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Tidied blackbox_io.c
This commit is contained in:
Martin Budden
parent
8a53aedb94
commit
e7a2f917f2
1 changed files with 19 additions and 29 deletions
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@ -11,9 +11,6 @@
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#include "blackbox.h"
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#include "blackbox_io.h"
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#include "build/version.h"
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#include "build/build_config.h"
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#include "common/encoding.h"
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#include "common/maths.h"
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#include "common/printf.h"
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@ -21,9 +18,6 @@
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "fc/config.h"
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#include "fc/rc_controls.h"
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#include "flight/pid.h"
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#include "io/asyncfatfs/asyncfatfs.h"
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@ -43,7 +37,7 @@ int32_t blackboxHeaderBudget;
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STATIC_UNIT_TESTED serialPort_t *blackboxPort = NULL;
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#ifndef UNIT_TEST
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static portSharing_e blackboxPortSharing;
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#endif
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#endif // UNIT_TEST
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#ifdef USE_SDCARD
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@ -76,7 +70,7 @@ void blackboxOpen()
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mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
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}
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}
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#endif
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#endif // UNIT_TEST
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void blackboxWrite(uint8_t value)
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{
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@ -230,7 +224,8 @@ void blackboxWriteS16(int16_t value)
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/**
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* Write a 2 bit tag followed by 3 signed fields of 2, 4, 6 or 32 bits
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*/
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void blackboxWriteTag2_3S32(int32_t *values) {
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void blackboxWriteTag2_3S32(int32_t *values)
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{
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static const int NUM_FIELDS = 3;
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//Need to be enums rather than const ints if we want to switch on them (due to being C)
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@ -248,7 +243,6 @@ void blackboxWriteTag2_3S32(int32_t *values) {
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BYTES_4 = 3
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};
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int x;
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int selector = BITS_2, selector2;
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/*
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@ -262,7 +256,7 @@ void blackboxWriteTag2_3S32(int32_t *values) {
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* 6 bits per field ss11 1111 0022 2222 0033 3333
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* 32 bits per field sstt tttt followed by fields of various byte counts
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*/
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for (x = 0; x < NUM_FIELDS; x++) {
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for (int x = 0; x < NUM_FIELDS; x++) {
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//Require more than 6 bits?
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if (values[x] >= 32 || values[x] < -32) {
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selector = BITS_32;
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@ -307,7 +301,7 @@ void blackboxWriteTag2_3S32(int32_t *values) {
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selector2 = 0;
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//Encode in reverse order so the first field is in the low bits:
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for (x = NUM_FIELDS - 1; x >= 0; x--) {
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for (int x = NUM_FIELDS - 1; x >= 0; x--) {
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selector2 <<= 2;
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if (values[x] < 128 && values[x] >= -128) {
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@ -325,7 +319,7 @@ void blackboxWriteTag2_3S32(int32_t *values) {
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blackboxWrite((selector << 6) | selector2);
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//And now the values according to the selectors we picked for them
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for (x = 0; x < NUM_FIELDS; x++, selector2 >>= 2) {
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for (int x = 0; x < NUM_FIELDS; x++, selector2 >>= 2) {
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switch (selector2 & 0x03) {
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case BYTES_1:
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blackboxWrite(values[x]);
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@ -347,14 +341,15 @@ void blackboxWriteTag2_3S32(int32_t *values) {
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break;
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}
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}
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break;
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break;
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}
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}
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/**
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* Write an 8-bit selector followed by four signed fields of size 0, 4, 8 or 16 bits.
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*/
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void blackboxWriteTag8_4S16(int32_t *values) {
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void blackboxWriteTag8_4S16(int32_t *values)
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{
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//Need to be enums rather than const ints if we want to switch on them (due to being C)
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enum {
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@ -364,13 +359,9 @@ void blackboxWriteTag8_4S16(int32_t *values) {
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FIELD_16BIT = 3
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};
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uint8_t selector, buffer;
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int nibbleIndex;
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int x;
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selector = 0;
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uint8_t selector = 0;
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//Encode in reverse order so the first field is in the low bits:
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for (x = 3; x >= 0; x--) {
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for (int x = 3; x >= 0; x--) {
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selector <<= 2;
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if (values[x] == 0) {
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@ -386,9 +377,9 @@ void blackboxWriteTag8_4S16(int32_t *values) {
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blackboxWrite(selector);
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nibbleIndex = 0;
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buffer = 0;
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for (x = 0; x < 4; x++, selector >>= 2) {
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int nibbleIndex = 0;
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uint8_t buffer = 0;
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for (int x = 0; x < 4; x++, selector >>= 2) {
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switch (selector & 0x03) {
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case FIELD_ZERO:
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//No-op
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@ -444,7 +435,6 @@ void blackboxWriteTag8_4S16(int32_t *values) {
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void blackboxWriteTag8_8SVB(int32_t *values, int valueCount)
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{
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uint8_t header;
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int i;
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if (valueCount > 0) {
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//If we're only writing one field then we can skip the header
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@ -455,7 +445,7 @@ void blackboxWriteTag8_8SVB(int32_t *values, int valueCount)
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header = 0;
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// First field should be in low bits of header
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for (i = valueCount - 1; i >= 0; i--) {
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for (int i = valueCount - 1; i >= 0; i--) {
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header <<= 1;
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if (values[i] != 0) {
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@ -465,7 +455,7 @@ void blackboxWriteTag8_8SVB(int32_t *values, int valueCount)
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blackboxWrite(header);
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for (i = 0; i < valueCount; i++) {
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for (int i = 0; i < valueCount; i++) {
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if (values[i] != 0) {
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blackboxWriteSignedVB(values[i]);
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}
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@ -616,7 +606,7 @@ bool blackboxDeviceOpen(void)
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return false;
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}
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}
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#endif
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#endif // UNIT_TEST
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/**
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* Erase all blackbox logs
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@ -677,7 +667,7 @@ void blackboxDeviceClose(void)
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;
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}
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}
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#endif
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#endif // UNIT_TEST
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#ifdef USE_SDCARD
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