mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 14:25:20 +03:00
Merge pull request #2932 from martinbudden/bf_blackbox_switch
Tidied blackbox switch statements
This commit is contained in:
Martin Budden
GitHub
commit
01777439de
1 changed files with 220 additions and 220 deletions
|
|
@ -388,64 +388,64 @@ static bool blackboxIsOnlyLoggingIntraframes() {
|
|||
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
|
||||
{
|
||||
switch (condition) {
|
||||
case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
|
||||
return true;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
|
||||
return true;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
|
||||
return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
|
||||
return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
|
||||
return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
|
||||
return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
|
||||
return currentPidProfile->D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
|
||||
return currentPidProfile->D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_MAG:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_MAG:
|
||||
#ifdef MAG
|
||||
return sensors(SENSOR_MAG);
|
||||
return sensors(SENSOR_MAG);
|
||||
#else
|
||||
return false;
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_BARO:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_BARO:
|
||||
#ifdef BARO
|
||||
return sensors(SENSOR_BARO);
|
||||
return sensors(SENSOR_BARO);
|
||||
#else
|
||||
return false;
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_VBAT:
|
||||
return batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_VBAT:
|
||||
return batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
|
||||
return batteryConfig()->currentMeterSource == CURRENT_METER_ADC;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
|
||||
return batteryConfig()->currentMeterSource == CURRENT_METER_ADC;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_SONAR:
|
||||
case FLIGHT_LOG_FIELD_CONDITION_SONAR:
|
||||
#ifdef SONAR
|
||||
return feature(FEATURE_SONAR);
|
||||
return feature(FEATURE_SONAR);
|
||||
#else
|
||||
return false;
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
|
||||
return rxConfig()->rssi_channel > 0 || feature(FEATURE_RSSI_ADC);
|
||||
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
|
||||
return rxConfig()->rssi_channel > 0 || feature(FEATURE_RSSI_ADC);
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
|
||||
return blackboxConfig()->rate_num < blackboxConfig()->rate_denom;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
|
||||
return blackboxConfig()->rate_num < blackboxConfig()->rate_denom;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
|
||||
return false;
|
||||
default:
|
||||
return false;
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
|
||||
return false;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -471,32 +471,32 @@ static void blackboxSetState(BlackboxState newState)
|
|||
{
|
||||
//Perform initial setup required for the new state
|
||||
switch (newState) {
|
||||
case BLACKBOX_STATE_PREPARE_LOG_FILE:
|
||||
blackboxLoggedAnyFrames = false;
|
||||
case BLACKBOX_STATE_PREPARE_LOG_FILE:
|
||||
blackboxLoggedAnyFrames = false;
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_HEADER:
|
||||
blackboxHeaderBudget = 0;
|
||||
xmitState.headerIndex = 0;
|
||||
xmitState.u.startTime = millis();
|
||||
case BLACKBOX_STATE_SEND_HEADER:
|
||||
blackboxHeaderBudget = 0;
|
||||
xmitState.headerIndex = 0;
|
||||
xmitState.u.startTime = millis();
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
|
||||
case BLACKBOX_STATE_SEND_SLOW_HEADER:
|
||||
xmitState.headerIndex = 0;
|
||||
xmitState.u.fieldIndex = -1;
|
||||
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
|
||||
case BLACKBOX_STATE_SEND_SLOW_HEADER:
|
||||
xmitState.headerIndex = 0;
|
||||
xmitState.u.fieldIndex = -1;
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_SYSINFO:
|
||||
xmitState.headerIndex = 0;
|
||||
case BLACKBOX_STATE_SEND_SYSINFO:
|
||||
xmitState.headerIndex = 0;
|
||||
break;
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
blackboxSlowFrameIterationTimer = SLOW_FRAME_INTERVAL; //Force a slow frame to be written on the first iteration
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
blackboxSlowFrameIterationTimer = SLOW_FRAME_INTERVAL; //Force a slow frame to be written on the first iteration
|
||||
break;
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
xmitState.u.startTime = millis();
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
xmitState.u.startTime = millis();
|
||||
break;
|
||||
default:
|
||||
;
|
||||
default:
|
||||
;
|
||||
}
|
||||
blackboxState = newState;
|
||||
}
|
||||
|
|
@ -808,16 +808,16 @@ void validateBlackboxConfig()
|
|||
// If we've chosen an unsupported device, change the device to serial
|
||||
switch (blackboxConfig()->device) {
|
||||
#ifdef USE_FLASHFS
|
||||
case BLACKBOX_DEVICE_FLASH:
|
||||
case BLACKBOX_DEVICE_FLASH:
|
||||
#endif
|
||||
#ifdef USE_SDCARD
|
||||
case BLACKBOX_DEVICE_SDCARD:
|
||||
case BLACKBOX_DEVICE_SDCARD:
|
||||
#endif
|
||||
case BLACKBOX_DEVICE_SERIAL:
|
||||
case BLACKBOX_DEVICE_SERIAL:
|
||||
// Device supported, leave the setting alone
|
||||
break;
|
||||
|
||||
default:
|
||||
default:
|
||||
blackboxConfigMutable()->device = BLACKBOX_DEVICE_SERIAL;
|
||||
}
|
||||
}
|
||||
|
|
@ -873,19 +873,19 @@ void startBlackbox(void)
|
|||
void finishBlackbox(void)
|
||||
{
|
||||
switch (blackboxState) {
|
||||
case BLACKBOX_STATE_DISABLED:
|
||||
case BLACKBOX_STATE_STOPPED:
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
// We're already stopped/shutting down
|
||||
case BLACKBOX_STATE_DISABLED:
|
||||
case BLACKBOX_STATE_STOPPED:
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
// We're already stopped/shutting down
|
||||
break;
|
||||
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
case BLACKBOX_STATE_PAUSED:
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
case BLACKBOX_STATE_PAUSED:
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
|
||||
|
||||
// Fall through
|
||||
default:
|
||||
blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
|
||||
// Fall through
|
||||
default:
|
||||
blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1341,29 +1341,29 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
|
|||
|
||||
//Now serialize the data for this specific frame type
|
||||
switch (event) {
|
||||
case FLIGHT_LOG_EVENT_SYNC_BEEP:
|
||||
blackboxWriteUnsignedVB(data->syncBeep.time);
|
||||
case FLIGHT_LOG_EVENT_SYNC_BEEP:
|
||||
blackboxWriteUnsignedVB(data->syncBeep.time);
|
||||
break;
|
||||
case FLIGHT_LOG_EVENT_FLIGHTMODE: // New flightmode flags write
|
||||
blackboxWriteUnsignedVB(data->flightMode.flags);
|
||||
blackboxWriteUnsignedVB(data->flightMode.lastFlags);
|
||||
case FLIGHT_LOG_EVENT_FLIGHTMODE: // New flightmode flags write
|
||||
blackboxWriteUnsignedVB(data->flightMode.flags);
|
||||
blackboxWriteUnsignedVB(data->flightMode.lastFlags);
|
||||
break;
|
||||
case FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT:
|
||||
if (data->inflightAdjustment.floatFlag) {
|
||||
blackboxWrite(data->inflightAdjustment.adjustmentFunction + FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG);
|
||||
blackboxWriteFloat(data->inflightAdjustment.newFloatValue);
|
||||
} else {
|
||||
blackboxWrite(data->inflightAdjustment.adjustmentFunction);
|
||||
blackboxWriteSignedVB(data->inflightAdjustment.newValue);
|
||||
}
|
||||
case FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT:
|
||||
if (data->inflightAdjustment.floatFlag) {
|
||||
blackboxWrite(data->inflightAdjustment.adjustmentFunction + FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG);
|
||||
blackboxWriteFloat(data->inflightAdjustment.newFloatValue);
|
||||
} else {
|
||||
blackboxWrite(data->inflightAdjustment.adjustmentFunction);
|
||||
blackboxWriteSignedVB(data->inflightAdjustment.newValue);
|
||||
}
|
||||
break;
|
||||
case FLIGHT_LOG_EVENT_LOGGING_RESUME:
|
||||
blackboxWriteUnsignedVB(data->loggingResume.logIteration);
|
||||
blackboxWriteUnsignedVB(data->loggingResume.currentTime);
|
||||
case FLIGHT_LOG_EVENT_LOGGING_RESUME:
|
||||
blackboxWriteUnsignedVB(data->loggingResume.logIteration);
|
||||
blackboxWriteUnsignedVB(data->loggingResume.currentTime);
|
||||
break;
|
||||
case FLIGHT_LOG_EVENT_LOG_END:
|
||||
blackboxPrint("End of log");
|
||||
blackboxWrite(0);
|
||||
case FLIGHT_LOG_EVENT_LOG_END:
|
||||
blackboxPrint("End of log");
|
||||
blackboxWrite(0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -1489,160 +1489,160 @@ void handleBlackbox(timeUs_t currentTimeUs)
|
|||
int i;
|
||||
|
||||
switch (blackboxState) {
|
||||
case BLACKBOX_STATE_STOPPED:
|
||||
if (ARMING_FLAG(ARMED)) {
|
||||
blackboxOpen();
|
||||
startBlackbox();
|
||||
}
|
||||
case BLACKBOX_STATE_STOPPED:
|
||||
if (ARMING_FLAG(ARMED)) {
|
||||
blackboxOpen();
|
||||
startBlackbox();
|
||||
}
|
||||
#ifdef USE_FLASHFS
|
||||
if (IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) {
|
||||
blackboxSetState(BLACKBOX_STATE_START_ERASE);
|
||||
}
|
||||
if (IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) {
|
||||
blackboxSetState(BLACKBOX_STATE_START_ERASE);
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case BLACKBOX_STATE_PREPARE_LOG_FILE:
|
||||
if (blackboxDeviceBeginLog()) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
|
||||
}
|
||||
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
|
||||
case BLACKBOX_STATE_SEND_HEADER:
|
||||
blackboxReplenishHeaderBudget();
|
||||
//On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
|
||||
|
||||
/*
|
||||
* Once the UART has had time to init, transmit the header in chunks so we don't overflow its transmit
|
||||
* buffer, overflow the OpenLog's buffer, or keep the main loop busy for too long.
|
||||
*/
|
||||
if (millis() > xmitState.u.startTime + 100) {
|
||||
if (blackboxDeviceReserveBufferSpace(BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION) == BLACKBOX_RESERVE_SUCCESS) {
|
||||
for (i = 0; i < BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION && blackboxHeader[xmitState.headerIndex] != '\0'; i++, xmitState.headerIndex++) {
|
||||
blackboxWrite(blackboxHeader[xmitState.headerIndex]);
|
||||
blackboxHeaderBudget--;
|
||||
}
|
||||
/*
|
||||
* Once the UART has had time to init, transmit the header in chunks so we don't overflow its transmit
|
||||
* buffer, overflow the OpenLog's buffer, or keep the main loop busy for too long.
|
||||
*/
|
||||
if (millis() > xmitState.u.startTime + 100) {
|
||||
if (blackboxDeviceReserveBufferSpace(BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION) == BLACKBOX_RESERVE_SUCCESS) {
|
||||
for (i = 0; i < BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION && blackboxHeader[xmitState.headerIndex] != '\0'; i++, xmitState.headerIndex++) {
|
||||
blackboxWrite(blackboxHeader[xmitState.headerIndex]);
|
||||
blackboxHeaderBudget--;
|
||||
}
|
||||
|
||||
if (blackboxHeader[xmitState.headerIndex] == '\0') {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER);
|
||||
}
|
||||
if (blackboxHeader[xmitState.headerIndex] == '\0') {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER);
|
||||
}
|
||||
}
|
||||
}
|
||||
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)) {
|
||||
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)) {
|
||||
#ifdef GPS
|
||||
if (feature(FEATURE_GPS)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
|
||||
} else
|
||||
if (feature(FEATURE_GPS)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
|
||||
} else
|
||||
#endif
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
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)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADER);
|
||||
}
|
||||
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)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
}
|
||||
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)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADER);
|
||||
}
|
||||
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)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
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)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
|
||||
}
|
||||
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)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_SYSINFO:
|
||||
blackboxReplenishHeaderBudget();
|
||||
//On entry of this state, xmitState.headerIndex is 0
|
||||
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
|
||||
if (blackboxWriteSysinfo()) {
|
||||
|
||||
/*
|
||||
* Wait for header buffers to drain completely before data logging begins to ensure reliable header delivery
|
||||
* (overflowing circular buffers causes all data to be discarded, so the first few logged iterations
|
||||
* could wipe out the end of the header if we weren't careful)
|
||||
*/
|
||||
if (blackboxDeviceFlushForce()) {
|
||||
blackboxSetState(BLACKBOX_STATE_RUNNING);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_PAUSED:
|
||||
// Only allow resume to occur during an I-frame iteration, so that we have an "I" base to work from
|
||||
if (IS_RC_MODE_ACTIVE(BOXBLACKBOX) && blackboxShouldLogIFrame()) {
|
||||
// Write a log entry so the decoder is aware that our large time/iteration skip is intended
|
||||
flightLogEvent_loggingResume_t resume;
|
||||
|
||||
resume.logIteration = blackboxIteration;
|
||||
resume.currentTime = currentTimeUs;
|
||||
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
|
||||
blackboxSetState(BLACKBOX_STATE_RUNNING);
|
||||
|
||||
blackboxLogIteration(currentTimeUs);
|
||||
}
|
||||
// Keep the logging timers ticking so our log iteration continues to advance
|
||||
blackboxAdvanceIterationTimers();
|
||||
break;
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
|
||||
// Prevent the Pausing of the log on the mode switch if in Motor Test Mode
|
||||
if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
|
||||
blackboxSetState(BLACKBOX_STATE_PAUSED);
|
||||
} else {
|
||||
blackboxLogIteration(currentTimeUs);
|
||||
}
|
||||
blackboxAdvanceIterationTimers();
|
||||
break;
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
//On entry of this state, startTime is set
|
||||
//Keep writing chunks of the system info headers until it returns true to signal completion
|
||||
if (blackboxWriteSysinfo()) {
|
||||
|
||||
/*
|
||||
* 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.
|
||||
* Wait for header buffers to drain completely before data logging begins to ensure reliable header delivery
|
||||
* (overflowing circular buffers causes all data to be discarded, so the first few logged iterations
|
||||
* could wipe out the end of the header if we weren't careful)
|
||||
*/
|
||||
if (blackboxDeviceEndLog(blackboxLoggedAnyFrames) && (millis() > xmitState.u.startTime + BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS || blackboxDeviceFlushForce())) {
|
||||
blackboxDeviceClose();
|
||||
blackboxSetState(BLACKBOX_STATE_STOPPED);
|
||||
if (blackboxDeviceFlushForce()) {
|
||||
blackboxSetState(BLACKBOX_STATE_RUNNING);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_PAUSED:
|
||||
// Only allow resume to occur during an I-frame iteration, so that we have an "I" base to work from
|
||||
if (IS_RC_MODE_ACTIVE(BOXBLACKBOX) && blackboxShouldLogIFrame()) {
|
||||
// Write a log entry so the decoder is aware that our large time/iteration skip is intended
|
||||
flightLogEvent_loggingResume_t resume;
|
||||
|
||||
resume.logIteration = blackboxIteration;
|
||||
resume.currentTime = currentTimeUs;
|
||||
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
|
||||
blackboxSetState(BLACKBOX_STATE_RUNNING);
|
||||
|
||||
blackboxLogIteration(currentTimeUs);
|
||||
}
|
||||
// Keep the logging timers ticking so our log iteration continues to advance
|
||||
blackboxAdvanceIterationTimers();
|
||||
break;
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
|
||||
// Prevent the Pausing of the log on the mode switch if in Motor Test Mode
|
||||
if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
|
||||
blackboxSetState(BLACKBOX_STATE_PAUSED);
|
||||
} else {
|
||||
blackboxLogIteration(currentTimeUs);
|
||||
}
|
||||
blackboxAdvanceIterationTimers();
|
||||
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 (blackboxDeviceEndLog(blackboxLoggedAnyFrames) && (millis() > xmitState.u.startTime + BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS || blackboxDeviceFlushForce())) {
|
||||
blackboxDeviceClose();
|
||||
blackboxSetState(BLACKBOX_STATE_STOPPED);
|
||||
}
|
||||
break;
|
||||
#ifdef USE_FLASHFS
|
||||
case BLACKBOX_STATE_START_ERASE:
|
||||
blackboxEraseAll();
|
||||
blackboxSetState(BLACKBOX_STATE_ERASING);
|
||||
case BLACKBOX_STATE_START_ERASE:
|
||||
blackboxEraseAll();
|
||||
blackboxSetState(BLACKBOX_STATE_ERASING);
|
||||
beeper(BEEPER_BLACKBOX_ERASE);
|
||||
break;
|
||||
case BLACKBOX_STATE_ERASING:
|
||||
if (isBlackboxErased()) {
|
||||
//Done erasing
|
||||
blackboxSetState(BLACKBOX_STATE_ERASED);
|
||||
beeper(BEEPER_BLACKBOX_ERASE);
|
||||
break;
|
||||
case BLACKBOX_STATE_ERASING:
|
||||
if (isBlackboxErased()) {
|
||||
//Done erasing
|
||||
blackboxSetState(BLACKBOX_STATE_ERASED);
|
||||
beeper(BEEPER_BLACKBOX_ERASE);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_ERASED:
|
||||
if (!IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) {
|
||||
blackboxSetState(BLACKBOX_STATE_STOPPED);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_ERASED:
|
||||
if (!IS_RC_MODE_ACTIVE(BOXBLACKBOXERASE)) {
|
||||
blackboxSetState(BLACKBOX_STATE_STOPPED);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue