/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @defgroup PIOS_DEBUGLOG Flash log debugging Functions
* @brief Debugging functionality
* @{
*
* @file pios_debuglog.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Debugging Functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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
*/
/* Project Includes */
#include "pios.h"
#include "uavobjectmanager.h"
#include "debuglogentry.h"
// global definitions
#ifdef PIOS_INCLUDE_DEBUGLOG
// Global variables
extern uintptr_t pios_user_fs_id; // flash filesystem for logging
#if defined(PIOS_INCLUDE_FREERTOS)
static xSemaphoreHandle mutex = 0;
#define mutexlock() xSemaphoreTakeRecursive(mutex, portMAX_DELAY)
#define mutexunlock() xSemaphoreGiveRecursive(mutex)
#else
#define mutexlock()
#define mutexunlock()
#endif
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 lognum = 0;
static DebugLogEntryData *buffer = 0;
#if !defined(PIOS_INCLUDE_FREERTOS)
static DebugLogEntryData staticbuffer;
#endif
#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
*/
void PIOS_DEBUGLOG_Initialize()
{
#if defined(PIOS_INCLUDE_FREERTOS)
if (!mutex) {
mutex = xSemaphoreCreateRecursiveMutex();
buffer = pios_malloc(sizeof(DebugLogEntryData));
}
#else
buffer = &staticbuffer;
#endif
if (!buffer) {
return;
}
mutexlock();
lognum = 0;
flightnum = 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++;
}
mutexunlock();
}
/**
* @brief Enables or Disables logging globally
* @param[in] enable or disable logging
*/
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;
}
/**
* @brief Write a debug log entry with a uavobject
* @param[in] objectid
* @param[in] instanceid
* @param[in] instanceid
* @param[in] size of object
* @param[in] data buffer
*/
void PIOS_DEBUGLOG_UAVObject(uint32_t objid, uint16_t instid, size_t size, uint8_t *data)
{
if (!logging_enabled || !buffer || log_is_full) {
return;
}
mutexlock();
enqueue_data(objid, instid, size, data);
mutexunlock();
}
/**
* @brief Write a debug log entry with text
* @param[in] format - as in printf
* @param[in] variable arguments for printf
* @param...
*/
void PIOS_DEBUGLOG_Printf(char *format, ...)
{
if (!logging_enabled || !buffer || log_is_full) {
return;
}
va_list args;
va_start(args, format);
mutexlock();
// flush any pending buffer before writing debug text
if (used_buffer_space) {
write_current_buffer();
}
memset(buffer->Data, 0xff, sizeof(buffer->Data));
vsnprintf((char *)buffer->Data, sizeof(buffer->Data), (char *)format, args);
buffer->Flight = flightnum;
buffer->FlightTime = PIOS_DELAY_GetuS();
buffer->Entry = lognum;
buffer->Type = DEBUGLOGENTRY_TYPE_TEXT;
buffer->ObjectID = 0;
buffer->InstanceID = 0;
buffer->Size = strlen((const char *)buffer->Data);
if (PIOS_FLASHFS_ObjSave(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flightnum), lognum, (uint8_t *)buffer, sizeof(DebugLogEntryData)) == 0) {
lognum++;
}
mutexunlock();
}
/**
* @brief Load one object instance from the filesystem
* @param[out] buffer where to store the uavobject
* @param[in] log entry from which flight
* @param[in] log entry sequence number
* @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_DEBUGLOG_Read(void *mybuffer, uint16_t flight, uint16_t inst)
{
PIOS_Assert(mybuffer);
return PIOS_FLASHFS_ObjLoad(pios_user_fs_id, LOG_GET_FLIGHT_OBJID(flight), inst, (uint8_t *)mybuffer, sizeof(DebugLogEntryData));
}
/**
* @brief Retrieve run time info of logging system
* @param[out] current flight number
* @param[out] next entry number
* @param[out] free slots in filesystem
* @param[out] used slots in filesystem
*/
void PIOS_DEBUGLOG_Info(uint16_t *flight, uint16_t *entry, uint16_t *free, uint16_t *used)
{
if (flight) {
*flight = flightnum;
}
if (entry) {
*entry = lognum;
}
struct PIOS_FLASHFS_Stats stats = { 0, 0 };
PIOS_FLASHFS_GetStats(pios_user_fs_id, &stats);
if (free) {
*free = stats.num_free_slots;
}
if (used) {
*used = stats.num_active_slots;
}
}
/**
* @brief Format entire flash memory!!!
*/
void PIOS_DEBUGLOG_Format(void)
{
mutexlock();
PIOS_FLASHFS_Format(pios_user_fs_id);
lognum = 0;
flightnum = 0;
log_is_full = false;
fails_count = 0;
used_buffer_space = 0;
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;
}
#endif /* ifdef PIOS_INCLUDE_DEBUGLOG */
/**
* @}
* @}
*/