; lognum = 0;
flightnum = 0; flightnum = 0;
log_is_full = false;
fails_count = 0;
used_buffer_space = 0;
mutexunlock(); mutexunlock();
} }
void enqueue_data(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{
DebugLogEntryData *entry;
// start a new block
if (!used_buffer_space) {
entry = buffer;
memset(buffer->Data, 0xff, sizeof(buffer->Data));
used_buffer_space += size;
} else {
// if an instance is being filled and there is enough space, does enqueues new data.
if (used_buffer_space + size + LOG_ENTRY_HEADER_SIZE > LOG_ENTRY_MAX_DATA_SIZE) {
buffer->Type = DEBUGLOGENTRY_TYPE_MULTIPLEUAVOBJECTS;
if (!write_current_buffer()) {
return;
}
entry = buffer;
memset(buffer->Data, 0xff, sizeof(buffer->Data));
used_buffer_space += size;
} else {
entry = (DebugLogEntryData *)&buffer->Data[used_buffer_space];
used_buffer_space += size + LOG_ENTRY_HEADER_SIZE;
}
}
entry->Flight = flightnum;
entry->FlightTime = PIOS_DELAY_GetuS();
entry->Entry = lognum;
entry->Type = DEBUGLOGENTRY_TYPE_UAVOBJECT;
entry->ObjectID = objid;
entry->InstanceID = instid;
if (size > sizeof(buffer->Data)) {
size = sizeof(buffer->Data);
}
entry->Size = size;
memcpy(entry->Data, data, size);
}
bool write_current_buffer()
{
// not enough space, write the block and start a new one
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
fails_count = 0;
used_buffer_space = 0;
} else {
if (fails_count++ > MAX_CONSECUTIVE_FAILS_COUNT) {
log_is_full = true;
}
return false;
}
return true;
}
/** /**
* @} * @}
* @} * @}

58
flight/pios/common/pios_flash_jedec.c
View File

@ -75,13 +75,16 @@ struct jedec_flash_dev {
enum pios_jedec_dev_magic magic; enum pios_jedec_dev_magic magic;
}; };
#define FLASH_FAST_PRESCALER PIOS_SPI_PRESCALER_2
#define FLASH_PRESCALER PIOS_SPI_PRESCALER_4
// ! Private functions // ! Private functions
static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev *flash_dev);
static struct jedec_flash_dev *PIOS_Flash_Jedec_alloc(void); static struct jedec_flash_dev *PIOS_Flash_Jedec_alloc(void);
static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev *flash_dev);
static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev);
static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev, bool fast);
static int32_t PIOS_Flash_Jedec_ReleaseBus(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_ReleaseBus(struct jedec_flash_dev *flash_dev);
static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev);
static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev *flash_dev); static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev *flash_dev);
@ -166,12 +169,12 @@ int32_t PIOS_Flash_Jedec_Init(uintptr_t *flash_id, uint32_t spi_id, uint32_t sla
* @brief Claim the SPI bus for flash use and assert CS pin * @brief Claim the SPI bus for flash use and assert CS pin
* @return 0 for sucess, -1 for failure to get semaphore * @return 0 for sucess, -1 for failure to get semaphore
*/ */
static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev) static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev *flash_dev, bool fast)
{ {
if (PIOS_SPI_ClaimBus(flash_dev->spi_id) < 0) { if (PIOS_SPI_ClaimBus(flash_dev->spi_id) < 0) {
return -1; return -1;
} }
PIOS_SPI_SetClockSpeed(flash_dev->spi_id, fast ? FLASH_FAST_PRESCALER : FLASH_PRESCALER);
PIOS_SPI_RC_PinSet(flash_dev->spi_id, flash_dev->slave_num, 0); PIOS_SPI_RC_PinSet(flash_dev->spi_id, flash_dev->slave_num, 0);
flash_dev->claimed = true; flash_dev->claimed = true;
@ -209,7 +212,7 @@ static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev *flash_dev)
*/ */
static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev) static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev)
{ {
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
return -1; return -1;
} }
@ -226,7 +229,7 @@ static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev *flash_dev)
*/ */
static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev) static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev)
{ {
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) < 0) {
return -1; return -1;
} }
@ -247,7 +250,7 @@ static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev *flash_dev)
*/ */
static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev *flash_dev) static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev *flash_dev)
{ {
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) < 0) {
return -2; return -2;
} }
@ -354,7 +357,7 @@ static int32_t PIOS_Flash_Jedec_EraseSector(uintptr_t flash_id, uint32_t addr)
return ret; return ret;
} }
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
return -1; return -1;
} }
@ -368,7 +371,7 @@ static int32_t PIOS_Flash_Jedec_EraseSector(uintptr_t flash_id, uint32_t addr)
// Keep polling when bus is busy too // Keep polling when bus is busy too
while (PIOS_Flash_Jedec_Busy(flash_dev) != 0) { while (PIOS_Flash_Jedec_Busy(flash_dev) != 0) {
#if defined(FLASH_FREERTOS) #if defined(FLASH_FREERTOS)
vTaskDelay(1); vTaskDelay(2);
#endif #endif
} }
@ -394,7 +397,7 @@ static int32_t PIOS_Flash_Jedec_EraseChip(uintptr_t flash_id)
return ret; return ret;
} }
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
return -1; return -1;
} }
@ -455,16 +458,14 @@ static int32_t PIOS_Flash_Jedec_WriteData(uintptr_t flash_id, uint32_t addr, uin
if (((addr & 0xff) + len) > 0x100) { if (((addr & 0xff) + len) > 0x100) {
return -3; return -3;
} }
if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0) { if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0) {
return ret; return ret;
} }
/* Execute write page command and clock in address. Keep CS asserted */ /* Execute write page command and clock in address. Keep CS asserted */
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
return -1; return -1;
} }
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) { if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
PIOS_Flash_Jedec_ReleaseBus(flash_dev); PIOS_Flash_Jedec_ReleaseBus(flash_dev);
return -1; return -1;
@ -486,7 +487,7 @@ static int32_t PIOS_Flash_Jedec_WriteData(uintptr_t flash_id, uint32_t addr, uin
#else #else
// Query status this way to prevent accel chip locking us out // Query status this way to prevent accel chip locking us out
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) < 0) {
return -1; return -1;
} }
@ -536,13 +537,12 @@ static int32_t PIOS_Flash_Jedec_WriteChunks(uintptr_t flash_id, uint32_t addr, s
if (((addr & 0xff) + len) > 0x100) { if (((addr & 0xff) + len) > 0x100) {
return -3; return -3;
} }
if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0) { if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0) {
return ret; return ret;
} }
/* Execute write page command and clock in address. Keep CS asserted */ /* Execute write page command and clock in address. Keep CS asserted */
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, true) != 0) {
return -1; return -1;
} }
@ -582,17 +582,29 @@ static int32_t PIOS_Flash_Jedec_ReadData(uintptr_t flash_id, uint32_t addr, uint
if (PIOS_Flash_Jedec_Validate(flash_dev) != 0) { if (PIOS_Flash_Jedec_Validate(flash_dev) != 0) {
return -1; return -1;
} }
bool fast_read = flash_dev->cfg->fast_read != 0;
if (PIOS_Flash_Jedec_ClaimBus(flash_dev) == -1) { if (PIOS_Flash_Jedec_ClaimBus(flash_dev, fast_read) == -1) {
return -1; return -1;
} }
/* Execute read command and clock in address. Keep CS asserted */ /* Execute read command and clock in address. Keep CS asserted */
uint8_t out[] = { JEDEC_READ_DATA, (addr >> 16) & 0xff, (addr >> 8) & 0xff, addr & 0xff }; if (!fast_read) {
uint8_t out[] = { JEDEC_READ_DATA, (addr >> 16) & 0xff, (addr >> 8) & 0xff, addr & 0xff };
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) { if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, sizeof(out), NULL) < 0) {
PIOS_Flash_Jedec_ReleaseBus(flash_dev); PIOS_Flash_Jedec_ReleaseBus(flash_dev);
return -2; return -2;
}
} else {
uint8_t cmdlen = flash_dev->cfg->fast_read_dummy_bytes + 4;
uint8_t out[cmdlen];
memset(out, 0x0, cmdlen);
out[0] = flash_dev->cfg->fast_read;
out[1] = (addr >> 16) & 0xff;
out[2] = (addr >> 8) & 0xff;
out[3] = addr & 0xff;
if (PIOS_SPI_TransferBlock(flash_dev->spi_id, out, NULL, cmdlen, NULL) < 0) {
PIOS_Flash_Jedec_ReleaseBus(flash_dev);
return -2;
}
} }
/* Copy the transfer data to the buffer */ /* Copy the transfer data to the buffer */

24
flight/pios/inc/pios_flash_jedec_catalog.h
View File

@ -40,29 +40,37 @@ const struct pios_flash_jedec_cfg pios_flash_jedec_catalog[] =
.expect_manufacturer = JEDEC_MANUFACTURER_ST, .expect_manufacturer = JEDEC_MANUFACTURER_ST,
.expect_memorytype = 0x20, .expect_memorytype = 0x20,
.expect_capacity = 0x15, .expect_capacity = 0x15,
.sector_erase = 0xD8, .sector_erase = 0xD8,
.chip_erase = 0xC7, .chip_erase = 0xC7,
.fast_read = 0x0B,
.fast_read_dummy_bytes = 1,
}, },
{ // m25px16 { // m25px16
.expect_manufacturer = JEDEC_MANUFACTURER_ST, .expect_manufacturer = JEDEC_MANUFACTURER_ST,
.expect_memorytype = 0x71, .expect_memorytype = 0x71,
.expect_capacity = 0x15, .expect_capacity = 0x15,
.sector_erase = 0xD8, .sector_erase = 0xD8,
.chip_erase = 0xC7, .chip_erase = 0xC7,
.fast_read = 0x0B,
.fast_read_dummy_bytes = 1,
}, },
{ // w25x { // w25x
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND, .expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
.expect_memorytype = 0x30, .expect_memorytype = 0x30,
.expect_capacity = 0x13, .expect_capacity = 0x13,
.sector_erase = 0x20, .sector_erase = 0x20,
.chip_erase = 0x60 .chip_erase = 0x60,
.fast_read = 0x0B,
.fast_read_dummy_bytes = 1,
}, },
{ // 25q16 { // 25q16
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND, .expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
.expect_memorytype = 0x40, .expect_memorytype = 0x40,
.expect_capacity = 0x15, .expect_capacity = 0x15,
.sector_erase = 0x20, .sector_erase = 0x20,
.chip_erase = 0x60 .chip_erase = 0x60,
.fast_read = 0x0B,
.fast_read_dummy_bytes = 1,
} }
}; };
const uint32_t pios_flash_jedec_catalog_size = NELEMENTS(pios_flash_jedec_catalog); const uint32_t pios_flash_jedec_catalog_size = NELEMENTS(pios_flash_jedec_catalog);

12
flight/pios/inc/pios_flash_jedec_priv.h
View File

@ -40,11 +40,13 @@ extern const struct pios_flash_driver pios_jedec_flash_driver;
#define JEDEC_MANUFACTURER_WINBOND 0xEF #define JEDEC_MANUFACTURER_WINBOND 0xEF
struct pios_flash_jedec_cfg { struct pios_flash_jedec_cfg {
uint8_t expect_manufacturer; uint8_t expect_manufacturer;
uint8_t expect_memorytype; uint8_t expect_memorytype;
uint8_t expect_capacity; uint8_t expect_capacity;
uint32_t sector_erase; uint8_t sector_erase;
uint32_t chip_erase; uint8_t chip_erase;
uint8_t fast_read;
uint8_t fast_read_dummy_bytes;
}; };
int32_t PIOS_Flash_Jedec_Init(uintptr_t *flash_id, uint32_t spi_id, uint32_t slave_num); int32_t PIOS_Flash_Jedec_Init(uintptr_t *flash_id, uint32_t spi_id, uint32_t slave_num);

3
flight/pios/stm32f4xx/pios_spi.c
View File

@ -585,6 +585,9 @@ static int32_t SPI_DMA_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer
/* Wait until all bytes have been transmitted/received */ /* Wait until all bytes have been transmitted/received */
while (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel)) { while (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel)) {
#if defined(PIOS_INCLUDE_FREERTOS)
vTaskDelay(0);
#endif
; ;
} }

17
ground/openpilotgcs/src/plugins/flightlog/FlightLogDialog.qml
View File

@ -7,7 +7,7 @@ import org.openpilot 1.0
import "functions.js" as Functions import "functions.js" as Functions
Rectangle { Rectangle {
width: 600 width: 700
height: 400 height: 400
id: root id: root
ColumnLayout { ColumnLayout {
@ -59,11 +59,11 @@ Rectangle {
delegate: delegate:
Text { Text {
verticalAlignment: Text.AlignVCenter verticalAlignment: Text.AlignVCenter
text: Functions.millisToTime(styleData.value) text: Functions.microsToTime(styleData.value)
} }
} }
TableViewColumn { TableViewColumn {
role: "Type"; title: "Type"; width: 60; role: "Type"; title: "Type"; width: 50;
delegate: delegate:
Text { Text {
verticalAlignment: Text.AlignVCenter verticalAlignment: Text.AlignVCenter
@ -72,6 +72,7 @@ Rectangle {
case 0 : text: qsTr("Empty"); break; case 0 : text: qsTr("Empty"); break;
case 1 : text: qsTr("Text"); break; case 1 : text: qsTr("Text"); break;
case 2 : text: qsTr("UAVO"); break; case 2 : text: qsTr("UAVO"); break;
case 3 : text: qsTr("UAVO(P)"); break;
default: text: qsTr("Unknown"); break; default: text: qsTr("Unknown"); break;
} }
} }
@ -93,12 +94,16 @@ Rectangle {
spacing: 10 spacing: 10
Text { Text {
id: totalFlights id: totalFlights
text: "<b>" + qsTr("Flights recorded: ") + "</b>" + (logStatus.Flight + 1) text: "<b>" + qsTr("Flights recorded:") + "</b> " + (logStatus.Flight + 1)
}
Text {
id: totalSlots
text: "<b>" + qsTr("Slots used/free:") + "</b> " +
logStatus.UsedSlots + "/" + logStatus.FreeSlots
} }
Text { Text {
id: totalEntries id: totalEntries
text: "<b>" + qsTr("Entries logged (free): ") + "</b>" + text: "<b>" + qsTr("Entries downloaded:") + "</b> " + logManager.logEntriesCount
logStatus.UsedSlots + " (" + logStatus.FreeSlots + ")"
} }
Rectangle { Rectangle {
Layout.fillHeight: true Layout.fillHeight: true

42
ground/openpilotgcs/src/plugins/flightlog/flightlogmanager.cpp
View File

@ -205,21 +205,47 @@ void FlightLogManager::retrieveLogs(int flightToRetrieve)
for (int flight = startFlight; flight <= endFlight; flight++) { for (int flight = startFlight; flight <= endFlight; flight++) {
m_flightLogControl->setFlight(flight); m_flightLogControl->setFlight(flight);
bool gotLast = false; bool gotLast = false;
int entry = 0; int slot = 0;
while (!gotLast) { while (!gotLast) {
// Send request for loading flight entry on flight side and wait for ack/nack // Send request for loading flight entry on flight side and wait for ack/nack
m_flightLogControl->setEntry(entry); m_flightLogControl->setEntry(slot);
if (updateHelper.doObjectAndWait(m_flightLogControl, UAVTALK_TIMEOUT) == UAVObjectUpdaterHelper::SUCCESS && if (updateHelper.doObjectAndWait(m_flightLogControl, UAVTALK_TIMEOUT) == UAVObjectUpdaterHelper::SUCCESS &&
requestHelper.doObjectAndWait(m_flightLogEntry, UAVTALK_TIMEOUT) == UAVObjectUpdaterHelper::SUCCESS) { requestHelper.doObjectAndWait(m_flightLogEntry, UAVTALK_TIMEOUT) == UAVObjectUpdaterHelper::SUCCESS) {
if (m_flightLogEntry->getType() != DebugLogEntry::TYPE_EMPTY) { if (m_flightLogEntry->getType() != DebugLogEntry::TYPE_EMPTY) {
// Ok, we retrieved the entry, and it was the correct one. clone it and add it to the list // Ok, we retrieved the entry, and it was the correct one. clone it and add it to the list
ExtendedDebugLogEntry *logEntry = new ExtendedDebugLogEntry(); ExtendedDebugLogEntry *logEntry = new ExtendedDebugLogEntry();
logEntry->setData(m_flightLogEntry->getData(), m_objectManager); logEntry->setData(m_flightLogEntry->getData(), m_objectManager);
m_logEntries << logEntry; m_logEntries << logEntry;
if (logEntry->getData().Type == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
const quint32 total_len = sizeof(DebugLogEntry::DataFields);
const quint32 data_len = sizeof(((DebugLogEntry::DataFields *)0)->Data);
const quint32 header_len = total_len - data_len;
DebugLogEntry::DataFields fields;
quint32 start = logEntry->getData().Size;
// cycle until there is space for another object
while (start + header_len + 1 < data_len) {
memset(&fields, 0xFF, total_len);
memcpy(&fields, &logEntry->getData().Data[start], header_len);
// check wether a packed object is found
// note that empty data blocks are set as 0xFF in flight side to minimize flash wearing
// thus as soon as this read outside of used area, the test will fail as lenght would be 0xFFFF
quint32 toread = header_len + fields.Size;
if (!(toread + start > data_len)) {
memcpy(&fields, &logEntry->getData().Data[start], toread);
ExtendedDebugLogEntry *subEntry = new ExtendedDebugLogEntry();
subEntry->setData(fields, m_objectManager);
m_logEntries << subEntry;
}
start += toread;
}
}
// Increment to get next entry from flight side // Increment to get next entry from flight side
entry++; slot++;
} else { } else {
// We are done, not more entries on this flight // We are done, not more entries on this flight
gotLast = true; gotLast = true;
@ -280,7 +306,7 @@ void FlightLogManager::exportToOPL(QString fileName)
ExtendedDebugLogEntry *entry = m_logEntries[currentEntry]; ExtendedDebugLogEntry *entry = m_logEntries[currentEntry];
// Only log uavobjects // Only log uavobjects
if (entry->getType() == ExtendedDebugLogEntry::TYPE_UAVOBJECT) { if (entry->getType() == ExtendedDebugLogEntry::TYPE_UAVOBJECT || entry->getType() == ExtendedDebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
// Set timestamp that should be logged for this entry // Set timestamp that should be logged for this entry
logFile.setNextTimeStamp(entry->getFlightTime() - adjustedBaseTime); logFile.setNextTimeStamp(entry->getFlightTime() - adjustedBaseTime);
@ -615,7 +641,7 @@ QString ExtendedDebugLogEntry::getLogString()
{ {
if (getType() == DebugLogEntry::TYPE_TEXT) { if (getType() == DebugLogEntry::TYPE_TEXT) {
return QString((const char *)getData().Data); return QString((const char *)getData().Data);
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT) { } else if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
return m_object->toString().replace("\n", " ").replace("\t", " "); return m_object->toString().replace("\n", " ").replace("\t", " ");
} else { } else {
return ""; return "";
@ -631,7 +657,7 @@ void ExtendedDebugLogEntry::toXML(QXmlStreamWriter *xmlWriter, quint32 baseTime)
if (getType() == DebugLogEntry::TYPE_TEXT) { if (getType() == DebugLogEntry::TYPE_TEXT) {
xmlWriter->writeAttribute("type", "text"); xmlWriter->writeAttribute("type", "text");
xmlWriter->writeTextElement("message", QString((const char *)getData().Data)); xmlWriter->writeTextElement("message", QString((const char *)getData().Data));
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT) { } else if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
xmlWriter->writeAttribute("type", "uavobject"); xmlWriter->writeAttribute("type", "uavobject");
m_object->toXML(xmlWriter); m_object->toXML(xmlWriter);
} }
@ -644,7 +670,7 @@ void ExtendedDebugLogEntry::toCSV(QTextStream *csvStream, quint32 baseTime)
if (getType() == DebugLogEntry::TYPE_TEXT) { if (getType() == DebugLogEntry::TYPE_TEXT) {
data = QString((const char *)getData().Data); data = QString((const char *)getData().Data);
} else if (getType() == DebugLogEntry::TYPE_UAVOBJECT) { } else if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
data = m_object->toString().replace("\n", "").replace("\t", ""); data = m_object->toString().replace("\n", "").replace("\t", "");
} }
*csvStream << QString::number(getFlight() + 1) << '\t' << QString::number(getFlightTime() - baseTime) << '\t' << QString::number(getEntry()) << '\t' << data << '\n'; *csvStream << QString::number(getFlight() + 1) << '\t' << QString::number(getFlightTime() - baseTime) << '\t' << QString::number(getEntry()) << '\t' << data << '\n';
@ -654,7 +680,7 @@ void ExtendedDebugLogEntry::setData(const DebugLogEntry::DataFields &data, UAVOb
{ {
DebugLogEntry::setData(data); DebugLogEntry::setData(data);
if (getType() == DebugLogEntry::TYPE_UAVOBJECT) { if (getType() == DebugLogEntry::TYPE_UAVOBJECT || getType() == DebugLogEntry::TYPE_MULTIPLEUAVOBJECTS) {
UAVDataObject *object = (UAVDataObject *)objectManager->getObject(getObjectID(), getInstanceID()); UAVDataObject *object = (UAVDataObject *)objectManager->getObject(getObjectID(), getInstanceID());
Q_ASSERT(object); Q_ASSERT(object);
m_object = object->clone(getInstanceID()); m_object = object->clone(getInstanceID());

11
ground/openpilotgcs/src/plugins/flightlog/flightlogmanager.h
View File

@ -94,6 +94,10 @@ public slots:
setDirty(true); setDirty(true);
if (m_setting != 1 && m_setting != 3) { if (m_setting != 1 && m_setting != 3) {
setPeriod(0); setPeriod(0);
} else {
if (!period()) {
setPeriod(500);
}
} }
emit settingChanged(setting); emit settingChanged(setting);
} }
@ -178,7 +182,7 @@ class FlightLogManager : public QObject {
Q_PROPERTY(QStringList logSettings READ logSettings NOTIFY logSettingsChanged) Q_PROPERTY(QStringList logSettings READ logSettings NOTIFY logSettingsChanged)
Q_PROPERTY(QStringList logStatuses READ logStatuses NOTIFY logStatusesChanged) Q_PROPERTY(QStringList logStatuses READ logStatuses NOTIFY logStatusesChanged)
Q_PROPERTY(int loggingEnabled READ loggingEnabled WRITE setLoggingEnabled NOTIFY loggingEnabledChanged) Q_PROPERTY(int loggingEnabled READ loggingEnabled WRITE setLoggingEnabled NOTIFY loggingEnabledChanged)
Q_PROPERTY(int logEntriesCount READ logEntriesCount NOTIFY logEntriesChanged)
public: public:
explicit FlightLogManager(QObject *parent = 0); explicit FlightLogManager(QObject *parent = 0);
@ -240,7 +244,10 @@ public:
{ {
return m_loggingEnabled; return m_loggingEnabled;
} }
int logEntriesCount()
{
return m_logEntries.count();
}
signals: signals:
void logEntriesChanged(); void logEntriesChanged();
void flightEntriesChanged(); void flightEntriesChanged();

6
ground/openpilotgcs/src/plugins/flightlog/functions.js
View File

@ -11,6 +11,12 @@ function millisToTime(ms) {
return pad(hours, 2) + ":" + pad(minutes, 2) + ":" + pad(seconds, 2) + ":" + pad(msleft, 3); return pad(hours, 2) + ":" + pad(minutes, 2) + ":" + pad(seconds, 2) + ":" + pad(msleft, 3);
} }
function microsToTime(us) {
var ms = Math.floor(us / 1000);
return millisToTime(ms);
}
function pad(number, length) { function pad(number, length) {
var str = '' + number; var str = '' + number;
while (str.length < length) { while (str.length < length) {

4
shared/uavobjectdefinition/debuglogentry.xml
View File

@ -2,9 +2,9 @@
<object name="DebugLogEntry" singleinstance="true" settings="false" category="System"> <object name="DebugLogEntry" singleinstance="true" settings="false" category="System">
<description>Log Entry in Flash</description> <description>Log Entry in Flash</description>
<field name="Flight" units="" type="uint16" elements="1" /> <field name="Flight" units="" type="uint16" elements="1" />
<field name="FlightTime" units="ms" type="uint32" elements="1" /> <field name="FlightTime" units="us" type="uint32" elements="1" />
<field name="Entry" units="" type="uint16" elements="1" /> <field name="Entry" units="" type="uint16" elements="1" />
<field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject" /> <field name="Type" units="" type="enum" elements="1" options="Empty, Text, UAVObject, MultipleUAVObjects" />
<field name="ObjectID" units="" type="uint32" elements="1"/> <field name="ObjectID" units="" type="uint32" elements="1"/>
<field name="InstanceID" units="" type="uint16" elements="1"/> <field name="InstanceID" units="" type="uint16" elements="1"/>
<field name="Size" units="" type="uint16" elements="1" /> <field name="Size" units="" type="uint16" elements="1" />