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

Clean shutdown of blackbox (allows us to write "log completed" event)

This commit is contained in:
Nicholas Sherlock 2015-01-16 10:45:01 +13:00
parent d2e6742917
commit a61f7eeddf
4 changed files with 130 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

104
src/main/blackbox/blackbox.c
View File

@ -74,7 +74,6 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#include "blackbox_fielddefs.h"
#include "blackbox.h"
#define BLACKBOX_BAUDRATE 115200
@ -83,6 +82,9 @@
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
#define STATIC_ASSERT(condition, name ) \
typedef char assert_failed_ ## name [(condition) ? 1 : -1 ]
// Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
#define STR_HELPER(x) #x
#define STR(x) STR_HELPER(x)
@ -235,7 +237,8 @@ typedef enum BlackboxState {
BLACKBOX_STATE_SEND_GPS_G_HEADERS,
BLACKBOX_STATE_SEND_SYSINFO,
BLACKBOX_STATE_PRERUN,
BLACKBOX_STATE_RUNNING
BLACKBOX_STATE_RUNNING,
BLACKBOX_STATE_SHUTTING_DOWN
} BlackboxState;
typedef struct gpsState_t {
@ -267,8 +270,11 @@ static struct {
} u;
} xmitState;
// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions);
static uint32_t blackboxIteration;
static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
@ -671,6 +677,9 @@ static void blackboxSetState(BlackboxState newState)
blackboxPFrameIndex = 0;
blackboxIFrameIndex = 0;
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
xmitState.u.startTime = millis();
break;
default:
;
}
@ -894,6 +903,14 @@ static void releaseBlackboxPort(void)
serialSetBaudRate(blackboxPort, previousBaudRate);
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);
}
}
void startBlackbox(void)
@ -931,10 +948,18 @@ void startBlackbox(void)
void finishBlackbox(void)
{
if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
if (blackboxState == BLACKBOX_STATE_RUNNING) {
blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
} else if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED
&& blackboxState != BLACKBOX_STATE_SHUTTING_DOWN) {
/*
* We're shutting down in the middle of transmitting headers, so we can't log a "log completed" event.
* Just give the port back and stop immediately.
*/
releaseBlackboxPort();
blackboxSetState(BLACKBOX_STATE_STOPPED);
}
}
@ -1141,7 +1166,6 @@ static bool blackboxWriteSysinfo()
blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
xmitState.u.serialBudget -= strlen("H P interval:%d/%d\n");
break;
case 5:
blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
@ -1163,10 +1187,10 @@ static bool blackboxWriteSysinfo()
blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
xmitState.u.serialBudget -= strlen("H gyro.scale:0x%x\n") + 6;
break;
break;
case 9:
blackboxPrintf("H acc_1G:%u\n", acc_1G);
xmitState.u.serialBudget -= strlen("H acc_1G:%u\n");
break;
case 10:
@ -1193,10 +1217,49 @@ static bool blackboxWriteSysinfo()
return false;
}
/**
* Write the given event to the log immediately
*/
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
{
if (blackboxState != BLACKBOX_STATE_RUNNING)
return;
//Shared header for event frames
blackboxWrite('E');
blackboxWrite(event);
//Now serialize the data for this specific frame type
switch (event) {
case FLIGHT_LOG_EVENT_SYNC_BEEP:
writeUnsignedVB(data->syncBeep.time);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START:
blackboxWrite(data->autotuneCycleStart.phase);
blackboxWrite(data->autotuneCycleStart.cycle);
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT:
blackboxWrite(data->autotuneCycleResult.overshot);
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_LOG_END:
blackboxPrint("End of log");
blackboxWrite(0);
break;
}
}
// Beep the buzzer and write the current time to the log as a synchronization point
static void blackboxPlaySyncBeep()
{
uint32_t now = micros();
flightLogEvent_syncBeep_t eventData;
eventData.time = micros();
/*
* The regular beep routines aren't going to work for us, because they queue up the beep to be executed later.
@ -1207,10 +1270,7 @@ static void blackboxPlaySyncBeep()
// Have the regular beeper code turn off the beep for us eventually, since that's not timing-sensitive
queueConfirmationBeep(1);
blackboxWrite('E');
blackboxWrite(FLIGHT_LOG_EVENT_SYNC_BEEP);
writeUnsignedVB(now);
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
}
void handleBlackbox(void)
@ -1269,9 +1329,9 @@ void handleBlackbox(void)
blackboxSetState(BLACKBOX_STATE_PRERUN);
break;
case BLACKBOX_STATE_PRERUN:
blackboxPlaySyncBeep();
blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxPlaySyncBeep();
break;
case BLACKBOX_STATE_RUNNING:
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
@ -1317,6 +1377,20 @@ void handleBlackbox(void)
blackboxIFrameIndex++;
}
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
//On entry of this state, startTime is set
/*
* Wait for the log we've transmitted to make its way to the logger before we release the serial port,
* since releasing the port clears the Tx buffer.
*
* Don't wait longer than it could possibly take if something funky happens.
*/
if (millis() > xmitState.u.startTime + 200 || isSerialTransmitBufferEmpty(blackboxPort)) {
releaseBlackboxPort();
blackboxSetState(BLACKBOX_STATE_STOPPED);
}
break;
default:
break;
}

7
src/main/blackbox/blackbox.h
View File

@ -17,9 +17,12 @@
#pragma once
#include "common/axis.h"
#include <stdint.h>
#include "common/axis.h"
#include "flight/mixer.h"
#include "blackbox/blackbox_fielddefs.h"
typedef struct blackboxValues_t {
uint32_t time;
@ -41,6 +44,8 @@ typedef struct blackboxValues_t {
#endif
} blackboxValues_t;
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
void initBlackbox(void);
void handleBlackbox(void);
void startBlackbox(void);

35
src/main/blackbox/blackbox_fielddefs.h
View File

@ -93,5 +93,40 @@ typedef enum FlightLogFieldSign {
typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;
typedef struct flightLogEvent_syncBeep_t {
uint32_t time;
} flightLogEvent_syncBeep_t;
typedef struct flightLogEvent_autotuneCycleStart_t {
uint8_t phase;
uint8_t cycle;
uint8_t p;
uint8_t i;
uint8_t d;
} flightLogEvent_autotuneCycleStart_t;
typedef struct flightLogEvent_autotuneCycleResult_t {
uint8_t overshot;
uint8_t p;
uint8_t i;
uint8_t d;
} flightLogEvent_autotuneCycleResult_t;
typedef union flightLogEventData_t
{
flightLogEvent_syncBeep_t syncBeep;
flightLogEvent_autotuneCycleStart_t autotuneCycleStart;
flightLogEvent_autotuneCycleResult_t autotuneCycleResult;
} flightLogEventData_t;
typedef struct flightLogEvent_t
{
FlightLogEvent event;
flightLogEventData_t data;
} flightLogEvent_t;

3
src/main/mw.c
View File

@ -311,9 +311,6 @@ void mwDisarm(void)
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
finishBlackbox();
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}