[sdlog] Add sdlog filename and fix Flight Recorder maximum message rate

conf/modules/flight_recorder.xml

@@ -15,7 +15,7 @@
     <file name="flight_recorder.h"/>
   </header>
   <init fun="flight_recorder_init()"/>
-  <periodic fun="flight_recorder_periodic()" freq="100" autorun="TRUE"/>
+  <periodic fun="flight_recorder_periodic()" autorun="TRUE"/>
   <makefile target="ap">
     <file name="flight_recorder.c"/>
     <define name="FLIGHTRECORDER_SDLOG" cond="ifneq (FALSE,$(findstring $(FLIGHTRECORDER_SDLOG),FALSE))"/>

sw/airborne/modules/loggers/sdlog_chibios.c

@@ -29,6 +29,7 @@
 #include <hal.h>
 #include "modules/loggers/sdlog_chibios/sdLog.h"
 #include "modules/loggers/sdlog_chibios/usbStorage.h"
+#include "modules/loggers/sdlog_chibios/printf.h"
 #include "modules/loggers/sdlog_chibios.h"
 #include "modules/tlsf/tlsf_malloc.h"
 #include "mcu_periph/adc.h"
@@ -100,6 +101,10 @@ static enum {
   SDLOG_ERROR
 } chibios_sdlog_status;
 
+/** sdlog filenames
+ */
+static char chibios_sdlog_filenames[68];
+
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 static void send_sdlog_status(struct transport_tx *trans, struct link_device *dev)
@@ -107,7 +112,7 @@ static void send_sdlog_status(struct transport_tx *trans, struct link_device *de
   uint8_t status = (uint8_t) chibios_sdlog_status;
   uint8_t errno = (uint8_t) sdLogGetStorageStatus();
   uint32_t used = (uint32_t) sdLogGetNbBytesWrittenToStorage();
-  pprz_msg_send_LOGGER_STATUS(trans, dev, AC_ID, &status, &errno, &used);
+  pprz_msg_send_LOGGER_STATUS(trans, dev, AC_ID, &status, &errno, &used, strlen(chibios_sdlog_filenames), chibios_sdlog_filenames);
 }
 #endif
 
@@ -212,6 +217,7 @@ static void thd_startlog(void *arg)
 {
   (void) arg;
   chRegSetThreadName("start log");
+  char tmpFilename[32];
 
   // Wait before starting the log if needed
   chThdSleepSeconds(SDLOG_START_DELAY);
@@ -232,16 +238,18 @@ static void thd_startlog(void *arg)
     removeEmptyLogs(PPRZ_LOG_DIR, PPRZ_LOG_NAME, 50);
     if (sdLogOpenLog(&pprzLogFile, PPRZ_LOG_DIR,
 		     PPRZ_LOG_NAME, SDLOG_AUTO_FLUSH_PERIOD, LOG_APPEND_TAG_AT_CLOSE_DISABLED,
-		     SDLOG_CONTIGUOUS_STORAGE_MEM, LOG_PREALLOCATION_DISABLED) != SDLOG_OK) {
+		     SDLOG_CONTIGUOUS_STORAGE_MEM, LOG_PREALLOCATION_DISABLED, tmpFilename, sizeof(tmpFilename)) != SDLOG_OK) {
       sdOk = false;
     }
+    chsnprintf(chibios_sdlog_filenames, sizeof(chibios_sdlog_filenames), "%s", tmpFilename);
 #if FLIGHTRECORDER_SDLOG
     removeEmptyLogs(FR_LOG_DIR, FLIGHTRECORDER_LOG_NAME, 50);
     if (sdLogOpenLog(&flightRecorderLogFile, FR_LOG_DIR, FLIGHTRECORDER_LOG_NAME,
 		     SDLOG_AUTO_FLUSH_PERIOD, LOG_APPEND_TAG_AT_CLOSE_DISABLED,
-		      SDLOG_CONTIGUOUS_STORAGE_MEM, LOG_PREALLOCATION_DISABLED) != SDLOG_OK) {
+		      SDLOG_CONTIGUOUS_STORAGE_MEM, LOG_PREALLOCATION_DISABLED, tmpFilename, sizeof(tmpFilename)) != SDLOG_OK) {
       sdOk = false;
     }
+    chsnprintf(chibios_sdlog_filenames, sizeof(chibios_sdlog_filenames), ", %s", tmpFilename);
 #endif
   }
 

sw/airborne/modules/loggers/sdlog_chibios/sdLog.c

@@ -282,13 +282,12 @@ SdioError sdLogFinish(void)
 #ifdef SDLOG_NEED_QUEUE
 SdioError sdLogOpenLog(FileDes *fd, const char *directoryName, const char *prefix,
                        const uint32_t autoFlushPeriod, const bool appendTagAtClose,
-		       const size_t sizeInMo, const bool preallocate)
+		       const size_t sizeInMo, const bool preallocate, char *fileName, const size_t nameLength)
 {
   FRESULT rc; /* fatfs result code */
   SdioError sde = SDLOG_OK; /* sdio result code */
   //DIR dir; /* Directory object */
   //FILINFO fno; /* File information object */
-  char fileName[32];
 
   /* local file descriptor
      using fd is a bad idea since fd is set before fatfs objets are coherents
@@ -302,7 +301,7 @@ SdioError sdLogOpenLog(FileDes *fd, const char *directoryName, const char *prefi
     return storageStatus = sde;
   }
 
-  sde = getFileName(prefix, directoryName, fileName, sizeof(fileName), +1);
+  sde = getFileName(prefix, directoryName, fileName, nameLength, +1);
   if (sde != SDLOG_OK) {
     // sd card is not inserted, so logging task can be deleted
     return storageStatus = SDLOG_FATFS_ERROR;

sw/airborne/modules/loggers/sdlog_chibios/sdLog.h

@@ -189,7 +189,7 @@ SdioError sdLogFinish(void);
  * @details always open new file with numeric index
  * @param[out] fileObject : file descriptor : small integer between 0 and _FS_REENTRANT-1
  * @param[in] directoryName : name of directory just under ROOT, created if nonexistant
- * @param[in] fileName : the name will be appended with 3 digits number
+ * @param[in] prefix : the name will be appended with 3 digits number
  * @param[in] autoFlushPeriod : if non 0, period in second at which flush to mass storage is done
  *                              if 0, no autoflush is done.
  * @param[in] appendTagAtClose : at close, a marker will be added to prove that the file is complete
@@ -200,11 +200,13 @@ SdioError sdLogFinish(void);
  *                          but take room on storage ans is not easy to manipulate afterward because 
  *                          of big files
  *                          even if no log id recorded on file
+ * @param[out] fileName : buffer where the new filename will be created
+ * @param[in] nameLength : maximum length of the previous buffer
  * @return  status (always check status)
  */
-SdioError sdLogOpenLog(FileDes *fileObject, const char *directoryName, const char *fileName,
+SdioError sdLogOpenLog(FileDes *fileObject, const char *directoryName, const char *prefix,
                        const uint32_t autoFlushPeriod, const bool appendTagAtClose,
-		       const size_t sizeInMo, const bool preallocate);
+		       const size_t sizeInMo, const bool preallocate, char *fileName, const size_t nameLength);