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Merge pull request #3345 from martinbudden/bf_blackbox_tidy 

Minor tidy of blackbox code. iNav alignment
This commit is contained in:
Martin Budden 2017-06-25 11:35:19 +01:00 committed by GitHub
parent d714624b7b 58fdace43c
commit bf250c2c27
1 changed files with 119 additions and 123 deletions
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52
src/main/blackbox/blackbox.c
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@ -69,6 +69,7 @@
#include "sensors/gyro.h"
#include "sensors/sonar.h"
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
@ -262,20 +263,20 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0,
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
BLACKBOX_STATE_ERASED //14
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_START_ERASE,
BLACKBOX_STATE_ERASING,
BLACKBOX_STATE_ERASED
} BlackboxState;
@ -309,7 +310,8 @@ typedef struct blackboxMainState_s {
} blackboxMainState_t;
typedef struct blackboxGpsState_s {
int32_t GPS_home[2], GPS_coord[2];
int32_t GPS_home[2];
int32_t GPS_coord[2];
uint8_t GPS_numSat;
} blackboxGpsState_t;
@ -333,7 +335,6 @@ static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0;
static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
static struct {
uint32_t headerIndex;
@ -352,7 +353,8 @@ static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
static uint32_t blackboxIteration;
static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
static uint16_t blackboxPFrameIndex;
static uint16_t blackboxIFrameIndex;
static uint16_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames;
@ -623,8 +625,6 @@ static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHist
static void writeInterframe(void)
{
int32_t deltas[8];
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxMainState_t *blackboxLast = blackboxHistory[1];
@ -638,6 +638,7 @@ static void writeInterframe(void)
*/
blackboxWriteSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
int32_t deltas[8];
arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
@ -1369,30 +1370,25 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
/* If an arming beep has played since it was last logged, write the time of the arming beep to the log as a synchronization point */
static void blackboxCheckAndLogArmingBeep(void)
{
flightLogEvent_syncBeep_t eventData;
// Use != so that we can still detect a change if the counter wraps
if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
blackboxLastArmingBeep = getArmingBeepTimeMicros();
flightLogEvent_syncBeep_t eventData;
eventData.time = blackboxLastArmingBeep;
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *)&eventData);
}
}
/* monitor the flight mode event status and trigger an event record if the state changes */
static void blackboxCheckAndLogFlightMode(void)
{
flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
// Use != so that we can still detect a change if the counter wraps
if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
eventData.lastFlags = blackboxLastFlightModeFlags;
memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
}
}