mirror of
https://github.com/betaflight/betaflight.git
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Merge pull request #543 from sherlockflight/master
Save around 300 bytes of flash by improving Blackbox field name storage
This commit is contained in:
Dominic Clifton
commit
88bc3c3f5d
8 changed files with 260 additions and 65 deletions
1
Makefile
1
Makefile
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@ -199,6 +199,7 @@ COMMON_SRC = build_config.c \
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common/maths.c \
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common/printf.c \
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common/typeconversion.c \
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common/encoding.c \
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main.c \
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mw.c \
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flight/altitudehold.c \
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@ -26,6 +26,7 @@
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#include "common/maths.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/encoding.h"
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#include "drivers/gpio.h"
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#include "drivers/sensor.h"
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@ -79,6 +80,7 @@
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#include "blackbox_io.h"
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#define BLACKBOX_I_INTERVAL 32
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#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
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#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
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@ -132,11 +134,17 @@ static const char* const blackboxGPSHHeaderNames[] = {
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/* All field definition structs should look like this (but with longer arrs): */
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typedef struct blackboxFieldDefinition_t {
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const char *name;
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// If the field name has a number to be included in square brackets [1] afterwards, set it here, or -1 for no brackets:
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int8_t fieldNameIndex;
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// Each member of this array will be the value to print for this field for the given header index
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uint8_t arr[1];
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} blackboxFieldDefinition_t;
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typedef struct blackboxMainFieldDefinition_t {
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const char *name;
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int8_t fieldNameIndex;
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uint8_t isSigned;
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uint8_t Ipredict;
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uint8_t Iencode;
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@ -147,6 +155,8 @@ typedef struct blackboxMainFieldDefinition_t {
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typedef struct blackboxGPSFieldDefinition_t {
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const char *name;
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int8_t fieldNameIndex;
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uint8_t isSigned;
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uint8_t predict;
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uint8_t encode;
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@ -161,73 +171,76 @@ typedef struct blackboxGPSFieldDefinition_t {
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*/
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static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
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/* loopIteration doesn't appear in P frames since it always increments */
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{"loopIteration", UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC), .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
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{"loopIteration",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC), .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
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/* Time advances pretty steadily so the P-frame prediction is a straight line */
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{"time", UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(STRAIGHT_LINE), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"time", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(STRAIGHT_LINE), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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/* I terms get special packed encoding in P frames: */
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{"axisI[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisD[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)},
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{"axisD[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)},
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{"axisD[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)},
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{"axisI", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisD", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)},
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{"axisD", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)},
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{"axisD", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)},
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/* rcCommands are encoded together as a group in P-frames: */
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{"rcCommand[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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/* Throttle is always in the range [minthrottle..maxthrottle]: */
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{"rcCommand[3]", UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"vbatLatest", -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
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{"amperageLatest",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE},
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{"vbatLatest", UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
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{"amperageLatest",UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE},
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#ifdef MAG
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{"magADC[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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#endif
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#ifdef BARO
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{"BaroAlt", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
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{"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
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#endif
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/* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
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{"gyroData[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroData[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroData[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth[0]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth[1]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth[2]", SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroData", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroData", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroData", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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/* 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): */
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{"motor[0]", UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
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{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
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/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
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{"motor[1]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
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{"motor[2]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
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{"motor[3]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_4)},
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{"motor[4]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_5)},
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{"motor[5]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_6)},
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{"motor[6]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_7)},
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{"motor[7]", UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},
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{"servo[5]", UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
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{"motor", 1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
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{"motor", 2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
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{"motor", 3, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_4)},
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{"motor", 4, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_5)},
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{"motor", 5, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_6)},
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{"motor", 6, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_7)},
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{"motor", 7, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},
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/* Tricopter tail servo */
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{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
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};
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#ifdef GPS
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// GPS position/vel frame
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static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
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{"time", UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
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{"GPS_numSat", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_coord[0]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_coord[1]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_altitude", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_speed", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_ground_course",UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}
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{"time", -1, UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
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{"GPS_numSat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_coord", 0, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_coord", 1, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_altitude", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_speed", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_ground_course", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}
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};
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// GPS home frame
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static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
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{"GPS_home[0]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_home[1]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}
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{"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}
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};
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#endif
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@ -284,6 +297,7 @@ static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
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* to encode:
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*/
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static uint16_t vbatReference;
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static gpsState_t gpsHistory;
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// Keep a history of length 2, plus a buffer for MW to store the new values into
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@ -604,6 +618,9 @@ static void validateBlackboxConfig()
|
|||
masterConfig.blackbox_rate_num = 1;
|
||||
masterConfig.blackbox_rate_denom = 1;
|
||||
} 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);
|
||||
|
||||
masterConfig.blackbox_rate_num /= div;
|
||||
|
|
@ -615,6 +632,9 @@ static void validateBlackboxConfig()
|
|||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Start Blackbox logging if it is not already running. Intended to be called upon arming.
|
||||
*/
|
||||
void startBlackbox(void)
|
||||
{
|
||||
if (blackboxState == BLACKBOX_STATE_STOPPED) {
|
||||
|
|
@ -820,6 +840,15 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
|
|||
// The first header is a field name
|
||||
if (xmitState.headerIndex == 0) {
|
||||
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 {
|
||||
//The other headers are integers
|
||||
if (def->arr[xmitState.headerIndex - 1] >= 10) {
|
||||
|
|
@ -850,11 +879,6 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
|
|||
*/
|
||||
static bool blackboxWriteSysinfo()
|
||||
{
|
||||
union floatConvert_t {
|
||||
float f;
|
||||
uint32_t u;
|
||||
} floatConvert;
|
||||
|
||||
if (xmitState.headerIndex == 0) {
|
||||
xmitState.u.serialBudget = 0;
|
||||
xmitState.headerIndex = 1;
|
||||
|
|
@ -873,26 +897,24 @@ static bool blackboxWriteSysinfo()
|
|||
//Shouldn't ever get here
|
||||
break;
|
||||
case 1:
|
||||
blackboxPrintf("H Firmware type:Cleanflight\n");
|
||||
|
||||
xmitState.u.serialBudget -= strlen("H Firmware type:Cleanflight\n");
|
||||
xmitState.u.serialBudget -= blackboxPrint("H Firmware type:Cleanflight\n");
|
||||
break;
|
||||
case 2:
|
||||
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
|
||||
* the placeholder "%s"
|
||||
*/
|
||||
xmitState.u.serialBudget -= strlen("H Firmware revision:%s\n") + strlen(shortGitRevision);
|
||||
xmitState.u.serialBudget -= strlen("H Firmware revision:\n") + strlen(shortGitRevision);
|
||||
break;
|
||||
case 3:
|
||||
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;
|
||||
case 4:
|
||||
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");
|
||||
break;
|
||||
case 5:
|
||||
|
|
@ -911,10 +933,9 @@ static bool blackboxWriteSysinfo()
|
|||
xmitState.u.serialBudget -= strlen("H maxthrottle:%d\n");
|
||||
break;
|
||||
case 8:
|
||||
floatConvert.f = gyro.scale;
|
||||
blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
|
||||
blackboxPrintf("H gyro.scale:0x%x\n", castFloatBytesToInt(gyro.scale));
|
||||
|
||||
xmitState.u.serialBudget -= strlen("H gyro.scale:0x%x\n") + 6;
|
||||
xmitState.u.serialBudget -= strlen("H gyro.scale:0x\n") + 6;
|
||||
break;
|
||||
case 9:
|
||||
blackboxPrintf("H acc_1G:%u\n", acc_1G);
|
||||
|
|
@ -1014,6 +1035,9 @@ static void blackboxPlaySyncBeep()
|
|||
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
|
||||
}
|
||||
|
||||
/**
|
||||
* Call each flight loop iteration to perform blackbox logging.
|
||||
*/
|
||||
void handleBlackbox(void)
|
||||
{
|
||||
int i;
|
||||
|
|
@ -1086,6 +1110,9 @@ void handleBlackbox(void)
|
|||
loadBlackboxState();
|
||||
writeIntraframe();
|
||||
} 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) {
|
||||
loadBlackboxState();
|
||||
writeInterframe();
|
||||
|
|
@ -1130,7 +1157,7 @@ void handleBlackbox(void)
|
|||
*
|
||||
* 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();
|
||||
blackboxSetState(BLACKBOX_STATE_STOPPED);
|
||||
}
|
||||
|
|
@ -1150,6 +1177,9 @@ static bool canUseBlackboxWithCurrentConfiguration(void)
|
|||
return feature(FEATURE_BLACKBOX);
|
||||
}
|
||||
|
||||
/**
|
||||
* Call during system startup to initialize the blackbox.
|
||||
*/
|
||||
void initBlackbox(void)
|
||||
{
|
||||
if (canUseBlackboxWithCurrentConfiguration()) {
|
||||
|
|
|
|||
|
|
@ -4,12 +4,13 @@
|
|||
|
||||
#include "blackbox_io.h"
|
||||
|
||||
#include "platform.h"
|
||||
#include "version.h"
|
||||
#include "build_config.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
#include "common/axis.h"
|
||||
#include "common/color.h"
|
||||
#include "common/encoding.h"
|
||||
|
||||
#include "drivers/gpio.h"
|
||||
#include "drivers/sensor.h"
|
||||
|
|
@ -150,7 +151,7 @@ void blackboxWriteUnsignedVB(uint32_t value)
|
|||
void blackboxWriteSignedVB(int32_t value)
|
||||
{
|
||||
//ZigZag encode to make the value always positive
|
||||
blackboxWriteUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
|
||||
blackboxWriteUnsignedVB(zigzagEncode(value));
|
||||
}
|
||||
|
||||
void blackboxWriteS16(int16_t value)
|
||||
|
|
@ -497,6 +498,11 @@ void blackboxDeviceClose(void)
|
|||
mspAllocateSerialPorts(&masterConfig.serialConfig);
|
||||
}
|
||||
break;
|
||||
#ifdef USE_FLASHFS
|
||||
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;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@
|
|||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "target.h"
|
||||
#include "platform.h"
|
||||
|
||||
typedef enum BlackboxDevice {
|
||||
BLACKBOX_DEVICE_SERIAL = 0,
|
||||
|
|
|
|||
31
src/main/common/encoding.c
Normal file
31
src/main/common/encoding.c
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
#include "encoding.h"
|
||||
|
||||
/**
|
||||
* Cast the in-memory representation of the given float directly to an int.
|
||||
*
|
||||
* This is useful for printing the hex representation of a float number (which is considerably cheaper
|
||||
* than a full decimal float formatter, in both code size and output length).
|
||||
*/
|
||||
uint32_t castFloatBytesToInt(float f)
|
||||
{
|
||||
union floatConvert_t {
|
||||
float f;
|
||||
uint32_t u;
|
||||
} floatConvert;
|
||||
|
||||
floatConvert.f = f;
|
||||
|
||||
return floatConvert.u;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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).
|
||||
*/
|
||||
uint32_t zigzagEncode(int32_t value)
|
||||
{
|
||||
return (uint32_t)((value << 1) ^ (value >> 31));
|
||||
}
|
||||
23
src/main/common/encoding.h
Normal file
23
src/main/common/encoding.h
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
uint32_t castFloatBytesToInt(float f);
|
||||
uint32_t zigzagEncode(int32_t value);
|
||||
|
|
@ -53,6 +53,7 @@ TESTS = \
|
|||
rc_controls_unittest \
|
||||
ledstrip_unittest \
|
||||
ws2811_unittest \
|
||||
encoding_unittest \
|
||||
lowpass_unittest
|
||||
|
||||
# All Google Test headers. Usually you shouldn't change this
|
||||
|
|
@ -130,6 +131,25 @@ battery_unittest : \
|
|||
$(OBJECT_DIR)/gtest_main.a
|
||||
|
||||
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/encoding.c -o $@
|
||||
|
||||
$(OBJECT_DIR)/encoding_unittest.o : \
|
||||
$(TEST_DIR)/encoding_unittest.cc \
|
||||
$(USER_DIR)/common/encoding.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/encoding_unittest.cc -o $@
|
||||
|
||||
encoding_unittest : \
|
||||
$(OBJECT_DIR)/common/encoding.o \
|
||||
$(OBJECT_DIR)/encoding_unittest.o \
|
||||
$(OBJECT_DIR)/gtest_main.a
|
||||
|
||||
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/flight/imu.o : \
|
||||
$(USER_DIR)/flight/imu.c \
|
||||
|
|
|
|||
84
src/test/unit/encoding_unittest.cc
Normal file
84
src/test/unit/encoding_unittest.cc
Normal file
|
|
@ -0,0 +1,84 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#include <stdint.h>
|
||||
|
||||
extern "C" {
|
||||
#include "common/encoding.h"
|
||||
}
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
typedef struct zigzagEncodingExpectation_t {
|
||||
int32_t input;
|
||||
uint32_t expected;
|
||||
} zigzagEncodingExpectation_t;
|
||||
|
||||
typedef struct floatToIntEncodingExpectation_t {
|
||||
float input;
|
||||
uint32_t expected;
|
||||
} floatToIntEncodingExpectation_t;
|
||||
|
||||
TEST(EncodingTest, ZigzagEncodingTest)
|
||||
{
|
||||
// given
|
||||
zigzagEncodingExpectation_t expectations[] = {
|
||||
{ 0, 0},
|
||||
{-1, 1},
|
||||
{ 1, 2},
|
||||
{-2, 3},
|
||||
{ 2, 4},
|
||||
|
||||
{ 2147483646, 4294967292},
|
||||
{-2147483647, 4294967293},
|
||||
{ 2147483647, 4294967294},
|
||||
{-2147483648, 4294967295},
|
||||
};
|
||||
int expectationCount = sizeof(expectations) / sizeof(expectations[0]);
|
||||
|
||||
// expect
|
||||
|
||||
for (int i = 0; i < expectationCount; i++) {
|
||||
zigzagEncodingExpectation_t *expectation = &expectations[i];
|
||||
|
||||
EXPECT_EQ(expectation->expected, zigzagEncode(expectation->input));
|
||||
}
|
||||
}
|
||||
|
||||
TEST(EncodingTest, FloatToIntEncodingTest)
|
||||
{
|
||||
// given
|
||||
floatToIntEncodingExpectation_t expectations[] = {
|
||||
{0.0, 0x00000000},
|
||||
{2.0, 0x40000000}, // Exponent should be in the top bits
|
||||
{4.5, 0x40900000}
|
||||
};
|
||||
int expectationCount = sizeof(expectations) / sizeof(expectations[0]);
|
||||
|
||||
// expect
|
||||
|
||||
for (int i = 0; i < expectationCount; i++) {
|
||||
floatToIntEncodingExpectation_t *expectation = &expectations[i];
|
||||
|
||||
EXPECT_EQ(expectation->expected, castFloatBytesToInt(expectation->input));
|
||||
}
|
||||
}
|
||||
|
||||
// STUBS
|
||||
|
||||
extern "C" {
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue