2 * This file is part of Cleanflight.
4 * Cleanflight is free software: you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 3 of the License, or
7 * (at your option) any later version.
9 * Cleanflight is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
27 #include "common/maths.h"
28 #include "common/axis.h"
29 #include "common/color.h"
30 #include "common/encoding.h"
31 #include "common/utils.h"
33 #include "drivers/gpio.h"
34 #include "drivers/sensor.h"
35 #include "drivers/system.h"
36 #include "drivers/serial.h"
37 #include "drivers/compass.h"
38 #include "drivers/timer.h"
39 #include "drivers/pwm_rx.h"
40 #include "drivers/accgyro.h"
41 #include "drivers/light_led.h"
43 #include "sensors/sensors.h"
44 #include "sensors/boardalignment.h"
45 #include "sensors/sonar.h"
46 #include "sensors/compass.h"
47 #include "sensors/acceleration.h"
48 #include "sensors/barometer.h"
49 #include "sensors/gyro.h"
50 #include "sensors/battery.h"
52 #include "io/beeper.h"
53 #include "io/display.h"
54 #include "io/escservo.h"
55 #include "io/rc_controls.h"
56 #include "io/gimbal.h"
58 #include "io/ledstrip.h"
59 #include "io/serial.h"
60 #include "io/serial_cli.h"
61 #include "io/serial_msp.h"
62 #include "io/statusindicator.h"
68 #include "telemetry/telemetry.h"
70 #include "flight/mixer.h"
71 #include "flight/altitudehold.h"
72 #include "flight/failsafe.h"
73 #include "flight/imu.h"
74 #include "flight/navigation.h"
76 #include "config/runtime_config.h"
77 #include "config/config.h"
78 #include "config/config_profile.h"
79 #include "config/config_master.h"
82 #include "blackbox_io.h"
84 #define BLACKBOX_I_INTERVAL 32
85 #define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
86 #define SLOW_FRAME_INTERVAL 4096
88 #define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
90 #define STATIC_ASSERT(condition, name ) \
91 typedef char assert_failed_ ## name [(condition) ? 1 : -1 ]
93 // Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
95 #define PREDICT(x) CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x)
96 #define ENCODING(x) CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x)
97 #define CONDITION(x) CONCAT(FLIGHT_LOG_FIELD_CONDITION_, x)
98 #define UNSIGNED FLIGHT_LOG_FIELD_UNSIGNED
99 #define SIGNED FLIGHT_LOG_FIELD_SIGNED
101 static const char blackboxHeader
[] =
102 "H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
104 "H I interval:" STR(BLACKBOX_I_INTERVAL
) "\n";
106 static const char* const blackboxFieldHeaderNames
[] = {
115 /* All field definition structs should look like this (but with longer arrs): */
116 typedef struct blackboxFieldDefinition_s
{
118 // If the field name has a number to be included in square brackets [1] afterwards, set it here, or -1 for no brackets:
119 int8_t fieldNameIndex
;
121 // Each member of this array will be the value to print for this field for the given header index
123 } blackboxFieldDefinition_t
;
125 #define BLACKBOX_DELTA_FIELD_HEADER_COUNT ARRAY_LENGTH(blackboxFieldHeaderNames)
126 #define BLACKBOX_SIMPLE_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
127 #define BLACKBOX_CONDITIONAL_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
129 typedef struct blackboxSimpleFieldDefinition_s
{
131 int8_t fieldNameIndex
;
136 } blackboxSimpleFieldDefinition_t
;
138 typedef struct blackboxConditionalFieldDefinition_s
{
140 int8_t fieldNameIndex
;
145 uint8_t condition
; // Decide whether this field should appear in the log
146 } blackboxConditionalFieldDefinition_t
;
148 typedef struct blackboxDeltaFieldDefinition_s
{
150 int8_t fieldNameIndex
;
157 uint8_t condition
; // Decide whether this field should appear in the log
158 } blackboxDeltaFieldDefinition_t
;
161 * Description of the blackbox fields we are writing in our main intra (I) and inter (P) frames. This description is
162 * written into the flight log header so the log can be properly interpreted (but these definitions don't actually cause
163 * the encoding to happen, we have to encode the flight log ourselves in write{Inter|Intra}frame() in a way that matches
164 * the encoding we've promised here).
166 static const blackboxDeltaFieldDefinition_t blackboxMainFields
[] = {
167 /* loopIteration doesn't appear in P frames since it always increments */
168 {"loopIteration",-1, UNSIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(UNSIGNED_VB
), .Ppredict
= PREDICT(INC
), .Pencode
= FLIGHT_LOG_FIELD_ENCODING_NULL
, CONDITION(ALWAYS
)},
169 /* Time advances pretty steadily so the P-frame prediction is a straight line */
170 {"time", -1, UNSIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(UNSIGNED_VB
), .Ppredict
= PREDICT(STRAIGHT_LINE
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
171 {"axisP", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
172 {"axisP", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
173 {"axisP", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
174 /* I terms get special packed encoding in P frames: */
175 {"axisI", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG2_3S32
), CONDITION(ALWAYS
)},
176 {"axisI", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG2_3S32
), CONDITION(ALWAYS
)},
177 {"axisI", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG2_3S32
), CONDITION(ALWAYS
)},
178 {"axisD", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(NONZERO_PID_D_0
)},
179 {"axisD", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(NONZERO_PID_D_1
)},
180 {"axisD", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(NONZERO_PID_D_2
)},
181 /* rcCommands are encoded together as a group in P-frames: */
182 {"rcCommand", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_4S16
), CONDITION(ALWAYS
)},
183 {"rcCommand", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_4S16
), CONDITION(ALWAYS
)},
184 {"rcCommand", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_4S16
), CONDITION(ALWAYS
)},
185 /* Throttle is always in the range [minthrottle..maxthrottle]: */
186 {"rcCommand", 3, UNSIGNED
, .Ipredict
= PREDICT(MINTHROTTLE
), .Iencode
= ENCODING(UNSIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_4S16
), CONDITION(ALWAYS
)},
188 {"vbatLatest", -1, UNSIGNED
, .Ipredict
= PREDICT(VBATREF
), .Iencode
= ENCODING(NEG_14BIT
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_VBAT
},
189 {"amperageLatest",-1, UNSIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(UNSIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC
},
192 {"magADC", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_MAG
},
193 {"magADC", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_MAG
},
194 {"magADC", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_MAG
},
197 {"BaroAlt", -1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_BARO
},
200 {"sonarRaw", -1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_SONAR
},
202 {"rssi", -1, UNSIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(UNSIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(TAG8_8SVB
), FLIGHT_LOG_FIELD_CONDITION_RSSI
},
204 /* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
205 {"gyroADC", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
206 {"gyroADC", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
207 {"gyroADC", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
208 {"accSmooth", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
209 {"accSmooth", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
210 {"accSmooth", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
211 {"debug", 0, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
212 {"debug", 1, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
213 {"debug", 2, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
214 {"debug", 3, SIGNED
, .Ipredict
= PREDICT(0), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
215 /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
216 {"motor", 0, UNSIGNED
, .Ipredict
= PREDICT(MINTHROTTLE
), .Iencode
= ENCODING(UNSIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_1
)},
217 /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
218 {"motor", 1, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_2
)},
219 {"motor", 2, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_3
)},
220 {"motor", 3, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_4
)},
221 {"motor", 4, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_5
)},
222 {"motor", 5, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_6
)},
223 {"motor", 6, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_7
)},
224 {"motor", 7, UNSIGNED
, .Ipredict
= PREDICT(MOTOR_0
), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(AVERAGE_2
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(AT_LEAST_MOTORS_8
)},
226 /* Tricopter tail servo */
227 {"servo", 5, UNSIGNED
, .Ipredict
= PREDICT(1500), .Iencode
= ENCODING(SIGNED_VB
), .Ppredict
= PREDICT(PREVIOUS
), .Pencode
= ENCODING(SIGNED_VB
), CONDITION(TRICOPTER
)}
231 // GPS position/vel frame
232 static const blackboxConditionalFieldDefinition_t blackboxGpsGFields
[] = {
233 {"time", -1, UNSIGNED
, PREDICT(LAST_MAIN_FRAME_TIME
), ENCODING(UNSIGNED_VB
), CONDITION(NOT_LOGGING_EVERY_FRAME
)},
234 {"GPS_numSat", -1, UNSIGNED
, PREDICT(0), ENCODING(UNSIGNED_VB
), CONDITION(ALWAYS
)},
235 {"GPS_coord", 0, SIGNED
, PREDICT(HOME_COORD
), ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
236 {"GPS_coord", 1, SIGNED
, PREDICT(HOME_COORD
), ENCODING(SIGNED_VB
), CONDITION(ALWAYS
)},
237 {"GPS_altitude", -1, UNSIGNED
, PREDICT(0), ENCODING(UNSIGNED_VB
), CONDITION(ALWAYS
)},
238 {"GPS_speed", -1, UNSIGNED
, PREDICT(0), ENCODING(UNSIGNED_VB
), CONDITION(ALWAYS
)},
239 {"GPS_ground_course", -1, UNSIGNED
, PREDICT(0), ENCODING(UNSIGNED_VB
), CONDITION(ALWAYS
)}
243 static const blackboxSimpleFieldDefinition_t blackboxGpsHFields
[] = {
244 {"GPS_home", 0, SIGNED
, PREDICT(0), ENCODING(SIGNED_VB
)},
245 {"GPS_home", 1, SIGNED
, PREDICT(0), ENCODING(SIGNED_VB
)}
249 // Rarely-updated fields
250 static const blackboxSimpleFieldDefinition_t blackboxSlowFields
[] = {
251 {"flightModeFlags", -1, UNSIGNED
, PREDICT(0), ENCODING(UNSIGNED_VB
)},
252 {"stateFlags", -1, UNSIGNED
, PREDICT(0), ENCODING(UNSIGNED_VB
)},
254 {"failsafePhase", -1, UNSIGNED
, PREDICT(0), ENCODING(TAG2_3S32
)},
255 {"rxSignalReceived", -1, UNSIGNED
, PREDICT(0), ENCODING(TAG2_3S32
)},
256 {"rxFlightChannelsValid", -1, UNSIGNED
, PREDICT(0), ENCODING(TAG2_3S32
)}
259 typedef enum BlackboxState
{
260 BLACKBOX_STATE_DISABLED
= 0,
261 BLACKBOX_STATE_STOPPED
,
262 BLACKBOX_STATE_PREPARE_LOG_FILE
,
263 BLACKBOX_STATE_SEND_HEADER
,
264 BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER
,
265 BLACKBOX_STATE_SEND_GPS_H_HEADER
,
266 BLACKBOX_STATE_SEND_GPS_G_HEADER
,
267 BLACKBOX_STATE_SEND_SLOW_HEADER
,
268 BLACKBOX_STATE_SEND_SYSINFO
,
269 BLACKBOX_STATE_PAUSED
,
270 BLACKBOX_STATE_RUNNING
,
271 BLACKBOX_STATE_SHUTTING_DOWN
274 #define BLACKBOX_FIRST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_HEADER
275 #define BLACKBOX_LAST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_SYSINFO
277 typedef struct blackboxMainState_s
{
280 int32_t axisPID_P
[XYZ_AXIS_COUNT
], axisPID_I
[XYZ_AXIS_COUNT
], axisPID_D
[XYZ_AXIS_COUNT
];
282 int16_t rcCommand
[4];
283 int16_t gyroADC
[XYZ_AXIS_COUNT
];
284 int16_t accSmooth
[XYZ_AXIS_COUNT
];
286 int16_t motor
[MAX_SUPPORTED_MOTORS
];
287 int16_t servo
[MAX_SUPPORTED_SERVOS
];
290 uint16_t amperageLatest
;
296 int16_t magADC
[XYZ_AXIS_COUNT
];
302 } blackboxMainState_t
;
304 typedef struct blackboxGpsState_s
{
305 int32_t GPS_home
[2], GPS_coord
[2];
307 } blackboxGpsState_t
;
309 // This data is updated really infrequently:
310 typedef struct blackboxSlowState_s
{
311 uint32_t flightModeFlags
; // extend this data size (from uint16_t)
313 uint8_t failsafePhase
;
314 bool rxSignalReceived
;
315 bool rxFlightChannelsValid
;
316 } __attribute__((__packed__
)) blackboxSlowState_t
; // We pack this struct so that padding doesn't interfere with memcmp()
319 extern uint8_t motorCount
;
322 extern uint32_t currentTime
;
325 extern uint16_t rssi
;
328 extern uint32_t targetLooptime
;
331 extern uint32_t rcModeActivationMask
;
333 static BlackboxState blackboxState
= BLACKBOX_STATE_DISABLED
;
335 static uint32_t blackboxLastArmingBeep
= 0;
336 static uint32_t blackboxLastFlightModeFlags
= 0; // New event tracking of flight modes
340 uint32_t headerIndex
;
342 /* Since these fields are used during different blackbox states (never simultaneously) we can
343 * overlap them to save on RAM
351 // Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
352 static uint32_t blackboxConditionCache
;
354 STATIC_ASSERT((sizeof(blackboxConditionCache
) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER
, too_many_flight_log_conditions
);
356 static uint32_t blackboxIteration
;
357 static uint16_t blackboxPFrameIndex
, blackboxIFrameIndex
;
358 static uint16_t blackboxSlowFrameIterationTimer
;
359 static bool blackboxLoggedAnyFrames
;
362 * We store voltages in I-frames relative to this, which was the voltage when the blackbox was activated.
363 * This helps out since the voltage is only expected to fall from that point and we can reduce our diffs
366 static uint16_t vbatReference
;
368 static blackboxGpsState_t gpsHistory
;
369 static blackboxSlowState_t slowHistory
;
371 // Keep a history of length 2, plus a buffer for MW to store the new values into
372 static blackboxMainState_t blackboxHistoryRing
[3];
374 // These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
375 static blackboxMainState_t
* blackboxHistory
[3];
377 static bool blackboxModeActivationConditionPresent
= false;
380 * Return true if it is safe to edit the Blackbox configuration in the emasterConfig.
382 bool blackboxMayEditConfig()
384 return blackboxState
<= BLACKBOX_STATE_STOPPED
;
387 static bool blackboxIsOnlyLoggingIntraframes() {
388 return masterConfig
.blackbox_rate_num
== 1 && masterConfig
.blackbox_rate_denom
== 32;
391 static bool testBlackboxConditionUncached(FlightLogFieldCondition condition
)
394 case FLIGHT_LOG_FIELD_CONDITION_ALWAYS
:
397 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1
:
398 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2
:
399 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3
:
400 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4
:
401 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5
:
402 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6
:
403 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7
:
404 case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8
:
405 return motorCount
>= condition
- FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1
+ 1;
407 case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER
:
408 return masterConfig
.mixerMode
== MIXER_TRI
|| masterConfig
.mixerMode
== MIXER_CUSTOM_TRI
;
410 case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0
:
411 case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1
:
412 case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2
:
413 return currentProfile
->pidProfile
.D8
[condition
- FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0
] != 0;
415 case FLIGHT_LOG_FIELD_CONDITION_MAG
:
417 return sensors(SENSOR_MAG
);
422 case FLIGHT_LOG_FIELD_CONDITION_BARO
:
424 return sensors(SENSOR_BARO
);
429 case FLIGHT_LOG_FIELD_CONDITION_VBAT
:
430 return feature(FEATURE_VBAT
);
432 case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC
:
433 return feature(FEATURE_CURRENT_METER
) && masterConfig
.batteryConfig
.currentMeterType
== CURRENT_SENSOR_ADC
;
435 case FLIGHT_LOG_FIELD_CONDITION_SONAR
:
437 return feature(FEATURE_SONAR
);
442 case FLIGHT_LOG_FIELD_CONDITION_RSSI
:
443 return masterConfig
.rxConfig
.rssi_channel
> 0 || feature(FEATURE_RSSI_ADC
);
445 case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME
:
446 return masterConfig
.blackbox_rate_num
< masterConfig
.blackbox_rate_denom
;
448 case FLIGHT_LOG_FIELD_CONDITION_NEVER
:
455 static void blackboxBuildConditionCache()
457 FlightLogFieldCondition cond
;
459 blackboxConditionCache
= 0;
461 for (cond
= FLIGHT_LOG_FIELD_CONDITION_FIRST
; cond
<= FLIGHT_LOG_FIELD_CONDITION_LAST
; cond
++) {
462 if (testBlackboxConditionUncached(cond
)) {
463 blackboxConditionCache
|= 1 << cond
;
468 static bool testBlackboxCondition(FlightLogFieldCondition condition
)
470 return (blackboxConditionCache
& (1 << condition
)) != 0;
473 static void blackboxSetState(BlackboxState newState
)
475 //Perform initial setup required for the new state
477 case BLACKBOX_STATE_PREPARE_LOG_FILE
:
478 blackboxLoggedAnyFrames
= false;
480 case BLACKBOX_STATE_SEND_HEADER
:
481 blackboxHeaderBudget
= 0;
482 xmitState
.headerIndex
= 0;
483 xmitState
.u
.startTime
= millis();
485 case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER
:
486 case BLACKBOX_STATE_SEND_GPS_G_HEADER
:
487 case BLACKBOX_STATE_SEND_GPS_H_HEADER
:
488 case BLACKBOX_STATE_SEND_SLOW_HEADER
:
489 xmitState
.headerIndex
= 0;
490 xmitState
.u
.fieldIndex
= -1;
492 case BLACKBOX_STATE_SEND_SYSINFO
:
493 xmitState
.headerIndex
= 0;
495 case BLACKBOX_STATE_RUNNING
:
496 blackboxSlowFrameIterationTimer
= SLOW_FRAME_INTERVAL
; //Force a slow frame to be written on the first iteration
498 case BLACKBOX_STATE_SHUTTING_DOWN
:
499 xmitState
.u
.startTime
= millis();
504 blackboxState
= newState
;
507 static void writeIntraframe(void)
509 blackboxMainState_t
*blackboxCurrent
= blackboxHistory
[0];
514 blackboxWriteUnsignedVB(blackboxIteration
);
515 blackboxWriteUnsignedVB(blackboxCurrent
->time
);
517 blackboxWriteSignedVBArray(blackboxCurrent
->axisPID_P
, XYZ_AXIS_COUNT
);
518 blackboxWriteSignedVBArray(blackboxCurrent
->axisPID_I
, XYZ_AXIS_COUNT
);
520 // Don't bother writing the current D term if the corresponding PID setting is zero
521 for (x
= 0; x
< XYZ_AXIS_COUNT
; x
++) {
522 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0
+ x
)) {
523 blackboxWriteSignedVB(blackboxCurrent
->axisPID_D
[x
]);
527 // Write roll, pitch and yaw first:
528 blackboxWriteSigned16VBArray(blackboxCurrent
->rcCommand
, 3);
531 * Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
532 * Throttle lies in range [minthrottle..maxthrottle]:
534 blackboxWriteUnsignedVB(blackboxCurrent
->rcCommand
[THROTTLE
] - masterConfig
.escAndServoConfig
.minthrottle
);
536 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT
)) {
538 * Our voltage is expected to decrease over the course of the flight, so store our difference from
541 * Write 14 bits even if the number is negative (which would otherwise result in 32 bits)
543 blackboxWriteUnsignedVB((vbatReference
- blackboxCurrent
->vbatLatest
) & 0x3FFF);
546 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC
)) {
547 // 12bit value directly from ADC
548 blackboxWriteUnsignedVB(blackboxCurrent
->amperageLatest
);
552 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG
)) {
553 blackboxWriteSigned16VBArray(blackboxCurrent
->magADC
, XYZ_AXIS_COUNT
);
558 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO
)) {
559 blackboxWriteSignedVB(blackboxCurrent
->BaroAlt
);
564 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR
)) {
565 blackboxWriteSignedVB(blackboxCurrent
->sonarRaw
);
569 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI
)) {
570 blackboxWriteUnsignedVB(blackboxCurrent
->rssi
);
573 blackboxWriteSigned16VBArray(blackboxCurrent
->gyroADC
, XYZ_AXIS_COUNT
);
574 blackboxWriteSigned16VBArray(blackboxCurrent
->accSmooth
, XYZ_AXIS_COUNT
);
575 blackboxWriteSigned16VBArray(blackboxCurrent
->debug
, 4);
577 //Motors can be below minthrottle when disarmed, but that doesn't happen much
578 blackboxWriteUnsignedVB(blackboxCurrent
->motor
[0] - masterConfig
.escAndServoConfig
.minthrottle
);
580 //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
581 for (x
= 1; x
< motorCount
; x
++) {
582 blackboxWriteSignedVB(blackboxCurrent
->motor
[x
] - blackboxCurrent
->motor
[0]);
585 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER
)) {
586 //Assume the tail spends most of its time around the center
587 blackboxWriteSignedVB(blackboxCurrent
->servo
[5] - 1500);
590 //Rotate our history buffers:
592 //The current state becomes the new "before" state
593 blackboxHistory
[1] = blackboxHistory
[0];
594 //And since we have no other history, we also use it for the "before, before" state
595 blackboxHistory
[2] = blackboxHistory
[0];
596 //And advance the current state over to a blank space ready to be filled
597 blackboxHistory
[0] = ((blackboxHistory
[0] - blackboxHistoryRing
+ 1) % 3) + blackboxHistoryRing
;
599 blackboxLoggedAnyFrames
= true;
602 static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHistory
, int count
)
604 int16_t *curr
= (int16_t*) ((char*) (blackboxHistory
[0]) + arrOffsetInHistory
);
605 int16_t *prev1
= (int16_t*) ((char*) (blackboxHistory
[1]) + arrOffsetInHistory
);
606 int16_t *prev2
= (int16_t*) ((char*) (blackboxHistory
[2]) + arrOffsetInHistory
);
608 for (int i
= 0; i
< count
; i
++) {
609 // Predictor is the average of the previous two history states
610 int32_t predictor
= (prev1
[i
] + prev2
[i
]) / 2;
612 blackboxWriteSignedVB(curr
[i
] - predictor
);
616 static void writeInterframe(void)
621 blackboxMainState_t
*blackboxCurrent
= blackboxHistory
[0];
622 blackboxMainState_t
*blackboxLast
= blackboxHistory
[1];
626 //No need to store iteration count since its delta is always 1
629 * Since the difference between the difference between successive times will be nearly zero (due to consistent
630 * looptime spacing), use second-order differences.
632 blackboxWriteSignedVB((int32_t) (blackboxHistory
[0]->time
- 2 * blackboxHistory
[1]->time
+ blackboxHistory
[2]->time
));
634 arraySubInt32(deltas
, blackboxCurrent
->axisPID_P
, blackboxLast
->axisPID_P
, XYZ_AXIS_COUNT
);
635 blackboxWriteSignedVBArray(deltas
, XYZ_AXIS_COUNT
);
638 * The PID I field changes very slowly, most of the time +-2, so use an encoding
639 * that can pack all three fields into one byte in that situation.
641 arraySubInt32(deltas
, blackboxCurrent
->axisPID_I
, blackboxLast
->axisPID_I
, XYZ_AXIS_COUNT
);
642 blackboxWriteTag2_3S32(deltas
);
645 * The PID D term is frequently set to zero for yaw, which makes the result from the calculation
646 * always zero. So don't bother recording D results when PID D terms are zero.
648 for (x
= 0; x
< XYZ_AXIS_COUNT
; x
++) {
649 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0
+ x
)) {
650 blackboxWriteSignedVB(blackboxCurrent
->axisPID_D
[x
] - blackboxLast
->axisPID_D
[x
]);
655 * RC tends to stay the same or fairly small for many frames at a time, so use an encoding that
656 * can pack multiple values per byte:
658 for (x
= 0; x
< 4; x
++) {
659 deltas
[x
] = blackboxCurrent
->rcCommand
[x
] - blackboxLast
->rcCommand
[x
];
662 blackboxWriteTag8_4S16(deltas
);
664 //Check for sensors that are updated periodically (so deltas are normally zero)
665 int optionalFieldCount
= 0;
667 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT
)) {
668 deltas
[optionalFieldCount
++] = (int32_t) blackboxCurrent
->vbatLatest
- blackboxLast
->vbatLatest
;
671 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC
)) {
672 deltas
[optionalFieldCount
++] = (int32_t) blackboxCurrent
->amperageLatest
- blackboxLast
->amperageLatest
;
676 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG
)) {
677 for (x
= 0; x
< XYZ_AXIS_COUNT
; x
++) {
678 deltas
[optionalFieldCount
++] = blackboxCurrent
->magADC
[x
] - blackboxLast
->magADC
[x
];
684 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO
)) {
685 deltas
[optionalFieldCount
++] = blackboxCurrent
->BaroAlt
- blackboxLast
->BaroAlt
;
690 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR
)) {
691 deltas
[optionalFieldCount
++] = blackboxCurrent
->sonarRaw
- blackboxLast
->sonarRaw
;
695 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI
)) {
696 deltas
[optionalFieldCount
++] = (int32_t) blackboxCurrent
->rssi
- blackboxLast
->rssi
;
699 blackboxWriteTag8_8SVB(deltas
, optionalFieldCount
);
701 //Since gyros, accs and motors are noisy, base their predictions on the average of the history:
702 blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t
, gyroADC
), XYZ_AXIS_COUNT
);
703 blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t
, accSmooth
), XYZ_AXIS_COUNT
);
704 blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t
, debug
), 4);
705 blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t
, motor
), motorCount
);
707 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER
)) {
708 blackboxWriteSignedVB(blackboxCurrent
->servo
[5] - blackboxLast
->servo
[5]);
711 //Rotate our history buffers
712 blackboxHistory
[2] = blackboxHistory
[1];
713 blackboxHistory
[1] = blackboxHistory
[0];
714 blackboxHistory
[0] = ((blackboxHistory
[0] - blackboxHistoryRing
+ 1) % 3) + blackboxHistoryRing
;
716 blackboxLoggedAnyFrames
= true;
719 /* Write the contents of the global "slowHistory" to the log as an "S" frame. Because this data is logged so
720 * infrequently, delta updates are not reasonable, so we log independent frames. */
721 static void writeSlowFrame(void)
727 blackboxWriteUnsignedVB(slowHistory
.flightModeFlags
);
728 blackboxWriteUnsignedVB(slowHistory
.stateFlags
);
731 * Most of the time these three values will be able to pack into one byte for us:
733 values
[0] = slowHistory
.failsafePhase
;
734 values
[1] = slowHistory
.rxSignalReceived
? 1 : 0;
735 values
[2] = slowHistory
.rxFlightChannelsValid
? 1 : 0;
736 blackboxWriteTag2_3S32(values
);
738 blackboxSlowFrameIterationTimer
= 0;
742 * Load rarely-changing values from the FC into the given structure
744 static void loadSlowState(blackboxSlowState_t
*slow
)
746 slow
->flightModeFlags
= rcModeActivationMask
; //was flightModeFlags;
747 slow
->stateFlags
= stateFlags
;
748 slow
->failsafePhase
= failsafePhase();
749 slow
->rxSignalReceived
= rxIsReceivingSignal();
750 slow
->rxFlightChannelsValid
= rxAreFlightChannelsValid();
754 * If the data in the slow frame has changed, log a slow frame.
756 * If allowPeriodicWrite is true, the frame is also logged if it has been more than SLOW_FRAME_INTERVAL logging iterations
757 * since the field was last logged.
759 static void writeSlowFrameIfNeeded(bool allowPeriodicWrite
)
761 // Write the slow frame peridocially so it can be recovered if we ever lose sync
762 bool shouldWrite
= allowPeriodicWrite
&& blackboxSlowFrameIterationTimer
>= SLOW_FRAME_INTERVAL
;
765 loadSlowState(&slowHistory
);
767 blackboxSlowState_t newSlowState
;
769 loadSlowState(&newSlowState
);
771 // Only write a slow frame if it was different from the previous state
772 if (memcmp(&newSlowState
, &slowHistory
, sizeof(slowHistory
)) != 0) {
773 // Use the new state as our new history
774 memcpy(&slowHistory
, &newSlowState
, sizeof(slowHistory
));
784 static int gcd(int num
, int denom
)
790 return gcd(denom
, num
% denom
);
793 static void validateBlackboxConfig()
797 if (masterConfig
.blackbox_rate_num
== 0 || masterConfig
.blackbox_rate_denom
== 0
798 || masterConfig
.blackbox_rate_num
>= masterConfig
.blackbox_rate_denom
) {
799 masterConfig
.blackbox_rate_num
= 1;
800 masterConfig
.blackbox_rate_denom
= 1;
802 /* Reduce the fraction the user entered as much as possible (makes the recorded/skipped frame pattern repeat
803 * itself more frequently)
805 div
= gcd(masterConfig
.blackbox_rate_num
, masterConfig
.blackbox_rate_denom
);
807 masterConfig
.blackbox_rate_num
/= div
;
808 masterConfig
.blackbox_rate_denom
/= div
;
811 // If we've chosen an unsupported device, change the device to serial
812 switch (masterConfig
.blackbox_device
) {
814 case BLACKBOX_DEVICE_FLASH
:
817 case BLACKBOX_DEVICE_SDCARD
:
819 case BLACKBOX_DEVICE_SERIAL
:
820 // Device supported, leave the setting alone
824 masterConfig
.blackbox_device
= BLACKBOX_DEVICE_SERIAL
;
829 * Start Blackbox logging if it is not already running. Intended to be called upon arming.
831 void startBlackbox(void)
833 if (blackboxState
== BLACKBOX_STATE_STOPPED
) {
834 validateBlackboxConfig();
836 if (!blackboxDeviceOpen()) {
837 blackboxSetState(BLACKBOX_STATE_DISABLED
);
841 memset(&gpsHistory
, 0, sizeof(gpsHistory
));
843 blackboxHistory
[0] = &blackboxHistoryRing
[0];
844 blackboxHistory
[1] = &blackboxHistoryRing
[1];
845 blackboxHistory
[2] = &blackboxHistoryRing
[2];
847 vbatReference
= vbatLatestADC
;
849 //No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
852 * We use conditional tests to decide whether or not certain fields should be logged. Since our headers
853 * must always agree with the logged data, the results of these tests must not change during logging. So
856 blackboxBuildConditionCache();
858 blackboxModeActivationConditionPresent
= isModeActivationConditionPresent(masterConfig
.modeActivationConditions
, BOXBLACKBOX
);
860 blackboxIteration
= 0;
861 blackboxPFrameIndex
= 0;
862 blackboxIFrameIndex
= 0;
865 * Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
866 * it finally plays the beep for this arming event.
868 blackboxLastArmingBeep
= getArmingBeepTimeMicros();
869 blackboxLastFlightModeFlags
= rcModeActivationMask
; // record startup status
872 blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE
);
877 * Begin Blackbox shutdown.
879 void finishBlackbox(void)
881 switch (blackboxState
) {
882 case BLACKBOX_STATE_DISABLED
:
883 case BLACKBOX_STATE_STOPPED
:
884 case BLACKBOX_STATE_SHUTTING_DOWN
:
885 // We're already stopped/shutting down
888 case BLACKBOX_STATE_RUNNING
:
889 case BLACKBOX_STATE_PAUSED
:
890 blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END
, NULL
);
894 blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN
);
899 static void writeGPSHomeFrame()
903 blackboxWriteSignedVB(GPS_home
[0]);
904 blackboxWriteSignedVB(GPS_home
[1]);
905 //TODO it'd be great if we could grab the GPS current time and write that too
907 gpsHistory
.GPS_home
[0] = GPS_home
[0];
908 gpsHistory
.GPS_home
[1] = GPS_home
[1];
911 static void writeGPSFrame()
916 * If we're logging every frame, then a GPS frame always appears just after a frame with the
917 * currentTime timestamp in the log, so the reader can just use that timestamp for the GPS frame.
919 * If we're not logging every frame, we need to store the time of this GPS frame.
921 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME
)) {
922 // Predict the time of the last frame in the main log
923 blackboxWriteUnsignedVB(currentTime
- blackboxHistory
[1]->time
);
926 blackboxWriteUnsignedVB(GPS_numSat
);
927 blackboxWriteSignedVB(GPS_coord
[0] - gpsHistory
.GPS_home
[0]);
928 blackboxWriteSignedVB(GPS_coord
[1] - gpsHistory
.GPS_home
[1]);
929 blackboxWriteUnsignedVB(GPS_altitude
);
930 blackboxWriteUnsignedVB(GPS_speed
);
931 blackboxWriteUnsignedVB(GPS_ground_course
);
933 gpsHistory
.GPS_numSat
= GPS_numSat
;
934 gpsHistory
.GPS_coord
[0] = GPS_coord
[0];
935 gpsHistory
.GPS_coord
[1] = GPS_coord
[1];
940 * Fill the current state of the blackbox using values read from the flight controller
942 static void loadMainState(void)
944 blackboxMainState_t
*blackboxCurrent
= blackboxHistory
[0];
947 blackboxCurrent
->time
= currentTime
;
949 for (i
= 0; i
< XYZ_AXIS_COUNT
; i
++) {
950 blackboxCurrent
->axisPID_P
[i
] = axisPID_P
[i
];
952 for (i
= 0; i
< XYZ_AXIS_COUNT
; i
++) {
953 blackboxCurrent
->axisPID_I
[i
] = axisPID_I
[i
];
955 for (i
= 0; i
< XYZ_AXIS_COUNT
; i
++) {
956 blackboxCurrent
->axisPID_D
[i
] = axisPID_D
[i
];
959 for (i
= 0; i
< 4; i
++) {
960 blackboxCurrent
->rcCommand
[i
] = rcCommand
[i
];
963 for (i
= 0; i
< XYZ_AXIS_COUNT
; i
++) {
964 blackboxCurrent
->gyroADC
[i
] = gyroADC
[i
];
967 for (i
= 0; i
< XYZ_AXIS_COUNT
; i
++) {
968 blackboxCurrent
->accSmooth
[i
] = accSmooth
[i
];
971 for (i
= 0; i
< 4; i
++) {
972 blackboxCurrent
->debug
[i
] = debug
[i
];
975 for (i
= 0; i
< motorCount
; i
++) {
976 blackboxCurrent
->motor
[i
] = motor
[i
];
979 blackboxCurrent
->vbatLatest
= vbatLatestADC
;
980 blackboxCurrent
->amperageLatest
= amperageLatestADC
;
983 for (i
= 0; i
< XYZ_AXIS_COUNT
; i
++) {
984 blackboxCurrent
->magADC
[i
] = magADC
[i
];
989 blackboxCurrent
->BaroAlt
= BaroAlt
;
993 // Store the raw sonar value without applying tilt correction
994 blackboxCurrent
->sonarRaw
= sonarRead();
997 blackboxCurrent
->rssi
= rssi
;
1000 //Tail servo for tricopters
1001 blackboxCurrent
->servo
[5] = servo
[5];
1006 * Transmit the header information for the given field definitions. Transmitted header lines look like:
1008 * H Field I name:a,b,c
1009 * H Field I predictor:0,1,2
1011 * For all header types, provide a "mainFrameChar" which is the name for the field and will be used to refer to it in the
1012 * header (e.g. P, I etc). For blackboxDeltaField_t fields, also provide deltaFrameChar, otherwise set this to zero.
1014 * Provide an array 'conditions' of FlightLogFieldCondition enums if you want these conditions to decide whether a field
1015 * should be included or not. Otherwise provide NULL for this parameter and NULL for secondCondition.
1017 * Set xmitState.headerIndex to 0 and xmitState.u.fieldIndex to -1 before calling for the first time.
1019 * secondFieldDefinition and secondCondition element pointers need to be provided in order to compute the stride of the
1020 * fieldDefinition and secondCondition arrays.
1022 * Returns true if there is still header left to transmit (so call again to continue transmission).
1024 static bool sendFieldDefinition(char mainFrameChar
, char deltaFrameChar
, const void *fieldDefinitions
,
1025 const void *secondFieldDefinition
, int fieldCount
, const uint8_t *conditions
, const uint8_t *secondCondition
)
1027 const blackboxFieldDefinition_t
*def
;
1028 unsigned int headerCount
;
1029 static bool needComma
= false;
1030 size_t definitionStride
= (char*) secondFieldDefinition
- (char*) fieldDefinitions
;
1031 size_t conditionsStride
= (char*) secondCondition
- (char*) conditions
;
1033 if (deltaFrameChar
) {
1034 headerCount
= BLACKBOX_DELTA_FIELD_HEADER_COUNT
;
1036 headerCount
= BLACKBOX_SIMPLE_FIELD_HEADER_COUNT
;
1040 * We're chunking up the header data so we don't exceed our datarate. So we'll be called multiple times to transmit
1044 // On our first call we need to print the name of the header and a colon
1045 if (xmitState
.u
.fieldIndex
== -1) {
1046 if (xmitState
.headerIndex
>= headerCount
) {
1047 return false; //Someone probably called us again after we had already completed transmission
1050 uint32_t charsToBeWritten
= strlen("H Field x :") + strlen(blackboxFieldHeaderNames
[xmitState
.headerIndex
]);
1052 if (blackboxDeviceReserveBufferSpace(charsToBeWritten
) != BLACKBOX_RESERVE_SUCCESS
) {
1053 return true; // Try again later
1056 blackboxHeaderBudget
-= blackboxPrintf("H Field %c %s:", xmitState
.headerIndex
>= BLACKBOX_SIMPLE_FIELD_HEADER_COUNT
? deltaFrameChar
: mainFrameChar
, blackboxFieldHeaderNames
[xmitState
.headerIndex
]);
1058 xmitState
.u
.fieldIndex
++;
1062 // The longest we expect an integer to be as a string:
1063 const uint32_t LONGEST_INTEGER_STRLEN
= 2;
1065 for (; xmitState
.u
.fieldIndex
< fieldCount
; xmitState
.u
.fieldIndex
++) {
1066 def
= (const blackboxFieldDefinition_t
*) ((const char*)fieldDefinitions
+ definitionStride
* xmitState
.u
.fieldIndex
);
1068 if (!conditions
|| testBlackboxCondition(conditions
[conditionsStride
* xmitState
.u
.fieldIndex
])) {
1069 // First (over)estimate the length of the string we want to print
1071 int32_t bytesToWrite
= 1; // Leading comma
1073 // The first header is a field name
1074 if (xmitState
.headerIndex
== 0) {
1075 bytesToWrite
+= strlen(def
->name
) + strlen("[]") + LONGEST_INTEGER_STRLEN
;
1077 //The other headers are integers
1078 bytesToWrite
+= LONGEST_INTEGER_STRLEN
;
1081 // Now perform the write if the buffer is large enough
1082 if (blackboxDeviceReserveBufferSpace(bytesToWrite
) != BLACKBOX_RESERVE_SUCCESS
) {
1083 // Ran out of space!
1087 blackboxHeaderBudget
-= bytesToWrite
;
1095 // The first header is a field name
1096 if (xmitState
.headerIndex
== 0) {
1097 blackboxPrint(def
->name
);
1099 // Do we need to print an index in brackets after the name?
1100 if (def
->fieldNameIndex
!= -1) {
1101 blackboxPrintf("[%d]", def
->fieldNameIndex
);
1104 //The other headers are integers
1105 blackboxPrintf("%d", def
->arr
[xmitState
.headerIndex
- 1]);
1110 // Did we complete this line?
1111 if (xmitState
.u
.fieldIndex
== fieldCount
&& blackboxDeviceReserveBufferSpace(1) == BLACKBOX_RESERVE_SUCCESS
) {
1112 blackboxHeaderBudget
--;
1113 blackboxWrite('\n');
1114 xmitState
.headerIndex
++;
1115 xmitState
.u
.fieldIndex
= -1;
1118 return xmitState
.headerIndex
< headerCount
;
1122 * Transmit a portion of the system information headers. Call the first time with xmitState.headerIndex == 0. Returns
1123 * true iff transmission is complete, otherwise call again later to continue transmission.
1125 static bool blackboxWriteSysinfo()
1127 // Make sure we have enough room in the buffer for our longest line (as of this writing, the "Firmware date" line)
1128 if (blackboxDeviceReserveBufferSpace(64) != BLACKBOX_RESERVE_SUCCESS
) {
1132 switch (xmitState
.headerIndex
) {
1134 blackboxPrintfHeaderLine("Firmware type:Cleanflight");
1137 blackboxPrintfHeaderLine("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING
, shortGitRevision
, targetName
);
1140 blackboxPrintfHeaderLine("Firmware date:%s %s", buildDate
, buildTime
);
1143 blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig
.blackbox_rate_num
, masterConfig
.blackbox_rate_denom
);
1146 blackboxPrintfHeaderLine("rcRate:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].rcRate8
);
1149 blackboxPrintfHeaderLine("minthrottle:%d", masterConfig
.escAndServoConfig
.minthrottle
);
1152 blackboxPrintfHeaderLine("maxthrottle:%d", masterConfig
.escAndServoConfig
.maxthrottle
);
1155 blackboxPrintfHeaderLine("gyro.scale:0x%x", castFloatBytesToInt(gyro
.scale
));
1158 blackboxPrintfHeaderLine("acc_1G:%u", acc_1G
);
1161 if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT
)) {
1162 blackboxPrintfHeaderLine("vbatscale:%u", masterConfig
.batteryConfig
.vbatscale
);
1164 xmitState
.headerIndex
+= 2; // Skip the next two vbat fields too
1168 blackboxPrintfHeaderLine("vbatcellvoltage:%u,%u,%u", masterConfig
.batteryConfig
.vbatmincellvoltage
,
1169 masterConfig
.batteryConfig
.vbatwarningcellvoltage
, masterConfig
.batteryConfig
.vbatmaxcellvoltage
);
1172 blackboxPrintfHeaderLine("vbatref:%u", vbatReference
);
1175 //Note: Log even if this is a virtual current meter, since the virtual meter uses these parameters too:
1176 if (feature(FEATURE_CURRENT_METER
)) {
1177 blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig
.batteryConfig
.currentMeterOffset
, masterConfig
.batteryConfig
.currentMeterScale
);
1181 blackboxPrintfHeaderLine("rcExpo:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].rcExpo8
);
1184 blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].rcYawExpo8
);
1187 blackboxPrintfHeaderLine("thrMid:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].thrMid8
);
1190 blackboxPrintfHeaderLine("thrExpo:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].thrExpo8
);
1193 blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].dynThrPID
);
1196 blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].tpa_breakpoint
);
1199 blackboxPrintfHeaderLine("rates:%d,%d,%d",
1200 masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].rates
[ROLL
],
1201 masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].rates
[PITCH
],
1202 masterConfig
.profile
[masterConfig
.current_profile_index
].controlRateProfile
[masterConfig
.profile
[masterConfig
.current_profile_index
].activeRateProfile
].rates
[YAW
]);
1205 blackboxPrintfHeaderLine("looptime:%d", targetLooptime
);
1208 blackboxPrintfHeaderLine("pidController:%d", masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.pidController
);
1211 blackboxPrintfHeaderLine("rollPID:%d,%d,%d",
1212 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[ROLL
],
1213 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[ROLL
],
1214 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[ROLL
]);
1217 blackboxPrintfHeaderLine("pitchPID:%d,%d,%d",
1218 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PITCH
],
1219 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PITCH
],
1220 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PITCH
]);
1223 blackboxPrintfHeaderLine("yawPID:%d,%d,%d",
1224 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[YAW
],
1225 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[YAW
],
1226 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[YAW
]);
1229 blackboxPrintfHeaderLine("altPID:%d,%d,%d",
1230 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDALT
],
1231 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PIDALT
],
1232 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PIDALT
]);
1235 blackboxPrintfHeaderLine("posPID:%d,%d,%d",
1236 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDPOS
],
1237 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PIDPOS
],
1238 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PIDPOS
]);
1241 blackboxPrintfHeaderLine("posrPID:%d,%d,%d",
1242 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDPOSR
],
1243 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PIDPOSR
],
1244 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PIDPOSR
]);
1247 blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
1248 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDNAVR
],
1249 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PIDNAVR
],
1250 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PIDNAVR
]);
1253 blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
1254 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDLEVEL
],
1255 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PIDLEVEL
],
1256 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PIDLEVEL
]);
1259 blackboxPrintfHeaderLine("magPID:%d",
1260 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDMAG
]);
1263 blackboxPrintfHeaderLine("velPID:%d,%d,%d",
1264 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.P8
[PIDVEL
],
1265 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.I8
[PIDVEL
],
1266 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.D8
[PIDVEL
]);
1269 blackboxPrintfHeaderLine("yaw_p_limit:%d",
1270 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.yaw_p_limit
);
1273 blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
1274 (int)(masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.yaw_lpf_hz
* 100.0f
));
1277 blackboxPrintfHeaderLine("dterm_average_count:%d",
1278 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.dterm_average_count
);
1281 blackboxPrintfHeaderLine("dynamic_pid:%d",
1282 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.dynamic_pid
);
1285 blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
1286 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.rollPitchItermIgnoreRate
);
1289 blackboxPrintfHeaderLine("yawItermResetRate:%d",
1290 masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.yawItermIgnoreRate
);
1293 blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
1294 (int)(masterConfig
.profile
[masterConfig
.current_profile_index
].pidProfile
.dterm_lpf_hz
* 100.0f
));
1297 blackboxPrintfHeaderLine("airmode_activate_throttle:%d",
1298 masterConfig
.rxConfig
.airModeActivateThreshold
);
1301 blackboxPrintfHeaderLine("deadband:%d", masterConfig
.rcControlsConfig
.deadband
);
1304 blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig
.rcControlsConfig
.yaw_deadband
);
1307 blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig
.gyro_lpf
);
1310 blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig
.gyro_soft_lpf_hz
* 100.0f
));
1313 blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig
.acc_lpf_hz
* 100.0f
));
1316 blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig
.acc_hardware
);
1319 blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig
.baro_hardware
);
1322 blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig
.mag_hardware
);
1325 blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig
.gyro_cal_on_first_arm
);
1328 blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig
.batteryConfig
.vbatPidCompensation
);
1331 blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig
.rxConfig
.rcSmoothing
);
1334 blackboxPrintfHeaderLine("features:%d", masterConfig
.enabledFeatures
);
1340 xmitState
.headerIndex
++;
1345 * Write the given event to the log immediately
1347 void blackboxLogEvent(FlightLogEvent event
, flightLogEventData_t
*data
)
1349 // Only allow events to be logged after headers have been written
1350 if (!(blackboxState
== BLACKBOX_STATE_RUNNING
|| blackboxState
== BLACKBOX_STATE_PAUSED
)) {
1354 //Shared header for event frames
1356 blackboxWrite(event
);
1358 //Now serialize the data for this specific frame type
1360 case FLIGHT_LOG_EVENT_SYNC_BEEP
:
1361 blackboxWriteUnsignedVB(data
->syncBeep
.time
);
1363 case FLIGHT_LOG_EVENT_FLIGHTMODE
: // New flightmode flags write
1364 blackboxWriteUnsignedVB(data
->flightMode
.flags
);
1365 blackboxWriteUnsignedVB(data
->flightMode
.lastFlags
);
1367 case FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT
:
1368 if (data
->inflightAdjustment
.floatFlag
) {
1369 blackboxWrite(data
->inflightAdjustment
.adjustmentFunction
+ FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG
);
1370 blackboxWriteFloat(data
->inflightAdjustment
.newFloatValue
);
1372 blackboxWrite(data
->inflightAdjustment
.adjustmentFunction
);
1373 blackboxWriteSignedVB(data
->inflightAdjustment
.newValue
);
1376 case FLIGHT_LOG_EVENT_GTUNE_RESULT
:
1377 blackboxWrite(data
->gtuneCycleResult
.gtuneAxis
);
1378 blackboxWriteSignedVB(data
->gtuneCycleResult
.gtuneGyroAVG
);
1379 blackboxWriteS16(data
->gtuneCycleResult
.gtuneNewP
);
1381 case FLIGHT_LOG_EVENT_LOGGING_RESUME
:
1382 blackboxWriteUnsignedVB(data
->loggingResume
.logIteration
);
1383 blackboxWriteUnsignedVB(data
->loggingResume
.currentTime
);
1385 case FLIGHT_LOG_EVENT_LOG_END
:
1386 blackboxPrint("End of log");
1392 /* 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 */
1393 static void blackboxCheckAndLogArmingBeep()
1395 flightLogEvent_syncBeep_t eventData
;
1397 // Use != so that we can still detect a change if the counter wraps
1398 if (getArmingBeepTimeMicros() != blackboxLastArmingBeep
) {
1399 blackboxLastArmingBeep
= getArmingBeepTimeMicros();
1401 eventData
.time
= blackboxLastArmingBeep
;
1403 blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP
, (flightLogEventData_t
*) &eventData
);
1407 /* monitor the flight mode event status and trigger an event record if the state changes */
1408 static void blackboxCheckAndLogFlightMode()
1410 flightLogEvent_flightMode_t eventData
; // Add new data for current flight mode flags
1412 // Use != so that we can still detect a change if the counter wraps
1413 if (rcModeActivationMask
!= blackboxLastFlightModeFlags
) {
1414 eventData
.lastFlags
= blackboxLastFlightModeFlags
;
1415 blackboxLastFlightModeFlags
= rcModeActivationMask
;
1416 eventData
.flags
= rcModeActivationMask
;
1418 blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE
, (flightLogEventData_t
*) &eventData
);
1423 * Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
1424 * the portion of logged loop iterations.
1426 static bool blackboxShouldLogPFrame(uint32_t pFrameIndex
)
1428 /* Adding a magic shift of "masterConfig.blackbox_rate_num - 1" in here creates a better spread of
1429 * recorded / skipped frames when the I frame's position is considered:
1431 return (pFrameIndex
+ masterConfig
.blackbox_rate_num
- 1) % masterConfig
.blackbox_rate_denom
< masterConfig
.blackbox_rate_num
;
1434 static bool blackboxShouldLogIFrame() {
1435 return blackboxPFrameIndex
== 0;
1438 // Called once every FC loop in order to keep track of how many FC loop iterations have passed
1439 static void blackboxAdvanceIterationTimers()
1441 blackboxSlowFrameIterationTimer
++;
1442 blackboxIteration
++;
1443 blackboxPFrameIndex
++;
1445 if (blackboxPFrameIndex
== BLACKBOX_I_INTERVAL
) {
1446 blackboxPFrameIndex
= 0;
1447 blackboxIFrameIndex
++;
1451 // Called once every FC loop in order to log the current state
1452 static void blackboxLogIteration()
1454 // Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
1455 if (blackboxShouldLogIFrame()) {
1457 * Don't log a slow frame if the slow data didn't change ("I" frames are already large enough without adding
1458 * an additional item to write at the same time). Unless we're *only* logging "I" frames, then we have no choice.
1460 writeSlowFrameIfNeeded(blackboxIsOnlyLoggingIntraframes());
1465 blackboxCheckAndLogArmingBeep();
1466 blackboxCheckAndLogFlightMode(); // Check for FlightMode status change event
1468 if (blackboxShouldLogPFrame(blackboxPFrameIndex
)) {
1470 * We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
1471 * So only log slow frames during loop iterations where we log a main frame.
1473 writeSlowFrameIfNeeded(true);
1479 if (feature(FEATURE_GPS
)) {
1481 * If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
1482 * GPS home position.
1484 * We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
1485 * still be interpreted correctly.
1487 if (GPS_home
[0] != gpsHistory
.GPS_home
[0] || GPS_home
[1] != gpsHistory
.GPS_home
[1]
1488 || (blackboxPFrameIndex
== BLACKBOX_I_INTERVAL
/ 2 && blackboxIFrameIndex
% 128 == 0)) {
1490 writeGPSHomeFrame();
1492 } else if (GPS_numSat
!= gpsHistory
.GPS_numSat
|| GPS_coord
[0] != gpsHistory
.GPS_coord
[0]
1493 || GPS_coord
[1] != gpsHistory
.GPS_coord
[1]) {
1494 //We could check for velocity changes as well but I doubt it changes independent of position
1501 //Flush every iteration so that our runtime variance is minimized
1502 blackboxDeviceFlush();
1506 * Call each flight loop iteration to perform blackbox logging.
1508 void handleBlackbox(void)
1512 if (blackboxState
>= BLACKBOX_FIRST_HEADER_SENDING_STATE
&& blackboxState
<= BLACKBOX_LAST_HEADER_SENDING_STATE
) {
1513 blackboxReplenishHeaderBudget();
1516 switch (blackboxState
) {
1517 case BLACKBOX_STATE_PREPARE_LOG_FILE
:
1518 if (blackboxDeviceBeginLog()) {
1519 blackboxSetState(BLACKBOX_STATE_SEND_HEADER
);
1522 case BLACKBOX_STATE_SEND_HEADER
:
1523 //On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
1526 * Once the UART has had time to init, transmit the header in chunks so we don't overflow its transmit
1527 * buffer, overflow the OpenLog's buffer, or keep the main loop busy for too long.
1529 if (millis() > xmitState
.u
.startTime
+ 100) {
1530 if (blackboxDeviceReserveBufferSpace(BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION
) == BLACKBOX_RESERVE_SUCCESS
) {
1531 for (i
= 0; i
< BLACKBOX_TARGET_HEADER_BUDGET_PER_ITERATION
&& blackboxHeader
[xmitState
.headerIndex
] != '\0'; i
++, xmitState
.headerIndex
++) {
1532 blackboxWrite(blackboxHeader
[xmitState
.headerIndex
]);
1533 blackboxHeaderBudget
--;
1536 if (blackboxHeader
[xmitState
.headerIndex
] == '\0') {
1537 blackboxSetState(BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER
);
1542 case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER
:
1543 //On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
1544 if (!sendFieldDefinition('I', 'P', blackboxMainFields
, blackboxMainFields
+ 1, ARRAY_LENGTH(blackboxMainFields
),
1545 &blackboxMainFields
[0].condition
, &blackboxMainFields
[1].condition
)) {
1547 if (feature(FEATURE_GPS
)) {
1548 blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER
);
1551 blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER
);
1555 case BLACKBOX_STATE_SEND_GPS_H_HEADER
:
1556 //On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
1557 if (!sendFieldDefinition('H', 0, blackboxGpsHFields
, blackboxGpsHFields
+ 1, ARRAY_LENGTH(blackboxGpsHFields
),
1559 blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADER
);
1562 case BLACKBOX_STATE_SEND_GPS_G_HEADER
:
1563 //On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
1564 if (!sendFieldDefinition('G', 0, blackboxGpsGFields
, blackboxGpsGFields
+ 1, ARRAY_LENGTH(blackboxGpsGFields
),
1565 &blackboxGpsGFields
[0].condition
, &blackboxGpsGFields
[1].condition
)) {
1566 blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER
);
1570 case BLACKBOX_STATE_SEND_SLOW_HEADER
:
1571 //On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
1572 if (!sendFieldDefinition('S', 0, blackboxSlowFields
, blackboxSlowFields
+ 1, ARRAY_LENGTH(blackboxSlowFields
),
1574 blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO
);
1577 case BLACKBOX_STATE_SEND_SYSINFO
:
1578 //On entry of this state, xmitState.headerIndex is 0
1580 //Keep writing chunks of the system info headers until it returns true to signal completion
1581 if (blackboxWriteSysinfo()) {
1584 * Wait for header buffers to drain completely before data logging begins to ensure reliable header delivery
1585 * (overflowing circular buffers causes all data to be discarded, so the first few logged iterations
1586 * could wipe out the end of the header if we weren't careful)
1588 if (blackboxDeviceFlushForce()) {
1589 blackboxSetState(BLACKBOX_STATE_RUNNING
);
1593 case BLACKBOX_STATE_PAUSED
:
1594 // Only allow resume to occur during an I-frame iteration, so that we have an "I" base to work from
1595 if (IS_RC_MODE_ACTIVE(BOXBLACKBOX
) && blackboxShouldLogIFrame()) {
1596 // Write a log entry so the decoder is aware that our large time/iteration skip is intended
1597 flightLogEvent_loggingResume_t resume
;
1599 resume
.logIteration
= blackboxIteration
;
1600 resume
.currentTime
= currentTime
;
1602 blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME
, (flightLogEventData_t
*) &resume
);
1603 blackboxSetState(BLACKBOX_STATE_RUNNING
);
1605 blackboxLogIteration();
1608 // Keep the logging timers ticking so our log iteration continues to advance
1609 blackboxAdvanceIterationTimers();
1611 case BLACKBOX_STATE_RUNNING
:
1612 // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
1613 if (blackboxModeActivationConditionPresent
&& !IS_RC_MODE_ACTIVE(BOXBLACKBOX
)) {
1614 blackboxSetState(BLACKBOX_STATE_PAUSED
);
1616 blackboxLogIteration();
1619 blackboxAdvanceIterationTimers();
1621 case BLACKBOX_STATE_SHUTTING_DOWN
:
1622 //On entry of this state, startTime is set
1625 * Wait for the log we've transmitted to make its way to the logger before we release the serial port,
1626 * since releasing the port clears the Tx buffer.
1628 * Don't wait longer than it could possibly take if something funky happens.
1630 if (blackboxDeviceEndLog(blackboxLoggedAnyFrames
) && (millis() > xmitState
.u
.startTime
+ BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS
|| blackboxDeviceFlushForce())) {
1631 blackboxDeviceClose();
1632 blackboxSetState(BLACKBOX_STATE_STOPPED
);
1639 // Did we run out of room on the device? Stop!
1640 if (isBlackboxDeviceFull()) {
1641 blackboxSetState(BLACKBOX_STATE_STOPPED
);
1645 static bool canUseBlackboxWithCurrentConfiguration(void)
1647 return feature(FEATURE_BLACKBOX
);
1651 * Call during system startup to initialize the blackbox.
1653 void initBlackbox(void)
1655 if (canUseBlackboxWithCurrentConfiguration()) {
1656 blackboxSetState(BLACKBOX_STATE_STOPPED
);
1658 blackboxSetState(BLACKBOX_STATE_DISABLED
);