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Added blackbox erase for flashchips 

revert back initBlackbox

Fixed blackbox erase when full.
Change BOXBLACKBOXERASE to the end

Blackbox erase changes
Moved the ARM detect into the blackbox statemachine
Added blackbox erase start and end beep

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This commit is contained in:
Bryce Johnson 2017-01-29 21:32:55 -06:00
parent 51b19855dd
commit 22d11e35b2
10 changed files with 143 additions and 75 deletions
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144
src/main/blackbox/blackbox.c
View File

@ -241,21 +241,21 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0,
BLACKBOX_STATE_STOPPED,
BLACKBOX_STATE_PREPARE_LOG_FILE,
BLACKBOX_STATE_SEND_HEADER,
BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
BLACKBOX_STATE_SEND_GPS_H_HEADER,
BLACKBOX_STATE_SEND_GPS_G_HEADER,
BLACKBOX_STATE_SEND_SLOW_HEADER,
BLACKBOX_STATE_SEND_SYSINFO,
BLACKBOX_STATE_PAUSED,
BLACKBOX_STATE_RUNNING,
BLACKBOX_STATE_SHUTTING_DOWN
BLACKBOX_STATE_STOPPED, //1
BLACKBOX_STATE_PREPARE_LOG_FILE, //2
BLACKBOX_STATE_SEND_HEADER, //3
BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER, //4
BLACKBOX_STATE_SEND_GPS_H_HEADER, //5
BLACKBOX_STATE_SEND_GPS_G_HEADER, //6
BLACKBOX_STATE_SEND_SLOW_HEADER, //7
BLACKBOX_STATE_SEND_SYSINFO, //8
BLACKBOX_STATE_PAUSED, //9
BLACKBOX_STATE_RUNNING, //10
BLACKBOX_STATE_SHUTTING_DOWN, //11
BLACKBOX_STATE_START_ERASE, //12
BLACKBOX_STATE_ERASING, //13
} BlackboxState;
#define BLACKBOX_FIRST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_HEADER
#define BLACKBOX_LAST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_SYSINFO
typedef struct blackboxMainState_s {
uint32_t time;
@ -804,47 +804,44 @@ void validateBlackboxConfig()
*/
void startBlackbox(void)
{
if (blackboxState == BLACKBOX_STATE_STOPPED) {
validateBlackboxConfig();
validateBlackboxConfig();
if (!blackboxDeviceOpen()) {
blackboxSetState(BLACKBOX_STATE_DISABLED);
return;
}
memset(&gpsHistory, 0, sizeof(gpsHistory));
blackboxHistory[0] = &blackboxHistoryRing[0];
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = vbatLatest;
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
/*
* We use conditional tests to decide whether or not certain fields should be logged. Since our headers
* must always agree with the logged data, the results of these tests must not change during logging. So
* cache those now.
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(modeActivationConditions(0), BOXBLACKBOX);
blackboxIteration = 0;
blackboxPFrameIndex = 0;
blackboxIFrameIndex = 0;
/*
* Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
* it finally plays the beep for this arming event.
*/
blackboxLastArmingBeep = getArmingBeepTimeMicros();
blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
if (!blackboxDeviceOpen()) {
blackboxSetState(BLACKBOX_STATE_DISABLED);
return;
}
memset(&gpsHistory, 0, sizeof(gpsHistory));
blackboxHistory[0] = &blackboxHistoryRing[0];
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = vbatLatest;
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
/*
* We use conditional tests to decide whether or not certain fields should be logged. Since our headers
* must always agree with the logged data, the results of these tests must not change during logging. So
* cache those now.
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(modeActivationConditions(0), BOXBLACKBOX);
blackboxIteration = 0;
blackboxPFrameIndex = 0;
blackboxIFrameIndex = 0;
/*
* Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
* it finally plays the beep for this arming event.
*/
blackboxLastArmingBeep = getArmingBeepTimeMicros();
blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
}
/**
@ -1469,18 +1466,26 @@ static void blackboxLogIteration(timeUs_t currentTimeUs)
void handleBlackbox(timeUs_t currentTimeUs)
{
int i;
if (blackboxState >= BLACKBOX_FIRST_HEADER_SENDING_STATE && blackboxState <= BLACKBOX_LAST_HEADER_SENDING_STATE) {
blackboxReplenishHeaderBudget();
}
static bool erasedOnce = false; //Only allow one erase per FC reboot.
switch (blackboxState) {
case BLACKBOX_STATE_STOPPED:
if (ARMING_FLAG(ARMED)) {
blackboxOpen();
startBlackbox();
}
if (IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE) && !erasedOnce) {
blackboxSetState(BLACKBOX_STATE_START_ERASE);
erasedOnce = true;
}
break;
case BLACKBOX_STATE_PREPARE_LOG_FILE:
if (blackboxDeviceBeginLog()) {
blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
}
break;
case BLACKBOX_STATE_SEND_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
/*
@ -1501,6 +1506,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
}
break;
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAY_LENGTH(blackboxMainFields),
&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
@ -1514,6 +1520,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
break;
#ifdef GPS
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('H', 0, blackboxGpsHFields, blackboxGpsHFields + 1, ARRAY_LENGTH(blackboxGpsHFields),
NULL, NULL)) {
@ -1521,6 +1528,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
}
break;
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('G', 0, blackboxGpsGFields, blackboxGpsGFields + 1, ARRAY_LENGTH(blackboxGpsGFields),
&blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
@ -1529,6 +1537,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
break;
#endif
case BLACKBOX_STATE_SEND_SLOW_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('S', 0, blackboxSlowFields, blackboxSlowFields + 1, ARRAY_LENGTH(blackboxSlowFields),
NULL, NULL)) {
@ -1536,6 +1545,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
}
break;
case BLACKBOX_STATE_SEND_SYSINFO:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0
//Keep writing chunks of the system info headers until it returns true to signal completion
@ -1565,7 +1575,6 @@ void handleBlackbox(timeUs_t currentTimeUs)
blackboxLogIteration(currentTimeUs);
}
// Keep the logging timers ticking so our log iteration continues to advance
blackboxAdvanceIterationTimers();
break;
@ -1577,7 +1586,6 @@ void handleBlackbox(timeUs_t currentTimeUs)
} else {
blackboxLogIteration(currentTimeUs);
}
blackboxAdvanceIterationTimers();
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
@ -1594,15 +1602,29 @@ void handleBlackbox(timeUs_t currentTimeUs)
blackboxSetState(BLACKBOX_STATE_STOPPED);
}
break;
case BLACKBOX_STATE_START_ERASE:
blackboxEraseAll();
blackboxSetState(BLACKBOX_STATE_ERASING);
beeper(BEEPER_BLACKBOX_ERASE);
break;
case BLACKBOX_STATE_ERASING:
if (isBlackboxErased()) {
//Done eraseing
blackboxSetState(BLACKBOX_STATE_STOPPED);
beeper(BEEPER_BLACKBOX_ERASE);
}
default:
break;
}
// Did we run out of room on the device? Stop!
if (isBlackboxDeviceFull()) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
// ensure we reset the test mode flag if we stop due to full memory card
if (startedLoggingInTestMode) startedLoggingInTestMode = false;
if (blackboxState != BLACKBOX_STATE_ERASING && blackboxState != BLACKBOX_STATE_START_ERASE) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
// ensure we reset the test mode flag if we stop due to full memory card
if (startedLoggingInTestMode) startedLoggingInTestMode = false;
}
} else { // Only log in test mode if there is room!
if(blackboxConfig()->on_motor_test) {

45
src/main/blackbox/blackbox_io.c
View File

@ -66,6 +66,14 @@ static struct {
#endif
void blackboxOpen()
{
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
}
}
void blackboxWrite(uint8_t value)
{
switch (blackboxConfig()->device) {
@ -602,6 +610,43 @@ bool blackboxDeviceOpen(void)
}
}
/**
* Erase all blackbox logs
*/
void blackboxEraseAll(void)
{
switch (blackboxConfig()->device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsEraseCompletely();
break;
#endif
default:
//not supported
break;
}
}
/**
* Check to see if erasing is done
*/
bool isBlackboxErased(void)
{
switch (blackboxConfig()->device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
return flashfsIsReady();
break;
#endif
default:
//not supported
return true;
break;
}
}
/**
* Close the Blackbox logging device immediately without attempting to flush any remaining data.
*/

4
src/main/blackbox/blackbox_io.h
View File

@ -49,6 +49,7 @@ typedef enum {
extern int32_t blackboxHeaderBudget;
void blackboxOpen(void);
void blackboxWrite(uint8_t value);
int blackboxPrintf(const char *fmt, ...);
@ -71,6 +72,9 @@ bool blackboxDeviceFlushForce(void);
bool blackboxDeviceOpen(void);
void blackboxDeviceClose(void);
void blackboxEraseAll(void);
bool isBlackboxErased(void);
bool blackboxDeviceBeginLog(void);
bool blackboxDeviceEndLog(bool retainLog);

2
src/main/cms/cms_menu_blackbox.c
View File

@ -46,6 +46,7 @@
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/flashfs.h"
#include "io/beeper.h"
#include "blackbox/blackbox_io.h"
@ -63,6 +64,7 @@ static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr)
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
displayClearScreen(pDisplay);
displayResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?

2
src/main/fc/cli.c
View File

@ -2729,7 +2729,7 @@ static void cliFlashErase(char *cmdline)
#endif
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
cliPrintf("\r\nDone.\r\n");
}

9
src/main/fc/fc_core.c
View File

@ -188,15 +188,6 @@ void mwArm(void)
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
}
startBlackbox();
}
#endif
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming

3
src/main/fc/fc_msp.c
View File

@ -150,6 +150,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXAIRMODE, "AIR MODE;", 28 },
{ BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 29},
{ BOXFPVANGLEMIX, "FPV ANGLE MIX;", 30},
{ BOXBLACKBOXERASE, "BLACKBOX ERASE;", 31 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -378,6 +379,7 @@ void initActiveBoxIds(void)
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
activeBoxIds[activeBoxIdCount++] = BOXBLACKBOXERASE;
}
#endif
@ -442,6 +444,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) << BOXBLACKBOXERASE |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)) << BOXFPVANGLEMIX;

1
src/main/fc/rc_controls.h
View File

@ -53,6 +53,7 @@ typedef enum {
BOXAIRMODE,
BOX3DDISABLESWITCH,
BOXFPVANGLEMIX,
BOXBLACKBOXERASE,
CHECKBOX_ITEM_COUNT
} boxId_e;

6
src/main/io/beeper.c
View File

@ -171,9 +171,9 @@ typedef struct beeperTableEntry_s {
{ BEEPER_ENTRY(BEEPER_ARMED, 15, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 16, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 17, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_ALL, 18, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 19, NULL, "PREFERRED") },
{ BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE, 18, beep_2shortBeeps, "BLACKBOX_ERASE") },
{ BEEPER_ENTRY(BEEPER_ALL, 19, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 20, NULL, "PREFERRED") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;

2
src/main/io/beeper.h
View File

@ -41,7 +41,7 @@ typedef enum {
BEEPER_ARMED, // Warning beeps when board is armed (repeats until board is disarmed or throttle is increased)
BEEPER_SYSTEM_INIT, // Initialisation beeps when board is powered on
BEEPER_USB, // Some boards have beeper powered USB connected
BEEPER_BLACKBOX_ERASE, // Beep when blackbox erase completes
BEEPER_ALL, // Turn ON or OFF all beeper conditions
BEEPER_PREFERENCE // Save preferred beeper configuration
// BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum