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Code Issues Wiki Activity

Fix missing blackbox logging of synchronisation beep

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This commit is contained in:
Nicholas Sherlock 2015-05-18 18:57:50 +12:00
parent c174a52ebe
commit 4e7b647c1e
1 changed files with 20 additions and 13 deletions
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33
src/main/blackbox/blackbox.c
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@ -250,7 +250,6 @@ typedef enum BlackboxState {
BLACKBOX_STATE_SEND_GPS_H_HEADERS,
BLACKBOX_STATE_SEND_GPS_G_HEADERS,
BLACKBOX_STATE_SEND_SYSINFO,
BLACKBOX_STATE_PRERUN,
BLACKBOX_STATE_RUNNING,
BLACKBOX_STATE_SHUTTING_DOWN
} BlackboxState;
@ -268,6 +267,8 @@ extern uint32_t currentTime;
static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0;
static struct {
uint32_t headerIndex;
@ -684,6 +685,12 @@ void startBlackbox(void)
*/
blackboxBuildConditionCache();
/*
* 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();
blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
}
}
@ -1012,16 +1019,19 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
}
}
// Write the time of the last arming beep to the log as a synchronization point
static void blackboxLogArmingBeep()
/* 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()
{
flightLogEvent_syncBeep_t eventData;
// Get time of last arming beep (in system-uptime microseconds)
eventData.time = getArmingBeepTimeMicros();
// Use != so that we can still detect a change if the counter wraps
if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
blackboxLastArmingBeep = getArmingBeepTimeMicros();
// Write the time to the log
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
eventData.time = blackboxLastArmingBeep;
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
}
}
/**
@ -1082,14 +1092,9 @@ void handleBlackbox(void)
//Keep writing chunks of the system info headers until it returns true to signal completion
if (blackboxWriteSysinfo()) {
blackboxSetState(BLACKBOX_STATE_PRERUN);
blackboxSetState(BLACKBOX_STATE_RUNNING);
}
break;
case BLACKBOX_STATE_PRERUN:
blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxLogArmingBeep();
break;
case BLACKBOX_STATE_RUNNING:
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
@ -1099,6 +1104,8 @@ void handleBlackbox(void)
loadBlackboxState();
writeIntraframe();
} else {
blackboxCheckAndLogArmingBeep();
/* 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:
*/