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 BlackboxSampleRate { // Sample rate is 1/(2^BlackboxSampleRate)
  42     BLACKBOX_RATE_ONE = 0,
  43     BLACKBOX_RATE_HALF,
  44     BLACKBOX_RATE_QUARTER,
  45     BLACKBOX_RATE_8TH,
  46     BLACKBOX_RATE_16TH
  47 } BlackboxSampleRate_e;
  48
  49 typedef enum FlightLogEvent {
  50     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
  51     FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,   // UNUSED
  52     FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,  // UNUSED
  53     FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS = 12,       // UNUSED
  54     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
  55     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
  56     FLIGHT_LOG_EVENT_DISARM = 15,
  57     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
  58     FLIGHT_LOG_EVENT_LOG_END = 255
  59 } FlightLogEvent;
  60
  61 typedef struct blackboxConfig_s {
  62     uint32_t fields_disabled_mask;
  63     uint8_t sample_rate; // sample rate
  64     uint8_t device;
  65     uint8_t mode;
  66     uint8_t high_resolution;
  67 } blackboxConfig_t;
  68
  69 PG_DECLARE(blackboxConfig_t, blackboxConfig);
  70
  71 union flightLogEventData_u;
  72 void blackboxLogEvent(FlightLogEvent event, union flightLogEventData_u *data);
  73
  74 void blackboxInit(void);
  75 void blackboxUpdate(timeUs_t currentTimeUs);
  76 void blackboxSetStartDateTime(const char *dateTime, timeMs_t timeNowMs);
  77 int blackboxCalculatePDenom(int rateNum, int rateDenom);
  78 uint8_t blackboxGetRateDenom(void);
  79 uint16_t blackboxGetPRatio(void);
  80 uint8_t blackboxCalculateSampleRate(uint16_t pRatio);
  81 void blackboxValidateConfig(void);
  82 void blackboxFinish(void);
  83 bool blackboxMayEditConfig(void);
  84 #ifdef UNIT_TEST
  85 STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs);
  86 STATIC_UNIT_TESTED bool blackboxShouldLogPFrame(void);
  87 STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void);
  88 STATIC_UNIT_TESTED bool blackboxShouldLogGpsHomeFrame(void);
  89 STATIC_UNIT_TESTED bool writeSlowFrameIfNeeded(void);
  90 // Called once every FC loop in order to keep track of how many FC loop iterations have passed
  91 STATIC_UNIT_TESTED void blackboxAdvanceIterationTimers(void);
  92 extern int32_t blackboxSInterval;
  93 extern int32_t blackboxSlowFrameIterationTimer;
  94 #endif