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https://github.com/betaflight/betaflight.git
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Add resume event to allow clean log decoding, add documentation
This commit is contained in:
Nicholas Sherlock
parent
01632998a3
commit
53860e461c
5 changed files with 86 additions and 35 deletions
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@ -256,6 +256,7 @@ typedef enum BlackboxState {
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BLACKBOX_STATE_SEND_GPS_G_HEADER,
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BLACKBOX_STATE_SEND_SLOW_HEADER,
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BLACKBOX_STATE_SEND_SYSINFO,
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BLACKBOX_STATE_PAUSED,
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BLACKBOX_STATE_RUNNING,
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BLACKBOX_STATE_SHUTTING_DOWN
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} BlackboxState;
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@ -456,9 +457,6 @@ static void blackboxSetState(BlackboxState newState)
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xmitState.headerIndex = 0;
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break;
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case BLACKBOX_STATE_RUNNING:
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blackboxIteration = 0;
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blackboxPFrameIndex = 0;
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blackboxIFrameIndex = 0;
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blackboxSlowFrameIterationTimer = SLOW_FRAME_INTERVAL; //Force a slow frame to be written on the first iteration
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break;
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case BLACKBOX_STATE_SHUTTING_DOWN:
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@ -773,7 +771,6 @@ static void validateBlackboxConfig()
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*/
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void startBlackbox(void)
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{
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blackboxModeActivationConditionPresent = isModeActivationConditionPresent(currentProfile->modeActivationConditions, BOXBLACKBOX);
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if (blackboxState == BLACKBOX_STATE_STOPPED) {
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validateBlackboxConfig();
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@ -798,6 +795,12 @@ void startBlackbox(void)
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* cache those now.
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*/
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blackboxBuildConditionCache();
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blackboxModeActivationConditionPresent = isModeActivationConditionPresent(currentProfile->modeActivationConditions, BOXBLACKBOX);
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blackboxIteration = 0;
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blackboxPFrameIndex = 0;
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blackboxIFrameIndex = 0;
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/*
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* Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
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@ -814,7 +817,7 @@ void startBlackbox(void)
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*/
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void finishBlackbox(void)
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{
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if (blackboxState == BLACKBOX_STATE_RUNNING) {
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if (blackboxState == BLACKBOX_STATE_RUNNING || blackboxState == BLACKBOX_STATE_PAUSED) {
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blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
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blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
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@ -1102,7 +1105,8 @@ static bool blackboxWriteSysinfo()
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*/
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void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
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{
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if (blackboxState != BLACKBOX_STATE_RUNNING) {
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// Only allow events to be logged after headers have been written
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if (!(blackboxState == BLACKBOX_STATE_RUNNING || blackboxState == BLACKBOX_STATE_PAUSED)) {
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return;
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}
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@ -1144,6 +1148,10 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
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blackboxWriteSignedVB(data->inflightAdjustment.newValue);
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}
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break;
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case FLIGHT_LOG_EVENT_LOGGING_RESUME:
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blackboxWriteUnsignedVB(data->loggingResume.logIteration);
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blackboxWriteUnsignedVB(data->loggingResume.currentTime);
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break;
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case FLIGHT_LOG_EVENT_LOG_END:
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blackboxPrint("End of log");
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blackboxWrite(0);
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@ -1178,34 +1186,51 @@ static bool blackboxShouldLogPFrame(uint32_t pFrameIndex)
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return (pFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num;
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}
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static bool blackboxShouldLogIFrame() {
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return blackboxPFrameIndex == 0;
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}
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// Called once every FC loop in order to keep track of how many FC loop iterations have passed
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static void blackboxAdvanceIterationTimers()
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{
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blackboxSlowFrameIterationTimer++;
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blackboxIteration++;
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blackboxPFrameIndex++;
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if (blackboxPFrameIndex == BLACKBOX_I_INTERVAL) {
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blackboxPFrameIndex = 0;
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blackboxIFrameIndex++;
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}
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}
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// Called once every FC loop in order to log the current state
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static void blackboxLogIteration(bool writeFrames)
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static void blackboxLogIteration()
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{
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// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
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if (blackboxPFrameIndex == 0) {
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if (blackboxShouldLogIFrame()) {
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/*
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* Don't log a slow frame if the slow data didn't change ("I" frames are already large enough without adding
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* an additional item to write at the same time)
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*/
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if (writeFrames) {
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writeSlowFrameIfNeeded(false);
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loadMainState();
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writeIntraframe();
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}
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writeSlowFrameIfNeeded(false);
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loadMainState();
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writeIntraframe();
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} else {
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blackboxCheckAndLogArmingBeep();
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if (blackboxShouldLogPFrame(blackboxPFrameIndex) && writeFrames) {
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/*
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if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
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/*
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* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
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* So only log slow frames during loop iterations where we log a main frame.
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*/
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writeSlowFrameIfNeeded(true);
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loadMainState();
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writeInterframe();
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}
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#ifdef GPS
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if (feature(FEATURE_GPS) && writeFrames) {
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if (feature(FEATURE_GPS)) {
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/*
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* If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
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* GPS home position.
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@ -1229,15 +1254,6 @@ static void blackboxLogIteration(bool writeFrames)
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//Flush every iteration so that our runtime variance is minimized
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blackboxDeviceFlush();
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blackboxSlowFrameIterationTimer++;
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blackboxIteration++;
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blackboxPFrameIndex++;
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if (blackboxPFrameIndex == BLACKBOX_I_INTERVAL) {
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blackboxPFrameIndex = 0;
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blackboxIFrameIndex++;
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}
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}
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/**
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@ -1308,18 +1324,33 @@ void handleBlackbox(void)
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blackboxSetState(BLACKBOX_STATE_RUNNING);
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}
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break;
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case BLACKBOX_STATE_PAUSED:
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// Only allow resume to occur during an I-frame iteration, so that we have an "I" base to work from
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if (IS_RC_MODE_ACTIVE(BOXBLACKBOX) && blackboxShouldLogIFrame()) {
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// Write a log entry so the decoder is aware that our large time/iteration skip is intended
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flightLogEvent_loggingResume_t resume;
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resume.logIteration = blackboxIteration;
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resume.currentTime = currentTime;
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blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
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blackboxSetState(BLACKBOX_STATE_RUNNING);
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blackboxLogIteration();
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}
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// Keep the logging timers ticking so our log iteration continues to advance
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blackboxAdvanceIterationTimers();
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break;
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case BLACKBOX_STATE_RUNNING:
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// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
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if (blackboxModeActivationConditionPresent) {
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if (IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
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blackboxLogIteration(true);
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} else {
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// Log only first I frame
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blackboxLogIteration(blackboxIteration == 0);
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}
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if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
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blackboxSetState(BLACKBOX_STATE_PAUSED);
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} else {
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blackboxLogIteration(true);
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blackboxLogIteration();
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}
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blackboxAdvanceIterationTimers();
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break;
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case BLACKBOX_STATE_SHUTTING_DOWN:
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//On entry of this state, startTime is set and a flush is performed
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