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AP_Logger: fix locking issues, log wrapping and status messages #13178

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merged 1 commit into from
Jan 13, 2020
Merged

AP_Logger: fix locking issues, log wrapping and status messages #13178

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32 changes: 19 additions & 13 deletions libraries/AP_Logger/AP_Logger_Block.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,17 +199,15 @@ uint16_t AP_Logger_Block::GetFileNumber()
void AP_Logger_Block::EraseAll()
{
WITH_SEMAPHORE(sem);
gcs().send_text(MAV_SEVERITY_INFO, "Chip erase started");
// reset the format version so that any incomplete erase will be caught
Sector4kErase(get_sector(df_NumPages+1));
// reset the wrapped status
Sector4kErase(get_sector(df_NumPages));

if (erase_started) {
// already erasing
return;
}

gcs().send_text(MAV_SEVERITY_INFO, "Chip erase started");
// reset the format version and wrapped status so that any incomplete erase will be caught
Sector4kErase(get_sector(df_NumPages));

log_write_started = false;

StartErase();
Expand Down Expand Up @@ -275,6 +273,11 @@ void AP_Logger_Block::validate_log_structure()
StartRead(page);
file = GetFileNumber();
next_file++;
// skip over the rest of an erased blcok
if (wrapped && file == 0xFFFF) {
StartRead((get_block(page) + 1) * df_PagePerBlock + 1);
file = GetFileNumber();
}
if (wrapped && file < next_file) {
page_start = page;
next_file = file;
Expand Down Expand Up @@ -395,7 +398,10 @@ uint16_t AP_Logger_Block::get_num_logs(void)
StartRead(lastpage);
last = GetFileNumber();
if (check_wrapped()) {
StartRead(lastpage + 1);
// if we wrapped then the rest of the block will be filled with 0xFFFF because we always erase
// a block before writing to it, in order to find the first page we therefore have to read after the
// next block boundary
StartRead((get_block(lastpage) + 1) * df_PagePerBlock + 1);
first = GetFileNumber();
}

Expand Down Expand Up @@ -523,6 +529,7 @@ uint32_t AP_Logger_Block::find_last_page(void)
look = (top+bottom)/2;
StartRead(look);
look_hash = (int64_t)GetFileNumber()<<32 | df_FilePage;
// erased sector so can discount everything above
if (look_hash >= 0xFFFF00000000) {
look_hash = 0;
}
Expand Down Expand Up @@ -604,7 +611,7 @@ uint32_t AP_Logger_Block::find_last_page_of_log(uint16_t log_number)
return bottom;
}

gcs().send_text(MAV_SEVERITY_ERROR, "Missing last page of log %d at top=%X or bottom=%X", int(log_number), unsigned(top), unsigned(bottom));
gcs().send_text(MAV_SEVERITY_ERROR, "No last page of log %d at top=%X or bot=%X", int(log_number), unsigned(top), unsigned(bottom));
return 0;
}

Expand Down Expand Up @@ -649,11 +656,12 @@ void AP_Logger_Block::io_timer(void)
return;
}

WITH_SEMAPHORE(sem);

if (erase_started) {
if (InErase()) {
return;
}
WITH_SEMAPHORE(sem);
// write the logging format in the last page
StartWrite(df_NumPages+1);
uint32_t version = DF_LOGGING_FORMAT;
Expand All @@ -662,11 +670,10 @@ void AP_Logger_Block::io_timer(void)
FinishWrite();
erase_started = false;
gcs().send_text(MAV_SEVERITY_INFO, "Chip erase complete");
return;
}

if (df_EraseFrom > 0) {
WITH_SEMAPHORE(sem);

const uint32_t sectors = df_NumPages / df_PagePerSector;
const uint32_t sectors_in_64k = 0x10000 / (df_PagePerSector * df_PageSize);
uint32_t next_sector = get_sector(df_EraseFrom);
Expand All @@ -681,7 +688,7 @@ void AP_Logger_Block::io_timer(void)
SectorErase(next_sector / sectors_in_64k);
next_sector += sectors_in_64k;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Log corruption recovery complete, erased %d blocks", unsigned(blocks_erased));
gcs().send_text(MAV_SEVERITY_WARNING, "Log recovery complete, erased %d blocks", unsigned(blocks_erased));
df_EraseFrom = 0;
}

Expand All @@ -690,7 +697,6 @@ void AP_Logger_Block::io_timer(void)
}

while (writebuf.available() >= df_PageSize - sizeof(struct PageHeader)) {
WITH_SEMAPHORE(sem);
struct PageHeader ph;
ph.FileNumber = df_FileNumber;
ph.FilePage = df_FilePage;
Expand Down
7 changes: 6 additions & 1 deletion libraries/AP_Logger/AP_Logger_Block.h
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Original file line number Diff line number Diff line change
Expand Up @@ -112,11 +112,16 @@ class AP_Logger_Block : public AP_Logger_Backend {
uint32_t df_NumPages;
bool log_write_started;

// get the next sector from the current page
// get the current sector from the current page
uint32_t get_sector(uint32_t current_page) {
return ((current_page - 1) / df_PagePerSector);
}

// get the current block from the current page
uint32_t get_block(uint32_t current_page) {
return ((current_page - 1) / df_PagePerBlock);
}

static const uint16_t page_size_max = 256;
uint8_t *buffer;

Expand Down