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Improvements to CAN logging to SD to significantly improve performance for busy CAN networks (#752)

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- Migrate from SPI SD library to SD_MMC
- Minimise the number of individual file writes by batching writes where possible
- Write a binary stream to the buffer to stop corruption
This commit is contained in:
Matt Holmes 2025-01-05 21:01:21 +00:00 • committed by GitHub
parent 33cbbd3c33
commit 1e93ad8740
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GPG key ID: B5690EEEBB952194
3 changed files with 81 additions and 66 deletions
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138
Software/src/devboard/sdcard/sdcard.cpp
View file

@ -26,7 +26,7 @@ void delete_can_log() {
void resume_can_writing() {
can_logging_paused = false;
can_log_file = SD.open(CAN_LOG_FILE, FILE_APPEND);
can_log_file = SD_MMC.open(CAN_LOG_FILE, FILE_APPEND);
can_file_open = true;
}
@ -40,13 +40,13 @@ void delete_log() {
log_file.close();
log_file_open = false;
}
SD.remove(LOG_FILE);
SD_MMC.remove(LOG_FILE);
logging_paused = false;
}
void resume_log_writing() {
logging_paused = false;
log_file = SD.open(LOG_FILE, FILE_APPEND);
log_file = SD_MMC.open(LOG_FILE, FILE_APPEND);
log_file_open = true;
}
@ -59,11 +59,33 @@ void add_can_frame_to_buffer(CAN_frame frame, frameDirection msgDir) {
if (!sd_card_active)
return;
CAN_log_frame log_frame = {frame, msgDir};
if (xRingbufferSend(can_bufferHandle, &log_frame, sizeof(log_frame), 0) != pdTRUE) {
Serial.println("Failed to send CAN frame to ring buffer!");
unsigned long currentTime = millis();
static char messagestr_buffer[32];
size_t size =
snprintf(messagestr_buffer + size, sizeof(messagestr_buffer) - size, "(%lu.%03lu) %s %X [%u] ",
currentTime / 1000, currentTime % 1000, (msgDir == MSG_RX ? "RX0" : "TX1"), frame.ID, frame.DLC);
if (xRingbufferSend(can_bufferHandle, &messagestr_buffer, size, pdMS_TO_TICKS(2)) != pdTRUE) {
#ifdef DEBUG_VIA_USB
Serial.println("Failed to send message to can ring buffer!");
#endif // DEBUG_VIA_USB
return;
}
uint8_t i = 0;
for (i = 0; i < frame.DLC; i++) {
if (i < frame.DLC - 1)
size = snprintf(messagestr_buffer, sizeof(messagestr_buffer), "%02X ", frame.data.u8[i]);
else
size = snprintf(messagestr_buffer, sizeof(messagestr_buffer), "%02X\n", frame.data.u8[i]);
if (xRingbufferSend(can_bufferHandle, &messagestr_buffer, size, pdMS_TO_TICKS(2)) != pdTRUE) {
#ifdef DEBUG_VIA_USB
Serial.println("Failed to send message to can ring buffer!");
#endif // DEBUG_VIA_USB
return;
}
}
}
void write_can_frame_to_sdcard() {
@ -72,10 +94,9 @@ void write_can_frame_to_sdcard() {
return;
size_t receivedMessageSize;
CAN_log_frame* log_frame =
(CAN_log_frame*)xRingbufferReceive(can_bufferHandle, &receivedMessageSize, pdMS_TO_TICKS(10));
uint8_t* buffer = (uint8_t*)xRingbufferReceive(can_bufferHandle, &receivedMessageSize, pdMS_TO_TICKS(10));
if (log_frame != NULL) {
if (buffer != NULL) {
if (can_logging_paused) {
if (can_file_open) {
@ -83,37 +104,23 @@ void write_can_frame_to_sdcard() {
can_file_open = false;
}
if (delete_can_file) {
SD.remove(CAN_LOG_FILE);
SD_MMC.remove(CAN_LOG_FILE);
delete_can_file = false;
can_logging_paused = false;
}
vRingbufferReturnItem(can_bufferHandle, (void*)log_frame);
vRingbufferReturnItem(can_bufferHandle, (void*)buffer);
return;
}
if (can_file_open == false) {
can_log_file = SD.open(CAN_LOG_FILE, FILE_APPEND);
can_log_file = SD_MMC.open(CAN_LOG_FILE, FILE_APPEND);
can_file_open = true;
}
uint8_t i = 0;
can_log_file.print("(");
can_log_file.print(millis() / 1000.0);
(log_frame->direction == MSG_RX) ? can_log_file.print(") RX0 ") : can_log_file.print(") TX1 ");
can_log_file.print(log_frame->frame.ID, HEX);
can_log_file.print(" [");
can_log_file.print(log_frame->frame.DLC);
can_log_file.print("] ");
for (i = 0; i < log_frame->frame.DLC; i++) {
can_log_file.print(log_frame->frame.data.u8[i] < 16 ? "0" : "");
can_log_file.print(log_frame->frame.data.u8[i], HEX);
if (i < log_frame->frame.DLC - 1)
can_log_file.print(" ");
}
can_log_file.println("");
can_log_file.write(buffer, receivedMessageSize);
can_log_file.flush();
vRingbufferReturnItem(can_bufferHandle, (void*)log_frame);
vRingbufferReturnItem(can_bufferHandle, (void*)buffer);
}
}
@ -122,8 +129,10 @@ void add_log_to_buffer(const uint8_t* buffer, size_t size) {
if (!sd_card_active)
return;
if (xRingbufferSend(log_bufferHandle, buffer, size, 0) != pdTRUE) {
Serial.println("Failed to send log to ring buffer!");
if (xRingbufferSend(log_bufferHandle, buffer, size, pdMS_TO_TICKS(1)) != pdTRUE) {
#ifdef DEBUG_VIA_USB
Serial.println("Failed to send message to log ring buffer!");
#endif // DEBUG_VIA_USB
return;
}
}
@ -144,7 +153,7 @@ void write_log_to_sdcard() {
}
if (log_file_open == false) {
log_file = SD.open(LOG_FILE, FILE_APPEND);
log_file = SD_MMC.open(LOG_FILE, FILE_APPEND);
log_file_open = true;
}
@ -158,7 +167,9 @@ void init_logging_buffers() {
#if defined(LOG_CAN_TO_SD)
can_bufferHandle = xRingbufferCreate(32 * 1024, RINGBUF_TYPE_BYTEBUF);
if (can_bufferHandle == NULL) {
Serial.println("Failed to create CAN ring buffer!");
#ifdef DEBUG_LOG
logging.println("Failed to create CAN ring buffer!");
#endif // DEBUG_LOG
return;
}
#endif // defined(LOG_CAN_TO_SD)
@ -166,7 +177,9 @@ void init_logging_buffers() {
#if defined(LOG_TO_SD)
log_bufferHandle = xRingbufferCreate(1024, RINGBUF_TYPE_BYTEBUF);
if (log_bufferHandle == NULL) {
Serial.println("Failed to create log ring buffer!");
#ifdef DEBUG_LOG
logging.println("Failed to create log ring buffer!");
#endif // DEBUG_LOG
return;
}
#endif // defined(LOG_TO_SD)
@ -174,57 +187,60 @@ void init_logging_buffers() {
void init_sdcard() {
pinMode(SD_CS_PIN, OUTPUT);
digitalWrite(SD_CS_PIN, HIGH);
pinMode(SD_SCLK_PIN, OUTPUT);
pinMode(SD_MOSI_PIN, OUTPUT);
pinMode(SD_MISO_PIN, INPUT);
pinMode(SD_MISO_PIN, INPUT_PULLUP);
SPI.begin(SD_SCLK_PIN, SD_MISO_PIN, SD_MOSI_PIN, SD_CS_PIN);
if (!SD.begin(SD_CS_PIN)) {
Serial.println("SD Card initialization failed!");
SD_MMC.setPins(SD_SCLK_PIN, SD_MOSI_PIN, SD_MISO_PIN);
if (!SD_MMC.begin("/root", true, true, SDMMC_FREQ_HIGHSPEED)) {
#ifdef DEBUG_LOG
logging.println("SD Card initialization failed!");
#endif // DEBUG_LOG
return;
}
Serial.println("SD Card initialization successful.");
#ifdef DEBUG_LOG
logging.println("SD Card initialization successful.");
#endif // DEBUG_LOG
sd_card_active = true;
print_sdcard_details();
#ifdef DEBUG_LOG
log_sdcard_details();
#endif // DEBUG_LOG
}
void print_sdcard_details() {
void log_sdcard_details() {
Serial.print("SD Card Type: ");
switch (SD.cardType()) {
logging.print("SD Card Type: ");
switch (SD_MMC.cardType()) {
case CARD_MMC:
Serial.println("MMC");
logging.println("MMC");
break;
case CARD_SD:
Serial.println("SD");
logging.println("SD");
break;
case CARD_SDHC:
Serial.println("SDHC");
logging.println("SDHC");
break;
case CARD_UNKNOWN:
Serial.println("UNKNOWN");
logging.println("UNKNOWN");
break;
case CARD_NONE:
Serial.println("No SD Card found");
logging.println("No SD Card found");
break;
}
if (SD.cardType() != CARD_NONE) {
Serial.print("SD Card Size: ");
Serial.print(SD.cardSize() / 1024 / 1024);
Serial.println(" MB");
if (SD_MMC.cardType() != CARD_NONE) {
logging.print("SD Card Size: ");
logging.print(SD_MMC.cardSize() / 1024 / 1024);
logging.println(" MB");
Serial.print("Total space: ");
Serial.print(SD.totalBytes() / 1024 / 1024);
Serial.println(" MB");
logging.print("Total space: ");
logging.print(SD_MMC.totalBytes() / 1024 / 1024);
logging.println(" MB");
Serial.print("Used space: ");
Serial.print(SD.usedBytes() / 1024 / 1024);
Serial.println(" MB");
logging.print("Used space: ");
logging.print(SD_MMC.usedBytes() / 1024 / 1024);
logging.println(" MB");
}
}
#endif // defined(SD_CS_PIN) && defined(SD_SCLK_PIN) && defined(SD_MOSI_PIN) && defined(SD_MISO_PIN)

5
Software/src/devboard/sdcard/sdcard.h
View file

@ -1,8 +1,7 @@
#ifndef SDCARD_H
#define SDCARD_H
#include <SD.h>
#include <SPI.h>
#include <SD_MMC.h>
#include "../../communication/can/comm_can.h"
#include "../hal/hal.h"
@ -14,7 +13,7 @@
void init_logging_buffers();
void init_sdcard();
void print_sdcard_details();
void log_sdcard_details();
void add_can_frame_to_buffer(CAN_frame frame, frameDirection msgDir);
void write_can_frame_to_sdcard();

4
Software/src/devboard/webserver/webserver.cpp
View file

@ -112,7 +112,7 @@ void init_webserver() {
// Define the handler to export can log
server.on("/export_can_log", HTTP_GET, [](AsyncWebServerRequest* request) {
pause_can_writing();
request->send(SD, CAN_LOG_FILE, String(), true);
request->send(SD_MMC, CAN_LOG_FILE, String(), true);
resume_can_writing();
});
@ -133,7 +133,7 @@ void init_webserver() {
// Define the handler to export debug log
server.on("/export_log", HTTP_GET, [](AsyncWebServerRequest* request) {
pause_log_writing();
request->send(SD, LOG_FILE, String(), true);
request->send(SD_MMC, LOG_FILE, String(), true);
resume_log_writing();
});
#endif