rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2951 from martinbudden/bf_blackbox_3svariable 

Added TAG2_3SVARIABLE encoding
This commit is contained in:
Martin Budden 2017-05-02 11:14:54 +01:00 committed by GitHub
parent 070db81719 015d848d73
commit 676fc30316
4 changed files with 251 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

123
src/main/blackbox/blackbox_encoding.c
View File

@ -231,6 +231,129 @@ void blackboxWriteTag2_3S32(int32_t *values)
}
}
/**
* Write a 2 bit tag followed by 3 signed fields of 2, 554, 877 or 32 bits
*/
int blackboxWriteTag2_3SVariable(int32_t *values)
{
static const int FIELD_COUNT = 3;
enum {
BITS_2 = 0,
BITS_554 = 1,
BITS_877 = 2,
BITS_32 = 3
};
enum {
BYTES_1 = 0,
BYTES_2 = 1,
BYTES_3 = 2,
BYTES_4 = 3
};
/*
* Find out how many bits the largest value requires to encode, and use it to choose one of the packing schemes
* below:
*
* Selector possibilities
*
* 2 bits per field ss11 2233,
* 554 bits per field ss11 1112 2222 3333
* 877 bits per field ss11 1111 1122 2222 2333 3333
* 32 bits per field sstt tttt followed by fields of various byte counts
*/
int selector = BITS_2;
int selector2 = 0;
// Require more than 877 bits?
if (values[0] >= 256 || values[0] < -256
|| values[1] >= 128 || values[1] < -128
|| values[2] >= 128 || values[2] < -128) {
selector = BITS_32;
// Require more than 554 bits?
} else if (values[0] >= 16 || values[0] < -16
|| values[1] >= 16 || values[1] < -16
|| values[2] >= 8 || values[2] < -8) {
selector = BITS_877;
// Require more than 2 bits?
} else if (values[0] >= 2 || values[0] < -2
|| values[1] >= 2 || values[1] < -2
|| values[2] >= 2 || values[2] < -2) {
selector = BITS_554;
}
switch (selector) {
case BITS_2:
blackboxWrite((selector << 6) | ((values[0] & 0x03) << 4) | ((values[1] & 0x03) << 2) | (values[2] & 0x03));
break;
case BITS_554:
// 554 bits per field ss11 1112 2222 3333
blackboxWrite((selector << 6) | ((values[0] & 0x1F) << 1) | ((values[1] & 0x1F) >> 4));
blackboxWrite(((values[1] & 0x0F) << 4) | (values[2] & 0x0F));
break;
case BITS_877:
// 877 bits per field ss11 1111 1122 2222 2333 3333
blackboxWrite((selector << 6) | ((values[0] & 0xFF) >> 2));
blackboxWrite(((values[0] & 0x03) << 6) | ((values[1] & 0x7F) >> 1));
blackboxWrite(((values[1] & 0x01) << 7) | (values[2] & 0x7F));
break;
case BITS_32:
/*
* Do another round to compute a selector for each field, assuming that they are at least 8 bits each
*
* Selector2 field possibilities
* 0 - 8 bits
* 1 - 16 bits
* 2 - 24 bits
* 3 - 32 bits
*/
selector2 = 0;
//Encode in reverse order so the first field is in the low bits:
for (int x = FIELD_COUNT - 1; x >= 0; x--) {
selector2 <<= 2;
if (values[x] < 128 && values[x] >= -128) {
selector2 |= BYTES_1;
} else if (values[x] < 32768 && values[x] >= -32768) {
selector2 |= BYTES_2;
} else if (values[x] < 8388608 && values[x] >= -8388608) {
selector2 |= BYTES_3;
} else {
selector2 |= BYTES_4;
}
}
//Write the selectors
blackboxWrite((selector << 6) | selector2);
//And now the values according to the selectors we picked for them
for (int x = 0; x < FIELD_COUNT; x++, selector2 >>= 2) {
switch (selector2 & 0x03) {
case BYTES_1:
blackboxWrite(values[x]);
break;
case BYTES_2:
blackboxWrite(values[x]);
blackboxWrite(values[x] >> 8);
break;
case BYTES_3:
blackboxWrite(values[x]);
blackboxWrite(values[x] >> 8);
blackboxWrite(values[x] >> 16);
break;
case BYTES_4:
blackboxWrite(values[x]);
blackboxWrite(values[x] >> 8);
blackboxWrite(values[x] >> 16);
blackboxWrite(values[x] >> 24);
break;
}
}
break;
}
return selector;
}
/**
* Write an 8-bit selector followed by four signed fields of size 0, 4, 8 or 16 bits.
*/

1
src/main/blackbox/blackbox_encoding.h
View File

@ -27,6 +27,7 @@ void blackboxWriteSignedVBArray(int32_t *array, int count);
void blackboxWriteSigned16VBArray(int16_t *array, int count);
void blackboxWriteS16(int16_t value);
void blackboxWriteTag2_3S32(int32_t *values);
int blackboxWriteTag2_3SVariable(int32_t *values);
void blackboxWriteTag8_4S16(int32_t *values);
void blackboxWriteTag8_8SVB(int32_t *values, int valueCount);
void blackboxWriteU32(int32_t value);

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

@ -97,7 +97,8 @@ typedef enum FlightLogFieldEncoding {
FLIGHT_LOG_FIELD_ENCODING_TAG8_8SVB = 6,
FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32 = 7,
FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16 = 8,
FLIGHT_LOG_FIELD_ENCODING_NULL = 9 // Nothing is written to the file, take value to be zero
FLIGHT_LOG_FIELD_ENCODING_NULL = 9, // Nothing is written to the file, take value to be zero
FLIGHT_LOG_FIELD_ENCODING_TAG2_3SVARIABLE = 10
} FlightLogFieldEncoding;
typedef enum FlightLogFieldSign {

126
src/test/unit/blackbox_encoding_unittest.cc
View File

@ -99,6 +99,7 @@ bool isSerialTransmitBufferEmpty(const serialPort_t *instance)
void serialTestResetBuffers()
{
blackboxPort = &serialTestInstance;
memset(&serialReadBuffer, 0, sizeof(serialReadBuffer));
serialReadPos = 0;
serialReadEnd = 0;
@ -108,7 +109,8 @@ void serialTestResetBuffers()
TEST(BlackboxEncodingTest, TestWriteUnsignedVB)
{
blackboxPort = &serialTestInstance;
serialTestResetBuffers();
blackboxWriteUnsignedVB(0);
EXPECT_EQ(0, serialWriteBuffer[0]);
blackboxWriteUnsignedVB(128);
@ -116,6 +118,128 @@ TEST(BlackboxEncodingTest, TestWriteUnsignedVB)
EXPECT_EQ(1, serialWriteBuffer[2]);
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS2)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 2 bits per field ss11 2233,
v[0] = 0;
v[1] = 0;
v[2] = 0;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0, buf[0]);
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = 1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0x10, buf[0]); // 00010000
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = 1;
v[1] = 1;
v[2] = 1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x15, buf[0]); // 00010101
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = -1;
v[1] = -1;
v[2] = -1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x3F, buf[0]); // 00111111
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = -2;
v[1] = -2;
v[2] = -2;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x2A, buf[0]); // 00101010
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS554)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 554 bits per field ss11 1112 2222 3333
// 5 bits per field [-16, 15], 4 bits per field [-8, 7]
v[0] = 15;
v[1] = 15;
v[2] = 7;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x5E, buf[0]); // 0101 1110
EXPECT_EQ(0xF7, buf[1]); // 1111 0111
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
v[0] = -16;
v[1] = -16;
v[2] = -8;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x61, buf[0]); // 0110 0001
EXPECT_EQ(0x08, buf[1]); // 0000 1000
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
v[0] = 7;
v[1] = 8;
v[2] = 5;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x4E, buf[0]); // 0100 1110
EXPECT_EQ(0x85, buf[1]); // 1000 0101
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS887)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 877 bits per field ss11 1111 1122 2222 2333 3333
// 8 bits per field [-128, 127], 7 bits per field [-64, 63]
v[0] = 127;
v[1] = 63;
v[2] = 63;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(2, selector);
EXPECT_EQ(0x9F, buf[0]); // 1001 1111
EXPECT_EQ(0xDF, buf[1]); // 1101 1111
EXPECT_EQ(0xBF, buf[2]); // 1011 1111
EXPECT_EQ(0, buf[3]); // ensure next byte has not been written
buf += 3;
v[0] = -128;
v[1] = -64;
v[2] = -64;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(2, selector);
EXPECT_EQ(0xA0, buf[0]); // 1010 0000
EXPECT_EQ(0x20, buf[1]); // 0010 0000
EXPECT_EQ(0x40, buf[2]); // 0100 0000
EXPECT_EQ(0, buf[3]); // ensure next byte has not been written
buf += 3;
}
// STUBS
extern "C" {
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);