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Tidy blackbox code

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This commit is contained in:
Martin Budden 2017-06-02 06:57:37 +01:00
parent 96ea83cba0
commit b9d8f109ce
3 changed files with 56 additions and 61 deletions
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103
src/main/blackbox/blackbox.c
View file

@ -16,6 +16,7 @@
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
@ -90,17 +91,8 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.rate_denom = 1,
);
#ifndef BLACKBOX_PRINT_HEADER_LINE
#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
break;
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
{__VA_ARGS__}; \
break;
#endif
#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
#define SLOW_FRAME_INTERVAL 4096
static const int32_t blackboxSInterval = 4096;
#define STATIC_ASSERT(condition, name ) \
typedef char assert_failed_ ## name [(condition) ? 1 : -1 ]
@ -330,7 +322,10 @@ typedef enum BlackboxState {
typedef struct blackboxMainState_s {
uint32_t time;
int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT], axisPID_Setpoint[XYZ_AXIS_COUNT];
int32_t axisPID_P[XYZ_AXIS_COUNT];
int32_t axisPID_I[XYZ_AXIS_COUNT];
int32_t axisPID_D[XYZ_AXIS_COUNT];
int32_t axisPID_Setpoint[XYZ_AXIS_COUNT];
int16_t rcCommand[4];
int16_t gyroADC[XYZ_AXIS_COUNT];
@ -374,7 +369,8 @@ typedef struct blackboxMainState_s {
} blackboxMainState_t;
typedef struct blackboxGpsState_s {
int32_t GPS_home[2], GPS_coord[2];
int32_t GPS_home[2];
int32_t GPS_coord[2];
uint8_t GPS_numSat;
} blackboxGpsState_t;
@ -410,11 +406,12 @@ static struct {
// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions);
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
static uint32_t blackboxIFrameInterval;
static uint32_t blackboxIteration;
static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
static uint16_t blackboxPFrameIndex;
static uint16_t blackboxIFrameIndex;
static uint16_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames;
@ -515,18 +512,16 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
return false;
default:
return false;
}
}
static void blackboxBuildConditionCache()
static void blackboxBuildConditionCache(void)
{
FlightLogFieldCondition cond;
blackboxConditionCache = 0;
for (cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
for (FlightLogFieldCondition cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
if (testBlackboxConditionUncached(cond)) {
blackboxConditionCache |= 1 << cond;
}
@ -561,7 +556,7 @@ static void blackboxSetState(BlackboxState newState)
xmitState.headerIndex = 0;
break;
case BLACKBOX_STATE_RUNNING:
blackboxSlowFrameIterationTimer = SLOW_FRAME_INTERVAL; //Force a slow frame to be written on the first iteration
blackboxSlowFrameIterationTimer = blackboxSInterval; //Force a slow frame to be written on the first iteration
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
xmitState.u.startTime = millis();
@ -575,6 +570,7 @@ static void blackboxSetState(BlackboxState newState)
static void writeIntraframe(void)
{
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxWrite('I');
blackboxWriteUnsignedVB(blackboxIteration);
@ -616,27 +612,27 @@ static void writeIntraframe(void)
}
#ifdef MAG
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->magADC, XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->magADC, XYZ_AXIS_COUNT);
}
#endif
#ifdef BARO
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
blackboxWriteSignedVB(blackboxCurrent->BaroAlt);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
blackboxWriteSignedVB(blackboxCurrent->BaroAlt);
}
#endif
#ifdef PITOT
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_PITOT)) {
blackboxWriteSignedVB(blackboxCurrent->airSpeed);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_PITOT)) {
blackboxWriteSignedVB(blackboxCurrent->airSpeed);
}
#endif
#ifdef SONAR
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
blackboxWriteSignedVB(blackboxCurrent->sonarRaw);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
blackboxWriteSignedVB(blackboxCurrent->sonarRaw);
}
#endif
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI)) {
@ -720,8 +716,6 @@ static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHist
static void writeInterframe(void)
{
int32_t deltas[8];
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxMainState_t *blackboxLast = blackboxHistory[1];
@ -735,6 +729,7 @@ static void writeInterframe(void)
*/
blackboxWriteSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
int32_t deltas[8];
arraySubInt32(deltas, blackboxCurrent->axisPID_Setpoint, blackboxLast->axisPID_Setpoint, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
@ -907,13 +902,13 @@ static void loadSlowState(blackboxSlowState_t *slow)
/**
* If the data in the slow frame has changed, log a slow frame.
*
* If allowPeriodicWrite is true, the frame is also logged if it has been more than SLOW_FRAME_INTERVAL logging iterations
* If allowPeriodicWrite is true, the frame is also logged if it has been more than blackboxSInterval logging iterations
* since the field was last logged.
*/
static void writeSlowFrameIfNeeded(bool allowPeriodicWrite)
{
// Write the slow frame peridocially so it can be recovered if we ever lose sync
bool shouldWrite = allowPeriodicWrite && blackboxSlowFrameIterationTimer >= SLOW_FRAME_INTERVAL;
bool shouldWrite = allowPeriodicWrite && blackboxSlowFrameIterationTimer >= blackboxSInterval;
if (shouldWrite) {
loadSlowState(&slowHistory);
@ -935,15 +930,6 @@ static void writeSlowFrameIfNeeded(bool allowPeriodicWrite)
}
}
static int gcd(int num, int denom)
{
if (denom == 0) {
return num;
}
return gcd(denom, num % denom);
}
static void blackboxValidateConfig(void)
{
if (blackboxConfig()->rate_num == 0 || blackboxConfig()->rate_denom == 0
@ -1283,11 +1269,20 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v
return xmitState.headerIndex < headerCount;
}
#ifndef BLACKBOX_PRINT_HEADER_LINE
#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
break;
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
{__VA_ARGS__}; \
break;
#endif
/**
* Transmit a portion of the system information headers. Call the first time with xmitState.headerIndex == 0. Returns
* true iff transmission is complete, otherwise call again later to continue transmission.
*/
static bool blackboxWriteSysinfo()
static bool blackboxWriteSysinfo(void)
{
// Make sure we have enough room in the buffer for our longest line (as of this writing, the "Firmware date" line)
if (blackboxDeviceReserveBufferSpace(64) != BLACKBOX_RESERVE_SUCCESS) {
@ -1425,16 +1420,13 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
}
/* If an arming beep has played since it was last logged, write the time of the arming beep to the log as a synchronization point */
static void blackboxCheckAndLogArmingBeep()
static void blackboxCheckAndLogArmingBeep(void)
{
flightLogEvent_syncBeep_t eventData;
// Use != so that we can still detect a change if the counter wraps
if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
blackboxLastArmingBeep = getArmingBeepTimeMicros();
flightLogEvent_syncBeep_t eventData;
eventData.time = blackboxLastArmingBeep;
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
}
}
@ -1527,8 +1519,6 @@ static void blackboxLogIteration(timeUs_t currentTimeUs)
*/
void blackboxUpdate(timeUs_t currentTimeUs)
{
int i;
if (blackboxState >= BLACKBOX_FIRST_HEADER_SENDING_STATE && blackboxState <= BLACKBOX_LAST_HEADER_SENDING_STATE) {
blackboxReplenishHeaderBudget();
}
@ -1548,7 +1538,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
*/
if (millis() > xmitState.u.startTime + 100) {
if (blackboxDeviceReserveBufferSpace(BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION) == BLACKBOX_RESERVE_SUCCESS) {
for (i = 0; i < BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION && blackboxHeader[xmitState.headerIndex] != '\0'; i++, xmitState.headerIndex++) {
for (int i = 0; i < BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION && blackboxHeader[xmitState.headerIndex] != '\0'; i++, xmitState.headerIndex++) {
blackboxWrite(blackboxHeader[xmitState.headerIndex]);
blackboxHeaderBudget--;
}
@ -1600,7 +1590,6 @@ void blackboxUpdate(timeUs_t currentTimeUs)
//Keep writing chunks of the system info headers until it returns true to signal completion
if (blackboxWriteSysinfo()) {
/*
* Wait for header buffers to drain completely before data logging begins to ensure reliable header delivery
* (overflowing circular buffers causes all data to be discarded, so the first few logged iterations
@ -1625,7 +1614,6 @@ void blackboxUpdate(timeUs_t currentTimeUs)
blackboxLogIteration(currentTimeUs);
}
// Keep the logging timers ticking so our log iteration continues to advance
blackboxAdvanceIterationTimers();
break;
@ -1636,12 +1624,10 @@ void blackboxUpdate(timeUs_t currentTimeUs)
} else {
blackboxLogIteration(currentTimeUs);
}
blackboxAdvanceIterationTimers();
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
//On entry of this state, startTime is set
/*
* Wait for the log we've transmitted to make its way to the logger before we release the serial port,
* since releasing the port clears the Tx buffer.
@ -1693,5 +1679,4 @@ void blackboxInit(void)
blackboxIFrameInterval = 256;
}
}
#endif

11
src/main/common/maths.c
View file

@ -97,6 +97,15 @@ float acos_approx(float x)
}
#endif
int gcd(int num, int denom)
{
if (denom == 0) {
return num;
}
return gcd(denom, num % denom);
}
int32_t wrap_18000(int32_t angle)
{
if (angle > 18000)
@ -475,4 +484,4 @@ uint8_t crc8_dvb_s2(uint8_t crc, unsigned char a)
float bellCurve(const float x, const float curveWidth)
{
return powf(M_Ef, -sq(x) / (2.0f * sq(curveWidth)));
}
}

3
src/main/common/maths.h
View file

@ -132,6 +132,7 @@ void sensorCalibrationPushSampleForScaleCalculation(sensorCalibrationState_t * s
void sensorCalibrationSolveForOffset(sensorCalibrationState_t * state, float result[3]);
void sensorCalibrationSolveForScale(sensorCalibrationState_t * state, float result[3]);
int gcd(int num, int denom);
int32_t applyDeadband(int32_t value, int32_t deadband);
int constrain(int amt, int low, int high);
@ -177,4 +178,4 @@ void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
uint16_t crc16_ccitt(uint16_t crc, unsigned char a);
uint8_t crc8_dvb_s2(uint8_t crc, unsigned char a);
float bellCurve(const float x, const float curveWidth);
float bellCurve(const float x, const float curveWidth);