Paparazzi UAS v7.0_unstable
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sdlog_chibios.c
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1/*
2 * Copyright (C) 2013-2015 Gautier Hattenberger, Alexandre Bustico
3 *
4 * This file is part of paparazzi.
5 *
6 * paparazzi is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2, or (at your option)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, write to
18 * the Free Software Foundation, 59 Temple Place - Suite 330,
19 * Boston, MA 02111-1307, USA.
20 */
21
22/*
23 * @file modules/loggers/sdlog_chibios.c
24 * @brief sdlog process with battery monitoring
25 *
26 */
27
28#include <ch.h>
29#include <hal.h>
35#include "mcu_periph/adc.h"
36#include "mcu.h"
37#include "led.h"
38
39#if HAL_USE_RTC
40#include <hal_rtc.h>
41#include <time.h>
42#include "modules/gps/gps.h"
43#endif
44
45// Delay before starting SD log
46#ifndef SDLOG_START_DELAY
47#define SDLOG_START_DELAY 30
48#endif
49
50// Auto-flush period (in seconds)
51#ifndef SDLOG_AUTO_FLUSH_PERIOD
52#define SDLOG_AUTO_FLUSH_PERIOD 10
53#endif
54
55// Contiguous storage memory (in Mo)
56#ifndef SDLOG_CONTIGUOUS_STORAGE_MEM
57#define SDLOG_CONTIGUOUS_STORAGE_MEM 50
58#endif
59
60// Flush file on power loss
61#ifndef SDLOG_ENABLE_LOWBAT_FLUSH
62#define SDLOG_ENABLE_LOWBAT_FLUSH TRUE
63#endif
64
65
66#if (!defined USE_ADC_WATCHDOG) || (USE_ADC_WATCHDOG == 0)
67#error sdlog_chibios need USE_ADC_WATCHDOG in order to properly close files when power is unplugged
68#endif
69
70static const char PPRZ_LOG_NAME[] = "pprzlog_";
71static const char PPRZ_LOG_DIR[] = "PPRZ";
72
73/*
74 * Start log thread
75 */
77static __attribute__((noreturn)) void thd_startlog(void *arg);
78
79bool sdOk = false;
80
82
84
85#if FLIGHTRECORDER_SDLOG
86static const char FLIGHTRECORDER_LOG_NAME[] = "fr_";
87static const char FR_LOG_DIR[] = "FLIGHT_RECORDER";
89#endif
90
93static enum {
98
102static char NO_FILE_NAME[] = "none";
103
104#if PREFLIGHT_CHECKS
105/* Preflight checks */
107static struct preflight_check_t sdlog_pfc;
108
109static void sdlog_preflight(struct preflight_result_t *result) {
111#ifdef SDLOG_PREFLIGHT_ERROR
112 preflight_error(result, "SDLogger is not running [%d:%d]", chibios_sdlog_status, sdLogGetStorageStatus());
113#else
114 preflight_warning(result, "SDLogger is not running [%d:%d]", chibios_sdlog_status, sdLogGetStorageStatus());
115#endif
116 } else {
117 preflight_success(result, "SDLogger running");
118 }
119}
120#endif // PREFLIGHT_CHECKS
121
122#if PERIODIC_TELEMETRY
124static void send_sdlog_status(struct transport_tx *trans, struct link_device *dev)
125{
131 if (size == 0) {
132 // when no file opened
134 size = strlen(filenames);
135 }
137}
138#endif
139
140
141// Functions for the generic device API
142static int sdlog_check_free_space(struct chibios_sdlog *p __attribute__((unused)), long *fd, uint16_t len)
143{
146 if (status != SDLOG_OK) {
147 return 0;
148 } else {
149 *fd = (long) sdb;
150 return 1;
151 }
152}
153
154static void sdlog_transmit(struct chibios_sdlog *p __attribute__((unused)), long fd, uint8_t byte)
155{
158 *data = byte;
160}
161
162static void sdlog_transmit_buffer(struct chibios_sdlog *p __attribute__((unused)), long fd, uint8_t *data, uint16_t len)
163{
165 memcpy(sdLogGetBufferFromSDB(sdb), data, len);
167}
168
169static void sdlog_send(struct chibios_sdlog *p, long fd)
170{
172 sdLogWriteSDB(*(p->file), sdb);
173}
174
175static int null_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
176static uint8_t null_byte_function(struct chibios_sdlog *p __attribute__((unused))) { return 0; }
177
179{
180 // Store file descriptor
181 sdlog->file = file;
182 // Configure generic device
183 sdlog->device.periph = (void *)(sdlog);
184 sdlog->device.check_free_space = (check_free_space_t) sdlog_check_free_space;
185 sdlog->device.put_byte = (put_byte_t) sdlog_transmit;
186 sdlog->device.put_buffer = (put_buffer_t) sdlog_transmit_buffer;
187 sdlog->device.send_message = (send_message_t) sdlog_send;
188 sdlog->device.char_available = (char_available_t) null_function; // write only
189 sdlog->device.get_byte = (get_byte_t) null_byte_function; // write only
190
191}
192
194{
196#if PERIODIC_TELEMETRY
198#endif
199
200#if PREFLIGHT_CHECKS
202#endif
203
204 // Start polling on USB
206
207 // Start log thread
210}
211
212
214{
215 if (pprzLogFile != -1) {
216 // if a FF_FS_REENTRANT is true, we can umount fs without closing
217 // file, fatfs lock will assure that umount is done after a write,
218 // and umount will close all open files cleanly. Thats the fatest
219 // way to umount cleanly filesystem.
220 //
221 // if FF_FS_REENTRANT is false,
222 // we have to flush and close files before unmounting filesystem
223#if FF_FS_REENTRANT == 0
225#else
226 (void) flush;
227#endif
228
229 sdLogFinish();
230 pprzLogFile = -1;
231#if FLIGHTRECORDER_SDLOG
233#endif
234 }
236}
237
238#if defined(SDLOG_BAT_ADC) && defined(SDLOG_BAT_CHAN)
239/*
240 * Bat survey thread
241 */
242#if SDLOG_ENABLE_LOWBAT_FLUSH
244static __attribute__((noreturn)) void thd_bat_survey(void *arg);
245static void powerOutageIsr(void);
248
249#define DefaultAdcOfVoltage(voltage) ((uint32_t) (voltage/(DefaultVoltageOfAdc(1))))
250static const uint16_t V_ALERT = DefaultAdcOfVoltage(5.5f);
251
252
253/*
254 powerOutageIsr is called within a lock zone from an isr, so no lock/unlock is needed
255*/
256static void powerOutageIsr(void)
257{
259}
260
261static void thd_bat_survey(void *arg)
262{
263 (void)arg;
264 chRegSetThreadName("battery survey");
267
269
271 // Only try to energy save is it is really a problem and not powered through USB
273 // disable all required periph to save energy and maximize chance to flush files
274 // to mass storage and avoid infamous dirty bit on filesystem
276 }
277
278 // in case of powerloss, we should go fast and avoid to flush ram buffer
280
281 // Only put to deep sleep in case there is no power on the USB
284 }
285 chThdExit(0);
286 while (true); // never goes here, only to avoid compiler warning: 'noreturn' function does return
287}
288#endif // SDLOG_ENABLE_LOWBAT_FLUSH
289#endif
290
291static void thd_startlog(void *arg)
292{
293 (void) arg;
294 chRegSetThreadName("start log");
295 char tmpFilename[32];
296
297 // Wait before starting the log if needed
299 // Check if we are already in USB Storage mode
300 if (usbStorageIsItRunning()) {
301 chThdSleepSeconds(20000); // stuck here for hours FIXME stop the thread ?
302 }
303
304 // Init sdlog struct
306
307 // Check for init errors
308 sdOk = true;
309
310 if (sdLogInit(NULL) != SDLOG_OK) {
311 sdOk = false;
312 } else {
317 sdOk = false;
318 }
320#if FLIGHTRECORDER_SDLOG
325 sdOk = false;
326 }
328#endif
329 }
330
331 if (sdOk) {
332#if defined(SDLOG_BAT_ADC) && defined(SDLOG_BAT_CHAN) && SDLOG_ENABLE_LOWBAT_FLUSH
333 // Create Battery Survey Thread with event
337#endif
338
340 } else {
342 }
343
344 while (true) {
345#ifdef SDLOG_LED
347#endif
348 // Blink faster if init has errors
349 chThdSleepMilliseconds(sdOk == true ? 1000 : 200);
352 sdOk = false;
353 } else {
355 sdOk = true;
356 }
357
358#if HAL_USE_RTC && USE_GPS
359 static uint32_t timestamp = 0;
360 // FIXME this could be done somewhere else, like in sys_time
361 // we sync gps time to rtc every 5 seconds
362 if (chVTGetSystemTime() - timestamp > TIME_S2I(5)) {
363 timestamp = chVTGetSystemTime();
364 if (gps.tow != 0) {
365 // Unix timestamp of the GPS epoch 1980-01-06 00:00:00 UTC
366 const uint32_t unixToGpsEpoch = 315964800;
367 struct tm time_tm;
368 time_t univTime = ((gps.week * 7 * 24 * 3600) + (gps.tow / 1000)) + unixToGpsEpoch;
370 // Chibios date struct
374 }
375 }
376#endif
377
378 }
379}
380
381
384 if(ac_id != AC_ID && ac_id != 0xFF) {
385 return;
386 }
393 }
394}
395
arch independent ADC (Analog to Digital Converter) API
#define SDLOG_BAT_ADC
Definition board.h:533
#define SDLOG_USB_VBUS_PIN
Definition board.h:538
#define SDLOG_USB_VBUS_PORT
Definition board.h:537
#define SDLOG_BAT_CHAN
Definition board.h:534
static uint8_t status
#define LED_TOGGLE(i)
Definition led_hw.h:53
static THD_WORKING_AREA(wa_thd_spi1, SPI_THREAD_STACK_SIZE)
struct GpsState gps
global GPS state
Definition gps.c:74
Device independent GPS code (interface)
uint32_t tow
GPS time of week in ms.
Definition gps.h:109
uint16_t week
GPS week.
Definition gps.h:108
void chsnprintf(char *buffer, size_t size, const char *fmt,...)
Definition printf.c:377
void mcu_reboot(enum reboot_state_t reboot_state)
Reboot the MCU.
Definition mcu_arch.c:206
void mcu_energy_save(void)
Save energy for performing operations on shutdown Used for example to shutdown SD-card logging.
Definition mcu_arch.c:230
@ MCU_REBOOT_POWEROFF
Poweroff the device.
Definition mcu.h:44
uint8_t msg[10]
Buffer used for general comunication over SPI (out buffer)
static float p[2][2]
arch independent LED (Light Emitting Diodes) API
uint16_t foo
Definition main_demo5.c:58
Arch independent mcu ( Micro Controller Unit ) utilities.
#define byte
void preflight_error(struct preflight_result_t *result, const char *fmt,...)
Register a preflight error used inside the preflight checking functions.
void preflight_success(struct preflight_result_t *result, const char *fmt,...)
Register a preflight success used inside the preflight checking functions.
void preflight_warning(struct preflight_result_t *result, const char *fmt,...)
Register a preflight warning used inside the preflight checking functions.
void preflight_check_register(struct preflight_check_t *check, preflight_check_f func)
Register a preflight check and add it to the linked list.
Mini printf-like functionality.
#define IN_DMA_SECTION(var)
Definition ram_arch.h:87
SdioError sdLogFinish(void)
unmount filesystem
Definition sdLog.c:285
SdioError removeEmptyLogs(const char *directoryName, const char *prefix, const size_t sizeConsideredEmpty)
remove spurious log file left on sd
Definition sdLog.c:815
SdioError sdLogInit(uint32_t *freeSpaceInKo)
initialise sdLog
Definition sdLog.c:225
struct _SdLogBuffer SdLogBuffer
Definition sdLog.h:127
int8_t FileDes
Definition sdLog.h:128
#define LOG_APPEND_TAG_AT_CLOSE_DISABLED
Definition sdLog.h:105
SdioError
Definition sdLog.h:111
@ SDLOG_OK
Definition sdLog.h:112
#define LOG_PREALLOCATION_DISABLED
Definition sdLog.h:103
static void sdlog_send(struct chibios_sdlog *p, long fd)
static int null_function(struct chibios_sdlog *p)
static enum @294 chibios_sdlog_status
sdlog status
@ SDLOG_STOPPED
@ SDLOG_ERROR
@ SDLOG_RUNNING
static void send_sdlog_status(struct transport_tx *trans, struct link_device *dev)
static int sdlog_check_free_space(struct chibios_sdlog *p, long *fd, uint16_t len)
void logger_log_msg_up(uint8_t *buf)
static void thd_startlog(void *arg)
#define SDLOG_AUTO_FLUSH_PERIOD
static const char PPRZ_LOG_DIR[]
void sdlog_chibios_finish(const bool flush)
static void sdlog_transmit(struct chibios_sdlog *p, long fd, uint8_t byte)
FileDes pprzLogFile
#define SDLOG_START_DELAY
static char NO_FILE_NAME[]
static const char PPRZ_LOG_NAME[]
#define SDLOG_CONTIGUOUS_STORAGE_MEM
void chibios_sdlog_init(struct chibios_sdlog *sdlog, FileDes *file)
init chibios_sdlog structure
bool sdOk
static char chibios_sdlog_filenames[68]
sdlog filenames
static uint8_t null_byte_function(struct chibios_sdlog *p)
static void sdlog_transmit_buffer(struct chibios_sdlog *p, long fd, uint8_t *data, uint16_t len)
void sdlog_chibios_init(void)
#define DEST_INFO_MSG_PPRZLOG
#define DEST_INFO_MSG_ALL
chibios_sdlog structure
int fd
Definition serial.c:26
static const struct usb_device_descriptor dev
Definition usb_ser_hw.c:74
int16_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint16_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition telemetry.c:51
Periodic telemetry system header (includes downlink utility and generated code).
#define DefaultPeriodic
Set default periodic telemetry.
Definition telemetry.h:66
Dynamic memory allocation based on TLSF library.
void usbStorageStartPolling(void)
Definition usbStorage.c:76
bool usbStorageIsItRunning(void)
Definition usbStorage.c:163
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.