Add (e)RPM field to blackbox logs (#12823)

* Add RPM black box field

* Fix settings table spacing

* Move RPM field to end of FlightLogFieldSelect enum

* Fix various RPM logging related bugs

- change eRPM I frame encoding to UNSIGNED_VB (was SIGNED_VB)
- change eRPM P frame prediction to PREVIOUS (was AVERAGE_2)
- change eRPM log field name to 'eRPM(/100)' (was 'RPM')
- rename rpm field in blackboxMainState_s to erpm
- minor formatting fixes to BlackBoxMainFields spacing and some if clauses

* Remove superfluous parentheses in blackbox.c

src/main/blackbox/blackbox.c

@@ -48,6 +48,9 @@
 #include "drivers/compass/compass.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
+#ifdef USE_DSHOT_TELEMETRY
+#include "drivers/dshot.h"
+#endif
 
 #include "fc/board_info.h"
 #include "fc/controlrate_profile.h"
@@ -247,7 +250,18 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"motor",       7, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},
 
     /* Tricopter tail servo */
-    {"servo",       5, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
+    {"servo",       5, UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)},
+
+#ifdef USE_DSHOT_TELEMETRY
+    {"eRPM(/100)",  0, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_1_HAS_RPM)},
+    {"eRPM(/100)",  1, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_2_HAS_RPM)},
+    {"eRPM(/100)",  2, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_3_HAS_RPM)},
+    {"eRPM(/100)",  3, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_4_HAS_RPM)},
+    {"eRPM(/100)",  4, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_5_HAS_RPM)},
+    {"eRPM(/100)",  5, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_6_HAS_RPM)},
+    {"eRPM(/100)",  6, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_7_HAS_RPM)},
+    {"eRPM(/100)",  7, UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(MOTOR_8_HAS_RPM)},
+#endif /* USE_DSHOT_TELEMETRY */
 };
 
 #ifdef USE_GPS
@@ -314,6 +328,9 @@ typedef struct blackboxMainState_s {
     int16_t debug[DEBUG16_VALUE_COUNT];
     int16_t motor[MAX_SUPPORTED_MOTORS];
     int16_t servo[MAX_SUPPORTED_SERVOS];
+#ifdef USE_DSHOT_TELEMETRY
+    int16_t erpm[MAX_SUPPORTED_MOTORS];
+#endif
 
     uint16_t vbatLatest;
     int32_t amperageLatest;
@@ -366,7 +383,7 @@ static struct {
 } xmitState;
 
 // Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
-static uint32_t blackboxConditionCache;
+static uint64_t blackboxConditionCache;
 
 STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
 
@@ -436,6 +453,18 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case CONDITION(AT_LEAST_MOTORS_8):
         return (getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1) && isFieldEnabled(FIELD_SELECT(MOTOR));
 
+#ifdef USE_DSHOT_TELEMETRY
+    case CONDITION(MOTOR_1_HAS_RPM):
+    case CONDITION(MOTOR_2_HAS_RPM):
+    case CONDITION(MOTOR_3_HAS_RPM):
+    case CONDITION(MOTOR_4_HAS_RPM):
+    case CONDITION(MOTOR_5_HAS_RPM):
+    case CONDITION(MOTOR_6_HAS_RPM):
+    case CONDITION(MOTOR_7_HAS_RPM):
+    case CONDITION(MOTOR_8_HAS_RPM):
+        return (getMotorCount() >= condition - CONDITION(MOTOR_1_HAS_RPM) + 1) && (motorConfig()->dev.useDshotTelemetry) && isFieldEnabled(FIELD_SELECT(RPM));
+#endif
+
     case CONDITION(TRICOPTER):
         return (mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && isFieldEnabled(FIELD_SELECT(MOTOR));
 
@@ -508,14 +537,14 @@ static void blackboxBuildConditionCache(void)
     blackboxConditionCache = 0;
     for (FlightLogFieldCondition cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
         if (testBlackboxConditionUncached(cond)) {
-            blackboxConditionCache |= 1 << cond;
+            blackboxConditionCache |= (uint64_t) 1 << cond;
         }
     }
 }
 
 static bool testBlackboxCondition(FlightLogFieldCondition condition)
 {
-    return (blackboxConditionCache & (1 << condition)) != 0;
+    return (blackboxConditionCache & (uint64_t) 1 << condition) != 0;
 }
 
 static void blackboxSetState(BlackboxState newState)
@@ -656,6 +685,17 @@ static void writeIntraframe(void)
         }
     }
 
+#ifdef USE_DSHOT_TELEMETRY
+    if (isFieldEnabled(FIELD_SELECT(RPM))) {
+        const int motorCount = getMotorCount();
+        for (int x = 0; x < motorCount; x++) {
+            if (testBlackboxCondition(CONDITION(MOTOR_1_HAS_RPM) + x)) {
+                blackboxWriteUnsignedVB(blackboxCurrent->erpm[x]);
+            }
+        }
+    }
+#endif
+
     //Rotate our history buffers:
 
     //The current state becomes the new "before" state
@@ -796,6 +836,16 @@ static void writeInterframe(void)
             blackboxWriteSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
         }
     }
+#ifdef USE_DSHOT_TELEMETRY
+    if (isFieldEnabled(FIELD_SELECT(RPM))) {
+        const int motorCount = getMotorCount();
+        for (int x = 0; x < motorCount; x++) {
+            if (testBlackboxCondition(CONDITION(MOTOR_1_HAS_RPM) + x)) {
+                blackboxWriteSignedVB(blackboxCurrent->erpm[x] - blackboxLast->erpm[x]);
+            }
+        }
+    }
+#endif
 
     //Rotate our history buffers
     blackboxHistory[2] = blackboxHistory[1];
@@ -1097,6 +1147,12 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->motor[i] = lrintf(motor[i]);
     }
 
+#ifdef USE_DSHOT_TELEMETRY
+    for (int i = 0; i < motorCount; i++) {
+        blackboxCurrent->erpm[i] = getDshotTelemetry(i);
+    }
+#endif
+
     blackboxCurrent->vbatLatest = getBatteryVoltageLatest();
     blackboxCurrent->amperageLatest = getAmperageLatest();
 

src/main/blackbox/blackbox_fielddefs.h

@@ -32,6 +32,17 @@ typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
     FLIGHT_LOG_FIELD_CONDITION_TRICOPTER,
 
+#ifdef USE_DSHOT_TELEMETRY
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_1_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_2_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_3_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_4_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_5_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_6_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_7_HAS_RPM,
+    FLIGHT_LOG_FIELD_CONDITION_MOTOR_8_HAS_RPM,
+#endif
+
     FLIGHT_LOG_FIELD_CONDITION_MAG,
     FLIGHT_LOG_FIELD_CONDITION_BARO,
     FLIGHT_LOG_FIELD_CONDITION_VBAT,
@@ -72,6 +83,7 @@ typedef enum FlightLogFieldSelect_e { // no more than 32
     FLIGHT_LOG_FIELD_SELECT_DEBUG_LOG,
     FLIGHT_LOG_FIELD_SELECT_MOTOR,
     FLIGHT_LOG_FIELD_SELECT_GPS,
+    FLIGHT_LOG_FIELD_SELECT_RPM,
     FLIGHT_LOG_FIELD_SELECT_COUNT
 } FlightLogFieldSelect_e;
 

src/main/cli/settings.c

@@ -826,6 +826,9 @@ const clivalue_t valueTable[] = {
 #endif
     { "blackbox_disable_debug",     VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_DEBUG_LOG,   PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
     { "blackbox_disable_motors",    VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_MOTOR,   PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
+#ifdef USE_DSHOT_TELEMETRY
+    { "blackbox_disable_rpm",       VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_RPM,   PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
+#endif
 #ifdef USE_GPS
     { "blackbox_disable_gps",       VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_GPS,   PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
 #endif