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Change p_ratio to sample_rate

Browse source 
Complete refactor logging rate selection in cli, msp and blackbox code
Retains backward compatibility

Fixed tests and requested changes

Fixed blackbox device "SERIAL" not showing in cms menu and whitespace of "FLASH"
This commit is contained in:
fgiudice98 2020-05-14 17:27:13 +02:00
parent 6aeac3caa6
commit b063cb4e90
8 changed files with 100 additions and 70 deletions
Download patch file Download diff file Expand all files Collapse all files

32
src/main/blackbox/blackbox.c
View file

@ -90,7 +90,7 @@
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1);
PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.p_ratio = 32,
.sample_rate = BLACKBOX_RATE_QUARTER,
.device = DEFAULT_BLACKBOX_DEVICE,
.record_acc = 1,
.mode = BLACKBOX_MODE_NORMAL
@ -369,7 +369,7 @@ static uint16_t blackboxIFrameIndex;
// typically 32 for 1kHz loop, 64 for 2kHz loop etc
STATIC_UNIT_TESTED int16_t blackboxIInterval = 0;
// number of flight loop iterations before logging P-frame
STATIC_UNIT_TESTED int16_t blackboxPInterval = 0;
STATIC_UNIT_TESTED int8_t blackboxPInterval = 0;
STATIC_UNIT_TESTED int32_t blackboxSInterval = 0;
STATIC_UNIT_TESTED int32_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames;
@ -402,7 +402,7 @@ bool blackboxMayEditConfig(void)
static bool blackboxIsOnlyLoggingIntraframes(void)
{
return blackboxConfig()->p_ratio == 0;
return blackboxPInterval == 0;
}
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
@ -460,7 +460,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return isRssiConfigured();
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return blackboxConfig()->p_ratio != 1;
return blackboxPInterval != blackboxIInterval;
case FLIGHT_LOG_FIELD_CONDITION_ACC:
return sensors(SENSOR_ACC) && blackboxConfig()->record_acc;
@ -1244,7 +1244,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", pilotConfig()->name);
BLACKBOX_PRINT_HEADER_LINE("I interval", "%d", blackboxIInterval);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%d", blackboxPInterval);
BLACKBOX_PRINT_HEADER_LINE("P ratio", "%d", blackboxConfig()->p_ratio);
BLACKBOX_PRINT_HEADER_LINE("P ratio", "%d", (uint16_t)(blackboxIInterval / blackboxPInterval));
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x", castFloatBytesToInt(1.0f));
@ -1513,7 +1513,7 @@ static void blackboxCheckAndLogFlightMode(void)
STATIC_UNIT_TESTED bool blackboxShouldLogPFrame(void)
{
return blackboxPFrameIndex == 0 && blackboxConfig()->p_ratio != 0;
return blackboxPFrameIndex == 0 && blackboxPInterval != 0;
}
STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void)
@ -1816,6 +1816,14 @@ uint8_t blackboxGetRateDenom(void)
}
uint16_t blackboxGetPRatio(void) {
return blackboxIInterval / blackboxPInterval;
}
uint8_t blackboxCalculateSampleRate(uint16_t pRatio) {
return LOG2(32000 / (targetPidLooptime * pRatio));
}
/**
* Call during system startup to initialize the blackbox.
*/
@ -1828,15 +1836,11 @@ void blackboxInit(void)
// targetPidLooptime is 1000 for 1kHz loop, 500 for 2kHz loop etc, targetPidLooptime is rounded for short looptimes
blackboxIInterval = (uint16_t)(32 * 1000 / targetPidLooptime);
// by default p_ratio is 32 and a P-frame is written every 1ms
// if p_ratio is zero then no P-frames are logged
if (blackboxConfig()->p_ratio == 0) {
blackboxPInterval = 0; // blackboxPInterval not used when p_ratio is zero, so just set it to zero
} else if (blackboxConfig()->p_ratio > blackboxIInterval && blackboxIInterval >= 32) {
blackboxPInterval = 1;
} else {
blackboxPInterval = blackboxIInterval / blackboxConfig()->p_ratio;
blackboxPInterval = 1 << blackboxConfig()->sample_rate;
if (blackboxPInterval > blackboxIInterval) {
blackboxPInterval = 0; // log only I frames if logging frequency is too low
}
if (blackboxConfig()->device) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
} else {

12
src/main/blackbox/blackbox.h
View file

@ -38,6 +38,14 @@ typedef enum BlackboxMode {
BLACKBOX_MODE_ALWAYS_ON
} BlackboxMode;
typedef enum BlackboxSampleRate { // Sample rate is 1/(2^BlackboxSampleRate)
BLACKBOX_RATE_ONE = 0,
BLACKBOX_RATE_HALF,
BLACKBOX_RATE_QUARTER,
BLACKBOX_RATE_8TH,
BLACKBOX_RATE_16TH
} BlackboxSampleRate_e;
typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10, // UNUSED
@ -51,7 +59,7 @@ typedef enum FlightLogEvent {
} FlightLogEvent;
typedef struct blackboxConfig_s {
uint16_t p_ratio; // I-frame interval / P-frame interval
uint8_t sample_rate; // sample rate
uint8_t device;
uint8_t record_acc;
uint8_t mode;
@ -67,6 +75,8 @@ void blackboxUpdate(timeUs_t currentTimeUs);
void blackboxSetStartDateTime(const char *dateTime, timeMs_t timeNowMs);
int blackboxCalculatePDenom(int rateNum, int rateDenom);
uint8_t blackboxGetRateDenom(void);
uint16_t blackboxGetPRatio(void);
uint8_t blackboxCalculateSampleRate(uint16_t pRatio);
void blackboxValidateConfig(void);
void blackboxFinish(void);
bool blackboxMayEditConfig(void);

7
src/main/cli/settings.c
View file

@ -216,6 +216,10 @@ static const char * const lookupTableBlackboxDevice[] = {
static const char * const lookupTableBlackboxMode[] = {
"NORMAL", "MOTOR_TEST", "ALWAYS"
};
static const char * const lookupTableBlackboxSampleRate[] = {
"1/1", "1/2", "1/4", "1/8", "1/16"
};
#endif
#ifdef USE_SERIAL_RX
@ -511,6 +515,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_BLACKBOX
LOOKUP_TABLE_ENTRY(lookupTableBlackboxDevice),
LOOKUP_TABLE_ENTRY(lookupTableBlackboxMode),
LOOKUP_TABLE_ENTRY(lookupTableBlackboxSampleRate),
#endif
LOOKUP_TABLE_ENTRY(currentMeterSourceNames),
LOOKUP_TABLE_ENTRY(voltageMeterSourceNames),
@ -771,7 +776,7 @@ const clivalue_t valueTable[] = {
// PG_BLACKBOX_CONFIG
#ifdef USE_BLACKBOX
{ "blackbox_p_ratio", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, INT16_MAX }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, p_ratio) },
{ "blackbox_sample_rate", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_SAMPLE_RATE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, sample_rate) },
{ "blackbox_device", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
{ "blackbox_record_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) },
{ "blackbox_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) },

1
src/main/cli/settings.h
View file

@ -41,6 +41,7 @@ typedef enum {
#ifdef USE_BLACKBOX
TABLE_BLACKBOX_DEVICE,
TABLE_BLACKBOX_MODE,
TABLE_BLACKBOX_SAMPLE_RATE,
#endif
TABLE_CURRENT_METER,
TABLE_VOLTAGE_METER,

30
src/main/cms/cms_menu_blackbox.c
View file

@ -58,6 +58,8 @@
#include "pg/pg.h"
#include "flight/pid.h"
static const char * const cmsx_BlackboxDeviceNames[] = {
"NONE",
"FLASH",
@ -65,16 +67,25 @@ static const char * const cmsx_BlackboxDeviceNames[] = {
"SERIAL"
};
static uint16_t blackboxConfig_p_ratio;
static const char * const cmsx_BlackboxRateNames[] = {
"1/1",
"1/2",
"1/4",
"1/8",
"1/16"
};
static uint8_t cmsx_BlackboxDevice;
static OSD_TAB_t cmsx_BlackboxDeviceTable = { &cmsx_BlackboxDevice, 2, cmsx_BlackboxDeviceNames };
static OSD_TAB_t cmsx_BlackboxDeviceTable = { &cmsx_BlackboxDevice, 3, cmsx_BlackboxDeviceNames };
static uint8_t cmsx_BlackboxRate;
static OSD_TAB_t cmsx_BlackboxRateTable = { &cmsx_BlackboxRate, 4, cmsx_BlackboxRateNames };
static debugType_e systemConfig_debug_mode;
#define CMS_BLACKBOX_STRING_LENGTH 8
static char cmsx_BlackboxStatus[CMS_BLACKBOX_STRING_LENGTH];
static char cmsx_BlackboxDeviceStorageUsed[CMS_BLACKBOX_STRING_LENGTH];
static char cmsx_BlackboxDeviceStorageFree[CMS_BLACKBOX_STRING_LENGTH];
static char cmsx_pidFreq[CMS_BLACKBOX_STRING_LENGTH];
static void cmsx_Blackbox_GetDeviceStatus(void)
{
@ -184,9 +195,15 @@ static const void *cmsx_Blackbox_onEnter(displayPort_t *pDisp)
cmsx_Blackbox_GetDeviceStatus();
cmsx_BlackboxDevice = blackboxConfig()->device;
blackboxConfig_p_ratio = blackboxConfig()->p_ratio;
cmsx_BlackboxRate = blackboxConfig()->sample_rate;
systemConfig_debug_mode = systemConfig()->debug_mode;
const uint16_t pidFreq = (uint16_t)pidGetPidFrequency();
if (pidFreq > 1000) {
tfp_sprintf(cmsx_pidFreq, "%1d.%02dKHZ", (pidFreq / 10) / 100, (pidFreq / 10) % 100);
} else {
tfp_sprintf(cmsx_pidFreq, "%3dHZ", pidFreq);
}
return NULL;
}
@ -199,7 +216,7 @@ static const void *cmsx_Blackbox_onExit(displayPort_t *pDisp, const OSD_Entry *s
blackboxConfigMutable()->device = cmsx_BlackboxDevice;
blackboxValidateConfig();
}
blackboxConfigMutable()->p_ratio = blackboxConfig_p_ratio;
blackboxConfigMutable()->sample_rate = cmsx_BlackboxRate;
systemConfigMutable()->debug_mode = systemConfig_debug_mode;
return NULL;
@ -230,11 +247,12 @@ static CMS_Menu cmsx_menuEraseFlashCheck = {
static const OSD_Entry cmsx_menuBlackboxEntries[] =
{
{ "-- BLACKBOX --", OME_Label, NULL, NULL, 0},
{ "(PID FREQ)", OME_String, NULL, &cmsx_pidFreq, 0 },
{ "SAMPLERATE", OME_TAB, NULL, &cmsx_BlackboxRateTable, REBOOT_REQUIRED },
{ "DEVICE", OME_TAB, NULL, &cmsx_BlackboxDeviceTable, REBOOT_REQUIRED },
{ "(STATUS)", OME_String, NULL, &cmsx_BlackboxStatus, 0 },
{ "(USED)", OME_String, NULL, &cmsx_BlackboxDeviceStorageUsed, 0 },
{ "(FREE)", OME_String, NULL, &cmsx_BlackboxDeviceStorageFree, 0 },
{ "P RATIO", OME_UINT16, NULL, &(OSD_UINT16_t){ &blackboxConfig_p_ratio, 1, INT16_MAX, 1 }, REBOOT_REQUIRED },
{ "DEBUG MODE", OME_TAB, NULL, &(OSD_TAB_t) { &systemConfig_debug_mode, DEBUG_COUNT - 1, debugModeNames }, REBOOT_REQUIRED },
#ifdef USE_FLASHFS

17
src/main/msp/msp.c
View file

@ -1601,13 +1601,15 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, blackboxConfig()->device);
sbufWriteU8(dst, 1); // Rate numerator, not used anymore
sbufWriteU8(dst, blackboxGetRateDenom());
sbufWriteU16(dst, blackboxConfig()->p_ratio);
sbufWriteU16(dst, blackboxGetPRatio());
sbufWriteU8(dst, blackboxConfig()->sample_rate);
#else
sbufWriteU8(dst, 0); // Blackbox not supported
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU8(dst, 0);
#endif
break;
@ -2730,12 +2732,21 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
blackboxConfigMutable()->device = sbufReadU8(src);
const int rateNum = sbufReadU8(src); // was rate_num
const int rateDenom = sbufReadU8(src); // was rate_denom
uint16_t pRatio = 0;
if (sbufBytesRemaining(src) >= 2) {
// p_ratio specified, so use it directly
blackboxConfigMutable()->p_ratio = sbufReadU16(src);
pRatio = sbufReadU16(src);
} else {
// p_ratio not specified in MSP, so calculate it from old rateNum and rateDenom
blackboxConfigMutable()->p_ratio = blackboxCalculatePDenom(rateNum, rateDenom);
pRatio = blackboxCalculatePDenom(rateNum, rateDenom);
}
if (sbufBytesRemaining(src) >= 1) {
// sample_rate specified, so use it directly
blackboxConfigMutable()->sample_rate = sbufReadU8(src);
} else {
// sample_rate not specified in MSP, so calculate it from old p_ratio
blackboxConfigMutable()->sample_rate = blackboxCalculateSampleRate(pRatio);
}
}
break;

2
src/main/target/ALIENWHOOP/config.c
View file

@ -90,7 +90,7 @@ void targetConfiguration(void)
mixerConfigMutable()->yaw_motors_reversed = true;
imuConfigMutable()->small_angle = 180;
blackboxConfigMutable()->p_ratio = 128;
blackboxConfigMutable()->sample_rate = 1; // sample_rate is half of PID loop frequency
/* Breadboard-specific settings for development purposes only
*/

67
src/test/unit/blackbox_unittest.cc
View file

@ -60,7 +60,7 @@ gyroDev_t gyroDev;
TEST(BlackboxTest, TestInitIntervals)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 4; // sample_rate = PID loop frequency / 16
// 250Hz PIDloop
targetPidLooptime = 4000;
blackboxInit();
@ -72,9 +72,10 @@ TEST(BlackboxTest, TestInitIntervals)
targetPidLooptime = 2000;
blackboxInit();
EXPECT_EQ(16, blackboxIInterval);
EXPECT_EQ(0, blackboxPInterval);
EXPECT_EQ(16, blackboxPInterval);
EXPECT_EQ(4096, blackboxSInterval);
blackboxConfigMutable()->sample_rate = 1; // sample_rate = PID loop frequency / 2
// 2kHz PIDloop
targetPidLooptime = 500;
blackboxInit();
@ -82,6 +83,7 @@ TEST(BlackboxTest, TestInitIntervals)
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(16384, blackboxSInterval);
blackboxConfigMutable()->sample_rate = 2;
// 4kHz PIDloop
targetPidLooptime = 250;
blackboxInit();
@ -89,6 +91,7 @@ TEST(BlackboxTest, TestInitIntervals)
EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(32768, blackboxSInterval);
blackboxConfigMutable()->sample_rate = 3;
// 8kHz PIDloop
targetPidLooptime = 125;
blackboxInit();
@ -99,7 +102,7 @@ TEST(BlackboxTest, TestInitIntervals)
TEST(BlackboxTest, Test_500Hz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 0;
// 500Hz PIDloop
targetPidLooptime = 2000;
blackboxInit();
@ -117,7 +120,7 @@ TEST(BlackboxTest, Test_500Hz)
TEST(BlackboxTest, Test_1kHz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 0;
// 1kHz PIDloop
targetPidLooptime = 1000;
blackboxInit();
@ -143,7 +146,7 @@ TEST(BlackboxTest, Test_1kHz)
TEST(BlackboxTest, Test_2kHz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 1;
// 2kHz PIDloop
targetPidLooptime = 500;
blackboxInit();
@ -176,7 +179,7 @@ TEST(BlackboxTest, Test_2kHz)
TEST(BlackboxTest, Test_8kHz)
{
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 3;
// 8kHz PIDloop
targetPidLooptime = 125;
blackboxInit();
@ -199,32 +202,10 @@ TEST(BlackboxTest, Test_8kHz)
EXPECT_TRUE(blackboxShouldLogPFrame());
}
TEST(BlackboxTest, Test_zero_p_ratio)
{
blackboxConfigMutable()->p_ratio = 0;
// 1kHz PIDloop
targetPidLooptime = 1000;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(0, blackboxPInterval);
EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
for (int ii = 0; ii < 31; ++ii) {
blackboxAdvanceIterationTimers();
EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
}
blackboxAdvanceIterationTimers();
EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_FALSE(blackboxShouldLogPFrame());
}
TEST(BlackboxTest, Test_CalculatePDenom)
{
blackboxConfigMutable()->p_ratio = 0;
blackboxConfigMutable()->sample_rate = 0;
// note I-frame is logged every 32ms regardless of PIDloop rate
// so p_ratio is 32 when blackbox logging rate is 1kHz
// 1kHz PIDloop
targetPidLooptime = 1000;
@ -266,19 +247,19 @@ TEST(BlackboxTest, Test_CalculateRates)
{
// 1kHz PIDloop
targetPidLooptime = 1000;
blackboxConfigMutable()->p_ratio = 32;
blackboxConfigMutable()->sample_rate = 0;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 16;
blackboxConfigMutable()->sample_rate = 1;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 8;
blackboxConfigMutable()->sample_rate = 2;
blackboxInit();
EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval);
@ -287,43 +268,43 @@ TEST(BlackboxTest, Test_CalculateRates)
// 8kHz PIDloop
targetPidLooptime = 125;
blackboxConfigMutable()->p_ratio = 32; // 1kHz logging
blackboxConfigMutable()->sample_rate = 3; // 1kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(8, blackboxPInterval);
EXPECT_EQ(8, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 48; // 1.5kHz logging
blackboxConfigMutable()->sample_rate = 4; // 500Hz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(5, blackboxPInterval);
EXPECT_EQ(5, blackboxGetRateDenom());
EXPECT_EQ(16, blackboxPInterval);
EXPECT_EQ(16, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 64; // 2kHz logging
blackboxConfigMutable()->sample_rate = 2; // 2kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(4, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 128; // 4kHz logging
blackboxConfigMutable()->sample_rate = 1; // 4kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 256; // 8kHz logging
blackboxConfigMutable()->sample_rate = 0; // 8kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateDenom());
// 0.126 PIDloop
// 0.126 PIDloop = 7.94kHz
targetPidLooptime = 126;
blackboxConfigMutable()->p_ratio = 32; // 1kHz logging
blackboxConfigMutable()->sample_rate = 3; // 0.992kHz logging
blackboxInit();
EXPECT_EQ(253, blackboxIInterval);
EXPECT_EQ(7, blackboxPInterval);
EXPECT_EQ(7, blackboxGetRateDenom());
EXPECT_EQ(8, blackboxPInterval);
EXPECT_EQ(8, blackboxGetRateDenom());
}