src/main/blackbox/blackbox.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "platform.h"
  24 #include "build/build_config.h"
  25 #include "common/time.h"
  26 #include "pg/pg.h"
  27
  28 typedef enum BlackboxDevice {
  29     BLACKBOX_DEVICE_NONE = 0,
  30     BLACKBOX_DEVICE_FLASH = 1,
  31     BLACKBOX_DEVICE_SDCARD = 2,
  32     BLACKBOX_DEVICE_SERIAL = 3
  33 } BlackboxDevice_e;
  34
  35 typedef enum BlackboxMode {
  36     BLACKBOX_MODE_NORMAL = 0,
  37     BLACKBOX_MODE_MOTOR_TEST,
  38     BLACKBOX_MODE_ALWAYS_ON
  39 } BlackboxMode;
  40
  41 typedef enum FlightLogEvent {
  42     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
  43     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
  44     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
  45     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
  46     FLIGHT_LOG_EVENT_LOG_END = 255
  47 } FlightLogEvent;
  48
  49 typedef struct blackboxConfig_s {
  50     uint16_t p_ratio; // I-frame interval / P-frame interval
  51     uint8_t device;
  52     uint8_t record_acc;
  53     uint8_t mode;
  54 } blackboxConfig_t;
  55
  56 PG_DECLARE(blackboxConfig_t, blackboxConfig);
  57
  58 union flightLogEventData_u;
  59 void blackboxLogEvent(FlightLogEvent event, union flightLogEventData_u *data);
  60
  61 void blackboxInit(void);
  62 void blackboxUpdate(timeUs_t currentTimeUs);
  63 void blackboxSetStartDateTime(const char *dateTime, timeMs_t timeNowMs);
  64 int blackboxCalculatePDenom(int rateNum, int rateDenom);
  65 uint8_t blackboxGetRateDenom(void);
  66 void blackboxValidateConfig(void);
  67 void blackboxFinish(void);
  68 bool blackboxMayEditConfig(void);
  69 #ifdef UNIT_TEST
  70 STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs);
  71 STATIC_UNIT_TESTED bool blackboxShouldLogPFrame(void);
  72 STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void);
  73 STATIC_UNIT_TESTED bool blackboxShouldLogGpsHomeFrame(void);
  74 STATIC_UNIT_TESTED bool writeSlowFrameIfNeeded(void);
  75 // Called once every FC loop in order to keep track of how many FC loop iterations have passed
  76 STATIC_UNIT_TESTED void blackboxAdvanceIterationTimers(void);
  77 extern int32_t blackboxSInterval;
  78 extern int32_t blackboxSlowFrameIterationTimer;
  79 #endif