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Merge pull request #2267 from brycedjohnson/blackboxerase 

Added Blackbox Erase to a switch
This commit is contained in:
Michael Keller 2017-02-03 08:29:24 +13:00 committed by GitHub
parent be74098162 22d11e35b2
commit ecaccebc02
10 changed files with 143 additions and 75 deletions
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144
src/main/blackbox/blackbox.c
View File

@ -241,21 +241,21 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0,
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_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
} BlackboxState;
#define BLACKBOX_FIRST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_HEADER
#define BLACKBOX_LAST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_SYSINFO
typedef struct blackboxMainState_s {
uint32_t time;
@ -804,47 +804,44 @@ void validateBlackboxConfig()
*/
void startBlackbox(void)
{
if (blackboxState == BLACKBOX_STATE_STOPPED) {
validateBlackboxConfig();
validateBlackboxConfig();
if (!blackboxDeviceOpen()) {
blackboxSetState(BLACKBOX_STATE_DISABLED);
return;
}
memset(&gpsHistory, 0, sizeof(gpsHistory));
blackboxHistory[0] = &blackboxHistoryRing[0];
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = vbatLatest;
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
/*
* We use conditional tests to decide whether or not certain fields should be logged. Since our headers
* must always agree with the logged data, the results of these tests must not change during logging. So
* cache those now.
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(modeActivationConditions(0), BOXBLACKBOX);
blackboxIteration = 0;
blackboxPFrameIndex = 0;
blackboxIFrameIndex = 0;
/*
* Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
* it finally plays the beep for this arming event.
*/
blackboxLastArmingBeep = getArmingBeepTimeMicros();
blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
if (!blackboxDeviceOpen()) {
blackboxSetState(BLACKBOX_STATE_DISABLED);
return;
}
memset(&gpsHistory, 0, sizeof(gpsHistory));
blackboxHistory[0] = &blackboxHistoryRing[0];
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = vbatLatest;
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
/*
* We use conditional tests to decide whether or not certain fields should be logged. Since our headers
* must always agree with the logged data, the results of these tests must not change during logging. So
* cache those now.
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(modeActivationConditions(0), BOXBLACKBOX);
blackboxIteration = 0;
blackboxPFrameIndex = 0;
blackboxIFrameIndex = 0;
/*
* Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
* it finally plays the beep for this arming event.
*/
blackboxLastArmingBeep = getArmingBeepTimeMicros();
blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
}
/**
@ -1469,18 +1466,26 @@ static void blackboxLogIteration(timeUs_t currentTimeUs)
void handleBlackbox(timeUs_t currentTimeUs)
{
int i;
if (blackboxState >= BLACKBOX_FIRST_HEADER_SENDING_STATE && blackboxState <= BLACKBOX_LAST_HEADER_SENDING_STATE) {
blackboxReplenishHeaderBudget();
}
static bool erasedOnce = false; //Only allow one erase per FC reboot.
switch (blackboxState) {
case BLACKBOX_STATE_STOPPED:
if (ARMING_FLAG(ARMED)) {
blackboxOpen();
startBlackbox();
}
if (IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE) && !erasedOnce) {
blackboxSetState(BLACKBOX_STATE_START_ERASE);
erasedOnce = true;
}
break;
case BLACKBOX_STATE_PREPARE_LOG_FILE:
if (blackboxDeviceBeginLog()) {
blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
}
break;
case BLACKBOX_STATE_SEND_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
/*
@ -1501,6 +1506,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
}
break;
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAY_LENGTH(blackboxMainFields),
&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
@ -1514,6 +1520,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
break;
#ifdef GPS
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('H', 0, blackboxGpsHFields, blackboxGpsHFields + 1, ARRAY_LENGTH(blackboxGpsHFields),
NULL, NULL)) {
@ -1521,6 +1528,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
}
break;
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('G', 0, blackboxGpsGFields, blackboxGpsGFields + 1, ARRAY_LENGTH(blackboxGpsGFields),
&blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
@ -1529,6 +1537,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
break;
#endif
case BLACKBOX_STATE_SEND_SLOW_HEADER:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition('S', 0, blackboxSlowFields, blackboxSlowFields + 1, ARRAY_LENGTH(blackboxSlowFields),
NULL, NULL)) {
@ -1536,6 +1545,7 @@ void handleBlackbox(timeUs_t currentTimeUs)
}
break;
case BLACKBOX_STATE_SEND_SYSINFO:
blackboxReplenishHeaderBudget();
//On entry of this state, xmitState.headerIndex is 0
//Keep writing chunks of the system info headers until it returns true to signal completion
@ -1565,7 +1575,6 @@ void handleBlackbox(timeUs_t currentTimeUs)
blackboxLogIteration(currentTimeUs);
}
// Keep the logging timers ticking so our log iteration continues to advance
blackboxAdvanceIterationTimers();
break;
@ -1577,7 +1586,6 @@ void handleBlackbox(timeUs_t currentTimeUs)
} else {
blackboxLogIteration(currentTimeUs);
}
blackboxAdvanceIterationTimers();
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
@ -1594,15 +1602,29 @@ void handleBlackbox(timeUs_t currentTimeUs)
blackboxSetState(BLACKBOX_STATE_STOPPED);
}
break;
case BLACKBOX_STATE_START_ERASE:
blackboxEraseAll();
blackboxSetState(BLACKBOX_STATE_ERASING);
beeper(BEEPER_BLACKBOX_ERASE);
break;
case BLACKBOX_STATE_ERASING:
if (isBlackboxErased()) {
//Done eraseing
blackboxSetState(BLACKBOX_STATE_STOPPED);
beeper(BEEPER_BLACKBOX_ERASE);
}
default:
break;
}
// Did we run out of room on the device? Stop!
if (isBlackboxDeviceFull()) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
// ensure we reset the test mode flag if we stop due to full memory card
if (startedLoggingInTestMode) startedLoggingInTestMode = false;
if (blackboxState != BLACKBOX_STATE_ERASING && blackboxState != BLACKBOX_STATE_START_ERASE) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
// ensure we reset the test mode flag if we stop due to full memory card
if (startedLoggingInTestMode) startedLoggingInTestMode = false;
}
} else { // Only log in test mode if there is room!
if(blackboxConfig()->on_motor_test) {

45
src/main/blackbox/blackbox_io.c
View File

@ -66,6 +66,14 @@ static struct {
#endif
void blackboxOpen()
{
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
}
}
void blackboxWrite(uint8_t value)
{
switch (blackboxConfig()->device) {
@ -602,6 +610,43 @@ bool blackboxDeviceOpen(void)
}
}
/**
* Erase all blackbox logs
*/
void blackboxEraseAll(void)
{
switch (blackboxConfig()->device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
flashfsEraseCompletely();
break;
#endif
default:
//not supported
break;
}
}
/**
* Check to see if erasing is done
*/
bool isBlackboxErased(void)
{
switch (blackboxConfig()->device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
return flashfsIsReady();
break;
#endif
default:
//not supported
return true;
break;
}
}
/**
* Close the Blackbox logging device immediately without attempting to flush any remaining data.
*/

4
src/main/blackbox/blackbox_io.h
View File

@ -49,6 +49,7 @@ typedef enum {
extern int32_t blackboxHeaderBudget;
void blackboxOpen(void);
void blackboxWrite(uint8_t value);
int blackboxPrintf(const char *fmt, ...);
@ -71,6 +72,9 @@ bool blackboxDeviceFlushForce(void);
bool blackboxDeviceOpen(void);
void blackboxDeviceClose(void);
void blackboxEraseAll(void);
bool isBlackboxErased(void);
bool blackboxDeviceBeginLog(void);
bool blackboxDeviceEndLog(bool retainLog);

2
src/main/cms/cms_menu_blackbox.c
View File

@ -46,6 +46,7 @@
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/flashfs.h"
#include "io/beeper.h"
#include "blackbox/blackbox_io.h"
@ -63,6 +64,7 @@ static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr)
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
displayClearScreen(pDisplay);
displayResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?

2
src/main/fc/cli.c
View File

@ -2729,7 +2729,7 @@ static void cliFlashErase(char *cmdline)
#endif
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
cliPrintf("\r\nDone.\r\n");
}

9
src/main/fc/fc_core.c
View File

@ -188,15 +188,6 @@ void mwArm(void)
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
}
startBlackbox();
}
#endif
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming

3
src/main/fc/fc_msp.c
View File

@ -150,6 +150,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXAIRMODE, "AIR MODE;", 28 },
{ BOX3DDISABLESWITCH, "DISABLE 3D SWITCH;", 29},
{ BOXFPVANGLEMIX, "FPV ANGLE MIX;", 30},
{ BOXBLACKBOXERASE, "BLACKBOX ERASE;", 31 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
@ -378,6 +379,7 @@ void initActiveBoxIds(void)
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
activeBoxIds[activeBoxIdCount++] = BOXBLACKBOXERASE;
}
#endif
@ -442,6 +444,7 @@ static uint32_t packFlightModeFlags(void)
IS_ENABLED(FLIGHT_MODE(SONAR_MODE)) << BOXSONAR |
IS_ENABLED(ARMING_FLAG(ARMED)) << BOXARM |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOX)) << BOXBLACKBOX |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) << BOXBLACKBOXERASE |
IS_ENABLED(FLIGHT_MODE(FAILSAFE_MODE)) << BOXFAILSAFE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAIRMODE)) << BOXAIRMODE |
IS_ENABLED(IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX)) << BOXFPVANGLEMIX;

1
src/main/fc/rc_controls.h
View File

@ -53,6 +53,7 @@ typedef enum {
BOXAIRMODE,
BOX3DDISABLESWITCH,
BOXFPVANGLEMIX,
BOXBLACKBOXERASE,
CHECKBOX_ITEM_COUNT
} boxId_e;

6
src/main/io/beeper.c
View File

@ -171,9 +171,9 @@ typedef struct beeperTableEntry_s {
{ BEEPER_ENTRY(BEEPER_ARMED, 15, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 16, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 17, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_ALL, 18, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 19, NULL, "PREFERRED") },
{ BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE, 18, beep_2shortBeeps, "BLACKBOX_ERASE") },
{ BEEPER_ENTRY(BEEPER_ALL, 19, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 20, NULL, "PREFERRED") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;

2
src/main/io/beeper.h
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@ -41,7 +41,7 @@ typedef enum {
BEEPER_ARMED, // Warning beeps when board is armed (repeats until board is disarmed or throttle is increased)
BEEPER_SYSTEM_INIT, // Initialisation beeps when board is powered on
BEEPER_USB, // Some boards have beeper powered USB connected
BEEPER_BLACKBOX_ERASE, // Beep when blackbox erase completes
BEEPER_ALL, // Turn ON or OFF all beeper conditions
BEEPER_PREFERENCE // Save preferred beeper configuration
// BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum