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Save around 300 bytes of flash by improving Blackbox field name storage 

Also add a bit more Blackbox code documentation
This commit is contained in:
Nicholas Sherlock 2015-02-24 09:42:38 +13:00
parent b568b9c59d
commit ff28846829
2 changed files with 106 additions and 56 deletions
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145
src/main/blackbox/blackbox.c
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@ -79,6 +79,7 @@
#include "blackbox_io.h" #include "blackbox_io.h"
#define BLACKBOX_I_INTERVAL 32 #define BLACKBOX_I_INTERVAL 32
#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0])) #define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
@ -132,11 +133,17 @@ static const char* const blackboxGPSHHeaderNames[] = {
/* All field definition structs should look like this (but with longer arrs): */ /* All field definition structs should look like this (but with longer arrs): */
typedef struct blackboxFieldDefinition_t { typedef struct blackboxFieldDefinition_t {
const char *name; const char *name;
// If the field name has a number to be included in square brackets [1] afterwards, set it here, or -1 for no brackets:
int8_t fieldNameIndex;
// Each member of this array will be the value to print for this field for the given header index
uint8_t arr[1]; uint8_t arr[1];
} blackboxFieldDefinition_t; } blackboxFieldDefinition_t;
typedef struct blackboxMainFieldDefinition_t { typedef struct blackboxMainFieldDefinition_t {
const char *name; const char *name;
int8_t fieldNameIndex;
uint8_t isSigned; uint8_t isSigned;
uint8_t Ipredict; uint8_t Ipredict;
uint8_t Iencode; uint8_t Iencode;
@ -147,6 +154,8 @@ typedef struct blackboxMainFieldDefinition_t {
typedef struct blackboxGPSFieldDefinition_t { typedef struct blackboxGPSFieldDefinition_t {
const char *name; const char *name;
int8_t fieldNameIndex;
uint8_t isSigned; uint8_t isSigned;
uint8_t predict; uint8_t predict;
uint8_t encode; uint8_t encode;
@ -161,73 +170,76 @@ typedef struct blackboxGPSFieldDefinition_t {
*/ */
static const blackboxMainFieldDefinition_t blackboxMainFields[] = { static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
/* loopIteration doesn't appear in P frames since it always increments */ /* loopIteration doesn't appear in P frames since it always increments */
{"loopIteration", UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC), .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)}, {"loopIteration",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC), .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
/* Time advances pretty steadily so the P-frame prediction is a straight line */ /* Time advances pretty steadily so the P-frame prediction is a straight line */
{"time", UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(STRAIGHT_LINE), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"time", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(STRAIGHT_LINE), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"axisP[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"axisP", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"axisP[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"axisP", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"axisP[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"axisP", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
/* I terms get special packed encoding in P frames: */ /* I terms get special packed encoding in P frames: */
{"axisI[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)}, {"axisI", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
{"axisI[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)}, {"axisI", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
{"axisI[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)}, {"axisI", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
{"axisD[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)}, {"axisD", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)},
{"axisD[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)}, {"axisD", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)},
{"axisD[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)}, {"axisD", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)},
/* rcCommands are encoded together as a group in P-frames: */ /* rcCommands are encoded together as a group in P-frames: */
{"rcCommand[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)}, {"rcCommand", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"rcCommand[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)}, {"rcCommand", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"rcCommand[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)}, {"rcCommand", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
/* Throttle is always in the range [minthrottle..maxthrottle]: */ /* Throttle is always in the range [minthrottle..maxthrottle]: */
{"rcCommand[3]", UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)}, {"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"vbatLatest", -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
{"amperageLatest",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE},
{"vbatLatest", UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
{"amperageLatest",UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE},
#ifdef MAG #ifdef MAG
{"magADC[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG}, {"magADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
{"magADC[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG}, {"magADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
{"magADC[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG}, {"magADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
#endif #endif
#ifdef BARO #ifdef BARO
{"BaroAlt", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO}, {"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
#endif #endif
/* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */ /* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
{"gyroData[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"gyroData", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroData[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"gyroData", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroData[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"gyroData", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */ /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
{"motor[0]", UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)}, {"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */ /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
{"motor[1]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)}, {"motor", 1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
{"motor[2]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)}, {"motor", 2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
{"motor[3]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_4)}, {"motor", 3, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_4)},
{"motor[4]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_5)}, {"motor", 4, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_5)},
{"motor[5]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_6)}, {"motor", 5, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_6)},
{"motor[6]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_7)}, {"motor", 6, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_7)},
{"motor[7]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)}, {"motor", 7, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},
{"servo[5]", UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
/* Tricopter tail servo */
{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
}; };
#ifdef GPS #ifdef GPS
// GPS position/vel frame // GPS position/vel frame
static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = { static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
{"time", UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)}, {"time", -1, UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
{"GPS_numSat", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}, {"GPS_numSat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord[0]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"GPS_coord", 0, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord[1]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"GPS_coord", 1, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_altitude", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}, {"GPS_altitude", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_speed", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}, {"GPS_speed", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_ground_course",UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)} {"GPS_ground_course", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}
}; };
// GPS home frame // GPS home frame
static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = { static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
{"GPS_home[0]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_home[1]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)} {"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}
}; };
#endif #endif
@ -284,6 +296,7 @@ static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
* to encode: * to encode:
*/ */
static uint16_t vbatReference; static uint16_t vbatReference;
static gpsState_t gpsHistory; static gpsState_t gpsHistory;
// Keep a history of length 2, plus a buffer for MW to store the new values into // Keep a history of length 2, plus a buffer for MW to store the new values into
@ -604,6 +617,9 @@ static void validateBlackboxConfig()
masterConfig.blackbox_rate_num = 1; masterConfig.blackbox_rate_num = 1;
masterConfig.blackbox_rate_denom = 1; masterConfig.blackbox_rate_denom = 1;
} else { } else {
/* Reduce the fraction the user entered as much as possible (makes the recorded/skipped frame pattern repeat
* itself more frequently)
*/
div = gcd(masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom); div = gcd(masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
masterConfig.blackbox_rate_num /= div; masterConfig.blackbox_rate_num /= div;
@ -615,6 +631,9 @@ static void validateBlackboxConfig()
} }
} }
/**
* Start Blackbox logging if it is not already running. Intended to be called upon arming.
*/
void startBlackbox(void) void startBlackbox(void)
{ {
if (blackboxState == BLACKBOX_STATE_STOPPED) { if (blackboxState == BLACKBOX_STATE_STOPPED) {
@ -820,6 +839,15 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
// The first header is a field name // The first header is a field name
if (xmitState.headerIndex == 0) { if (xmitState.headerIndex == 0) {
charsWritten += blackboxPrint(def->name); charsWritten += blackboxPrint(def->name);
// Do we need to print an index in brackets after the name?
if (def->fieldNameIndex != -1) {
blackboxWrite('[');
// Assume the field index is a single digit:
blackboxWrite(def->fieldNameIndex + '0');
blackboxWrite(']');
charsWritten += 3;
}
} else { } else {
//The other headers are integers //The other headers are integers
if (def->arr[xmitState.headerIndex - 1] >= 10) { if (def->arr[xmitState.headerIndex - 1] >= 10) {
@ -873,26 +901,24 @@ static bool blackboxWriteSysinfo()
//Shouldn't ever get here //Shouldn't ever get here
break; break;
case 1: case 1:
blackboxPrintf("H Firmware type:Cleanflight\n"); xmitState.u.serialBudget -= blackboxPrint("H Firmware type:Cleanflight\n");
xmitState.u.serialBudget -= strlen("H Firmware type:Cleanflight\n");
break; break;
case 2: case 2:
blackboxPrintf("H Firmware revision:%s\n", shortGitRevision); blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
/* Don't need to be super exact about the budget so don't mind the fact that we're including the length of xmitState.u.serialBudget -= strlen("H Firmware revision:\n") + strlen(shortGitRevision);
* the placeholder "%s"
*/
xmitState.u.serialBudget -= strlen("H Firmware revision:%s\n") + strlen(shortGitRevision);
break; break;
case 3: case 3:
blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime); blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
xmitState.u.serialBudget -= strlen("H Firmware date:%s %s\n") + strlen(buildDate) + strlen(buildTime); xmitState.u.serialBudget -= strlen("H Firmware date: \n") + strlen(buildDate) + strlen(buildTime);
break; break;
case 4: case 4:
blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom); blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
/* Don't need to be super exact about the budget so don't mind the fact that we're using the length of
* the placeholder "%d" instead of the actual integer size.
*/
xmitState.u.serialBudget -= strlen("H P interval:%d/%d\n"); xmitState.u.serialBudget -= strlen("H P interval:%d/%d\n");
break; break;
case 5: case 5:
@ -914,7 +940,7 @@ static bool blackboxWriteSysinfo()
floatConvert.f = gyro.scale; floatConvert.f = gyro.scale;
blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u); blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
xmitState.u.serialBudget -= strlen("H gyro.scale:0x%x\n") + 6; xmitState.u.serialBudget -= strlen("H gyro.scale:0x\n") + 6;
break; break;
case 9: case 9:
blackboxPrintf("H acc_1G:%u\n", acc_1G); blackboxPrintf("H acc_1G:%u\n", acc_1G);
@ -1014,6 +1040,9 @@ static void blackboxPlaySyncBeep()
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData); blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
} }
/**
* Call each flight loop iteration to perform blackbox logging.
*/
void handleBlackbox(void) void handleBlackbox(void)
{ {
int i; int i;
@ -1086,6 +1115,9 @@ void handleBlackbox(void)
loadBlackboxState(); loadBlackboxState();
writeIntraframe(); writeIntraframe();
} else { } else {
/* Adding a magic shift of "masterConfig.blackbox_rate_num - 1" in here creates a better spread of
* recorded / skipped frames when the I frame's position is considered:
*/
if ((blackboxPFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) { if ((blackboxPFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
loadBlackboxState(); loadBlackboxState();
writeInterframe(); writeInterframe();
@ -1130,7 +1162,7 @@ void handleBlackbox(void)
* *
* Don't wait longer than it could possibly take if something funky happens. * Don't wait longer than it could possibly take if something funky happens.
*/ */
if (millis() > xmitState.u.startTime + 200 || blackboxDeviceFlush()) { if (millis() > xmitState.u.startTime + BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS || blackboxDeviceFlush()) {
blackboxDeviceClose(); blackboxDeviceClose();
blackboxSetState(BLACKBOX_STATE_STOPPED); blackboxSetState(BLACKBOX_STATE_STOPPED);
} }
@ -1150,6 +1182,9 @@ static bool canUseBlackboxWithCurrentConfiguration(void)
return feature(FEATURE_BLACKBOX); return feature(FEATURE_BLACKBOX);
} }
/**
* Call during system startup to initialize the blackbox.
*/
void initBlackbox(void) void initBlackbox(void)
{ {
if (canUseBlackboxWithCurrentConfiguration()) { if (canUseBlackboxWithCurrentConfiguration()) {

17
src/main/blackbox/blackbox_io.c
View File

@ -144,13 +144,25 @@ void blackboxWriteUnsignedVB(uint32_t value)
blackboxWrite(value); blackboxWrite(value);
} }
/**
* ZigZag encoding maps all values of a signed integer into those of an unsigned integer in such
* a way that numbers of small absolute value correspond to small integers in the result.
*
* (Compared to just casting a signed to an unsigned which creates huge resulting numbers for
* small negative integers).
*/
static uint32_t zigzagEncode(int32_t value)
{
return (uint32_t)((value << 1) ^ (value >> 31));
}
/** /**
* Write a signed integer to the blackbox serial port using ZigZig and variable byte encoding. * Write a signed integer to the blackbox serial port using ZigZig and variable byte encoding.
*/ */
void blackboxWriteSignedVB(int32_t value) void blackboxWriteSignedVB(int32_t value)
{ {
//ZigZag encode to make the value always positive //ZigZag encode to make the value always positive
blackboxWriteUnsignedVB((uint32_t)((value << 1) ^ (value >> 31))); blackboxWriteUnsignedVB(zigzagEncode(value));
} }
void blackboxWriteS16(int16_t value) void blackboxWriteS16(int16_t value)
@ -497,6 +509,9 @@ void blackboxDeviceClose(void)
mspAllocateSerialPorts(&masterConfig.serialConfig); mspAllocateSerialPorts(&masterConfig.serialConfig);
} }
break; break;
case BLACKBOX_DEVICE_FLASH:
// No-op since the flash doesn't have a "close" and there's nobody else to hand control of it to.
break;
} }
} }