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Adding blackbox device setting and basic flashfs support for it

This commit is contained in:
Nicholas Sherlock 2015-01-28 22:14:49 +13:00
parent f9e22a0461
commit 5a57dda665
7 changed files with 110 additions and 40 deletions
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4
src/main/blackbox/blackbox.c
View File

@ -605,6 +605,10 @@ static void validateBlackboxConfig()
masterConfig.blackbox_rate_num /= div;
masterConfig.blackbox_rate_denom /= div;
}
if (!(masterConfig.blackbox_device == BLACKBOX_DEVICE_SERIAL || masterConfig.blackbox_device == BLACKBOX_DEVICE_FLASH)) {
masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
}
}
void startBlackbox(void)

116
src/main/blackbox/blackbox_io.c
View File

@ -55,6 +55,8 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#include "io/flashfs.h"
#define BLACKBOX_BAUDRATE 115200
#define BLACKBOX_INITIAL_PORT_MODE MODE_TX
@ -67,7 +69,17 @@ static uint32_t previousBaudRate;
void blackboxWrite(uint8_t value)
{
serialWrite(blackboxPort, value);
switch (masterConfig.blackbox_device) {
#ifdef FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsWriteByte(value);
break;
#endif
case BLACKBOX_DEVICE_SERIAL:
default:
serialWrite(blackboxPort, value);
break;
}
}
static void _putc(void *p, char c)
@ -378,7 +390,16 @@ void blackboxWriteTag8_8SVB(int32_t *values, int valueCount)
*/
void blackboxDeviceFlush(void)
{
//Presently a no-op on serial
switch (masterConfig.blackbox_device) {
case BLACKBOX_DEVICE_SERIAL:
//Presently a no-op on serial, as serial is continuously being drained out of its buffer
break;
#ifdef FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsFlushSync();
break;
#endif
}
}
/**
@ -386,23 +407,6 @@ void blackboxDeviceFlush(void)
*/
bool blackboxDeviceOpen(void)
{
blackboxPort = findOpenSerialPort(FUNCTION_BLACKBOX);
if (blackboxPort) {
previousPortMode = blackboxPort->mode;
previousBaudRate = blackboxPort->baudRate;
serialSetBaudRate(blackboxPort, BLACKBOX_BAUDRATE);
serialSetMode(blackboxPort, BLACKBOX_INITIAL_PORT_MODE);
beginSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
} else {
blackboxPort = openSerialPort(FUNCTION_BLACKBOX, NULL, BLACKBOX_BAUDRATE, BLACKBOX_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
if (blackboxPort) {
previousPortMode = blackboxPort->mode;
previousBaudRate = blackboxPort->baudRate;
}
}
/*
* We want to write at about 7200 bytes per second to give the OpenLog a good chance to save to disk. If
* about looptime microseconds elapse between our writes, this is the budget of how many bytes we should
@ -412,26 +416,78 @@ bool blackboxDeviceOpen(void)
*/
blackboxWriteChunkSize = MAX((masterConfig.looptime * 9) / 1250, 4);
return blackboxPort != NULL;
switch (masterConfig.blackbox_device) {
case BLACKBOX_DEVICE_SERIAL:
blackboxPort = findOpenSerialPort(FUNCTION_BLACKBOX);
if (blackboxPort) {
previousPortMode = blackboxPort->mode;
previousBaudRate = blackboxPort->baudRate;
serialSetBaudRate(blackboxPort, BLACKBOX_BAUDRATE);
serialSetMode(blackboxPort, BLACKBOX_INITIAL_PORT_MODE);
beginSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
} else {
blackboxPort = openSerialPort(FUNCTION_BLACKBOX, NULL, BLACKBOX_BAUDRATE, BLACKBOX_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
if (blackboxPort) {
previousPortMode = blackboxPort->mode;
previousBaudRate = blackboxPort->baudRate;
}
}
return blackboxPort != NULL;
break;
#ifdef FLASHFS
case BLACKBOX_DEVICE_FLASH:
if (flashfsGetSize() == 0)
return false;
return true;
break;
#endif
default:
return false;
}
}
void blackboxDeviceClose(void)
{
serialSetMode(blackboxPort, previousPortMode);
serialSetBaudRate(blackboxPort, previousBaudRate);
switch (masterConfig.blackbox_device) {
case BLACKBOX_DEVICE_SERIAL:
serialSetMode(blackboxPort, previousPortMode);
serialSetBaudRate(blackboxPort, previousBaudRate);
endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
/*
* Normally this would be handled by mw.c, but since we take an unknown amount
* of time to shut down asynchronously, we're the only ones that know when to call it.
*/
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
/*
* Normally this would be handled by mw.c, but since we take an unknown amount
* of time to shut down asynchronously, we're the only ones that know when to call it.
*/
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
break;
#ifdef FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsFlushSync();
break;
#endif
}
}
bool isBlackboxDeviceIdle(void)
{
return isSerialTransmitBufferEmpty(blackboxPort);
switch (masterConfig.blackbox_device) {
case BLACKBOX_DEVICE_SERIAL:
return isSerialTransmitBufferEmpty(blackboxPort);
#ifdef FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsFlushSync();
return true;
#endif
default:
return false;
}
}

3
src/main/blackbox/blackbox_io.h
View File

@ -20,6 +20,9 @@
#include <stdint.h>
#include <stdbool.h>
#define BLACKBOX_DEVICE_SERIAL 0
#define BLACKBOX_DEVICE_FLASH 1
uint8_t blackboxWriteChunkSize;
void blackboxWrite(uint8_t value);

1
src/main/config/config.c
View File

@ -450,6 +450,7 @@ static void resetConf(void)
#endif
#ifdef BLACKBOX
masterConfig.blackbox_device = 0;
masterConfig.blackbox_rate_num = 1;
masterConfig.blackbox_rate_denom = 1;
#endif

1
src/main/config/config_master.h
View File

@ -85,6 +85,7 @@ typedef struct master_t {
uint8_t current_profile_index;
controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
uint8_t blackbox_device;
uint8_t blackbox_rate_num;
uint8_t blackbox_rate_denom;

22
src/main/io/flashfs.c
View File

@ -131,17 +131,14 @@ static void flashfsWriteBuffers(uint8_t const **buffers, uint32_t *bufferSizes,
{
const flashGeometry_t *geometry = m25p16_getGeometry();
uint32_t bytesTotalToWrite = 0;
uint32_t bytesTotalRemaining;
uint32_t bytesTotalRemaining = 0;
int i;
for (i = 0; i < bufferCount; i++) {
bytesTotalToWrite += bufferSizes[i];
bytesTotalRemaining += bufferSizes[i];
}
bytesTotalRemaining = bytesTotalToWrite;
while (bytesTotalRemaining > 0) {
uint32_t bytesTotalThisIteration;
uint32_t bytesRemainThisIteration;
@ -188,7 +185,7 @@ static void flashfsWriteBuffers(uint8_t const **buffers, uint32_t *bufferSizes,
bytesTotalRemaining -= bytesTotalThisIteration;
// Advance the cursor in the file system to match the bytes we wrote
flashfsSetTailAddress(tailAddress + bytesTotalToWrite);
flashfsSetTailAddress(tailAddress + bytesTotalThisIteration);
}
}
@ -219,6 +216,7 @@ static void flashfsGetDirtyDataBuffers(uint8_t const *buffers[], uint32_t buffer
void flashfsFlushAsync()
{
if (bufferHead == bufferTail) {
shouldFlush = false;
return; // Nothing to flush
}
@ -230,6 +228,8 @@ void flashfsFlushAsync()
flashfsWriteBuffers(buffers, bufferSizes, 2);
flashfsClearBuffer();
shouldFlush = false;
} else {
shouldFlush = true;
}
@ -243,8 +243,10 @@ void flashfsFlushAsync()
*/
void flashfsFlushSync()
{
if (bufferHead == bufferTail)
if (bufferHead == bufferTail) {
shouldFlush = false;
return; // Nothing to write
}
m25p16_waitForReady(10); //TODO caller should customize timeout
@ -273,7 +275,7 @@ void flashfsWriteByte(uint8_t byte)
bufferHead = 0;
}
if (flashfsTransmitBufferUsed() >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
if (shouldFlush || flashfsTransmitBufferUsed() >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
flashfsFlushAsync();
}
}
@ -281,7 +283,7 @@ void flashfsWriteByte(uint8_t byte)
void flashfsWrite(const uint8_t *data, unsigned int len)
{
// Would writing this cause our buffer to reach the flush threshold? If so just write it now
if (len + flashfsTransmitBufferUsed() >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN || shouldFlush) {
if (shouldFlush || len + flashfsTransmitBufferUsed() >= FLASHFS_WRITE_BUFFER_AUTO_FLUSH_LEN) {
uint8_t const * buffers[3];
uint32_t bufferSizes[3];
@ -297,6 +299,8 @@ void flashfsWrite(const uint8_t *data, unsigned int len)
// And now our buffer is empty
flashfsClearBuffer();
return;
}
// Buffer up the data the user supplied instead of writing it right away

3
src/main/io/serial_cli.c
View File

@ -422,6 +422,7 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_device, 0, 1 },
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 },
};
@ -800,7 +801,7 @@ static void cliFlashRead(char *cmdline)
flashfsSeekAbs(address);
while (length > 0) {
int bytesToRead = length < 32 ? length : 32;
uint32_t bytesToRead = length < 32 ? length : 32;
flashfsRead(buffer, bytesToRead);