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Merge pull request #2994 from martinbudden/blackbox_openlager 

Allow high serial baudrates for OpenLager blackbox logging
This commit is contained in:
Martin Budden 2017-05-01 10:32:10 +01:00 committed by GitHub
parent 40a96dbf68 1c9e5598ce
commit 3fd488a158
2 changed files with 44 additions and 27 deletions
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23
src/main/blackbox/blackbox_io.c
View File

@ -206,16 +206,33 @@ bool blackboxDeviceOpen(void)
BLACKBOX_SERIAL_PORT_MODE, portOptions);
/*
* The slowest MicroSD cards have a write latency approaching 150ms. The OpenLog's buffer is about 900
* The slowest MicroSD cards have a write latency approaching 400ms. The OpenLog's buffer is about 900
* bytes. In order for its buffer to be able to absorb this latency we must write slower than 6000 B/s.
*
* So:
* The OpenLager has a 125KB buffer for when the the MicroSD card is busy, so when the user configures
* high baud rates, assume the OpenLager is in use and so there is no need to constrain the writes.
*
* In all other cases, constrain the writes as follows:
*
* Bytes per loop iteration = floor((looptime_ns / 1000000.0) * 6000)
* = floor((looptime_ns * 6000) / 1000000.0)
* = floor((looptime_ns * 3) / 500.0)
* = (looptime_ns * 3) / 500
*/
blackboxMaxHeaderBytesPerIteration = constrain((targetPidLooptime * 3) / 500, 1, BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION);
switch(baudRateIndex) {
case BAUD_1000000:
case BAUD_1500000:
case BAUD_2000000:
case BAUD_2470000:
// assume OpenLager in use, so do not constrain writes
blackboxMaxHeaderBytesPerIteration = BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION;
break;
default:
blackboxMaxHeaderBytesPerIteration = constrain((targetPidLooptime * 3) / 500, 1, BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION);
break;
};
return blackboxPort != NULL;
}

48
src/main/fc/cli.c
View File

@ -779,30 +779,30 @@ static void cliSerial(char *cmdline)
}
switch(i) {
case 0:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_1000000) {
continue;
}
portConfig.msp_baudrateIndex = baudRateIndex;
break;
case 1:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
continue;
}
portConfig.gps_baudrateIndex = baudRateIndex;
break;
case 2:
if (baudRateIndex != BAUD_AUTO && baudRateIndex > BAUD_115200) {
continue;
}
portConfig.telemetry_baudrateIndex = baudRateIndex;
break;
case 3:
if (baudRateIndex < BAUD_19200 || baudRateIndex > BAUD_250000) {
continue;
}
portConfig.blackbox_baudrateIndex = baudRateIndex;
break;
case 0:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_1000000) {
continue;
}
portConfig.msp_baudrateIndex = baudRateIndex;
break;
case 1:
if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
continue;
}
portConfig.gps_baudrateIndex = baudRateIndex;
break;
case 2:
if (baudRateIndex != BAUD_AUTO && baudRateIndex > BAUD_115200) {
continue;
}
portConfig.telemetry_baudrateIndex = baudRateIndex;
break;
case 3:
if (baudRateIndex < BAUD_19200 || baudRateIndex > BAUD_2470000) {
continue;
}
portConfig.blackbox_baudrateIndex = baudRateIndex;
break;
}
validArgumentCount++;