blackbox config refactor

rtlopez · Oct 26, 2024 · 36358c4 · 36358c4
1 parent bb9d641
commit 36358c4
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Showing 5 changed files with 73 additions and 60 deletions.
diff --git a/lib/Espfc/src/Blackbox/Blackbox.cpp b/lib/Espfc/src/Blackbox/Blackbox.cpp
@@ -27,7 +27,7 @@ int Blackbox::begin()
 
   if(!_model.blackboxEnabled()) return 0;
 
-  if(_model.config.blackboxDev == 3)
+  if(_model.config.blackbox.dev == BLACKBOX_DEV_SERIAL)
   {
     _serial = _model.getSerialStream(SERIAL_FUNCTION_BLACKBOX);
     if(!_serial) return 0;
@@ -156,17 +156,17 @@ int Blackbox::begin()
   targetPidLooptime = _model.state.loopTimer.interval;
   activePidLoopDenom = _model.config.loopSync;
 
-  if(_model.config.blackboxPdenom >= 0 && _model.config.blackboxPdenom <= 4)
+  if(_model.config.blackbox.pDenom >= 0 && _model.config.blackbox.pDenom <= 4)
   {
-    blackboxConfigMutable()->sample_rate = _model.config.blackboxPdenom;
+    blackboxConfigMutable()->sample_rate = _model.config.blackbox.pDenom;
   }
   else
   {
-    blackboxConfigMutable()->sample_rate = blackboxCalculateSampleRate(_model.config.blackboxPdenom);
+    blackboxConfigMutable()->sample_rate = blackboxCalculateSampleRate(_model.config.blackbox.pDenom);
   }
-  blackboxConfigMutable()->device = _model.config.blackboxDev;
-  blackboxConfigMutable()->fields_disabled_mask = ~_model.config.blackboxFieldsMask;
-  blackboxConfigMutable()->mode = _model.config.blackboxMode;
+  blackboxConfigMutable()->device = _model.config.blackbox.dev;
+  blackboxConfigMutable()->fields_disabled_mask = ~_model.config.blackbox.fieldsMask;
+  blackboxConfigMutable()->mode = _model.config.blackbox.mode;
 
   featureConfigMutable()->enabledFeatures = _model.config.featureMask;
 
@@ -206,7 +206,7 @@ int Blackbox::begin()
 int FAST_CODE_ATTR Blackbox::update()
 {
   if(!_model.blackboxEnabled()) return 0;
-  if(_model.config.blackboxDev == 3 && !_serial) return 0;
+  if(_model.config.blackbox.dev == BLACKBOX_DEV_SERIAL && !_serial) return 0;
 
   Stats::Measure measure(_model.state.stats, COUNTER_BLACKBOX);
 
@@ -219,7 +219,7 @@ int FAST_CODE_ATTR Blackbox::update()
   }
   //PIN_DEBUG(HIGH);
   blackboxUpdate(_model.state.loopTimer.last);
-  if(_model.config.blackboxDev == 3)
+  if(_model.config.blackbox.dev == BLACKBOX_DEV_SERIAL)
   {
     _buffer.flush();
   }

diff --git a/lib/Espfc/src/Cli.h b/lib/Espfc/src/Cli.h
@@ -415,6 +415,7 @@ class Cli
 
       static const char* voltageSourceChoices[] = { PSTR("NONE"), PSTR("ADC"), NULL };
       static const char* currentSourceChoices[] = { PSTR("NONE"), PSTR("ADC"), NULL };
+      static const char* blackboxDevChoices[] = { PSTR("NONE"), PSTR("FLASH"), PSTR("SD_CARD"), PSTR("SERIAL"), NULL };
       static const char* blackboxModeChoices[] = { PSTR("NORMAL"), PSTR("TEST"), PSTR("ALWAYS"), NULL };
 
       size_t i = 0;
@@ -732,23 +733,23 @@ class Cli
         //Param(PSTR("telemetry"), &c.telemetry),
         Param(PSTR("telemetry_interval"), &c.telemetryInterval),
 
-        Param(PSTR("blackbox_dev"), &c.blackboxDev),
-        Param(PSTR("blackbox_mode"), &c.blackboxMode, blackboxModeChoices),
-        Param(PSTR("blackbox_rate"), &c.blackboxPdenom),
-        Param(PSTR("blackbox_log_acc"), &c.blackboxFieldsMask, BLACKBOX_FIELD_ACC),
-        Param(PSTR("blackbox_log_alt"), &c.blackboxFieldsMask, BLACKBOX_FIELD_ALTITUDE),
-        Param(PSTR("blackbox_log_bat"), &c.blackboxFieldsMask, BLACKBOX_FIELD_BATTERY),
-        Param(PSTR("blackbox_log_debug"), &c.blackboxFieldsMask, BLACKBOX_FIELD_DEBUG_LOG),
-        Param(PSTR("blackbox_log_gps"), &c.blackboxFieldsMask, BLACKBOX_FIELD_GPS),
-        Param(PSTR("blackbox_log_gyro"), &c.blackboxFieldsMask, BLACKBOX_FIELD_GYRO),
-        Param(PSTR("blackbox_log_gyro_raw"), &c.blackboxFieldsMask, BLACKBOX_FIELD_GYROUNFILT),
-        Param(PSTR("blackbox_log_mag"), &c.blackboxFieldsMask, BLACKBOX_FIELD_MAG),
-        Param(PSTR("blackbox_log_motor"), &c.blackboxFieldsMask, BLACKBOX_FIELD_MOTOR),
-        Param(PSTR("blackbox_log_pid"), &c.blackboxFieldsMask, BLACKBOX_FIELD_PID),
-        Param(PSTR("blackbox_log_rc"), &c.blackboxFieldsMask, BLACKBOX_FIELD_RC_COMMANDS),
-        Param(PSTR("blackbox_log_rpm"), &c.blackboxFieldsMask, BLACKBOX_FIELD_RPM),
-        Param(PSTR("blackbox_log_rssi"), &c.blackboxFieldsMask, BLACKBOX_FIELD_RSSI),
-        Param(PSTR("blackbox_log_sp"), &c.blackboxFieldsMask, BLACKBOX_FIELD_SETPOINT),
+        Param(PSTR("blackbox_dev"), &c.blackbox.dev, blackboxDevChoices),
+        Param(PSTR("blackbox_mode"), &c.blackbox.mode, blackboxModeChoices),
+        Param(PSTR("blackbox_rate"), &c.blackbox.pDenom),
+        Param(PSTR("blackbox_log_acc"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_ACC),
+        Param(PSTR("blackbox_log_alt"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_ALTITUDE),
+        Param(PSTR("blackbox_log_bat"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_BATTERY),
+        Param(PSTR("blackbox_log_debug"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_DEBUG_LOG),
+        Param(PSTR("blackbox_log_gps"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_GPS),
+        Param(PSTR("blackbox_log_gyro"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_GYRO),
+        Param(PSTR("blackbox_log_gyro_raw"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_GYROUNFILT),
+        Param(PSTR("blackbox_log_mag"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_MAG),
+        Param(PSTR("blackbox_log_motor"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_MOTOR),
+        Param(PSTR("blackbox_log_pid"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_PID),
+        Param(PSTR("blackbox_log_rc"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_RC_COMMANDS),
+        Param(PSTR("blackbox_log_rpm"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_RPM),
+        Param(PSTR("blackbox_log_rssi"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_RSSI),
+        Param(PSTR("blackbox_log_sp"), &c.blackbox.fieldsMask, BLACKBOX_FIELD_SETPOINT),
 
 #ifdef ESPFC_SERIAL_SOFT_0_WIFI
         Param(PSTR("wifi_ssid"), PARAM_STRING, &c.wireless.ssid[0], NULL, 32),

diff --git a/lib/Espfc/src/Model.h b/lib/Espfc/src/Model.h
@@ -104,7 +104,7 @@ class Model
     bool blackboxEnabled() const
     {
       // serial or flash
-      return (config.blackboxDev == 3 || config.blackboxDev == 1) && config.blackboxPdenom > 0;
+      return (config.blackbox.dev == BLACKBOX_DEV_SERIAL || config.blackbox.dev == BLACKBOX_DEV_FLASH) && config.blackbox.pDenom > 0;
     }
 
     bool gyroActive() const /* IRAM_ATTR */

diff --git a/lib/Espfc/src/ModelConfig.h b/lib/Espfc/src/ModelConfig.h
@@ -87,7 +87,7 @@ enum FlightMode {
   MODE_FAILSAFE,
   MODE_BLACKBOX,
   MODE_BLACKBOX_ERASE,
-  MODE_COUNT
+  MODE_COUNT,
 };
 
 enum ScalerDimension {
@@ -103,10 +103,10 @@ enum ScalerDimension {
   ACT_AXIS_PITCH  = 1 << 9,  // 512
   ACT_AXIS_YAW    = 1 << 10, // 1024
   ACT_AXIS_THRUST = 1 << 11, // 2048
-  ACT_GYRO_THRUST = 1 << 12  // 4096
+  ACT_GYRO_THRUST = 1 << 12, // 4096
 };
 
-const size_t SCALER_COUNT = 3;
+constexpr size_t SCALER_COUNT = 3;
 
 struct ScalerConfig {
   uint32_t dimension = 0;
@@ -179,7 +179,7 @@ enum DebugMode {
   DEBUG_BLACKBOX_OUTPUT,
   DEBUG_GYRO_SAMPLE,
   DEBUG_RX_TIMING,
-  DEBUG_COUNT
+  DEBUG_COUNT,
 };
 
 enum Axis {
@@ -199,7 +199,7 @@ enum Axis {
   AXIS_AUX_10,
   AXIS_AUX_11,
   AXIS_AUX_12,
-  AXIS_COUNT
+  AXIS_COUNT,
 };
 
 enum Feature {
@@ -222,18 +222,18 @@ enum InputInterpolation {
 
 enum InputFilterType : uint8_t {
   INPUT_INTERPOLATION,
-  INPUT_FILTER
+  INPUT_FILTER,
 };
 
-const size_t MODEL_NAME_LEN  = 16;
-const size_t AXES            = 4;
-const size_t AXES_RPY        = 3;
-const size_t INPUT_CHANNELS  = AXIS_COUNT;
-const size_t OUTPUT_CHANNELS = ESC_CHANNEL_COUNT;
+constexpr size_t MODEL_NAME_LEN  = 16;
+constexpr size_t AXES            = 4;
+constexpr size_t AXES_RPY        = 3;
+constexpr size_t INPUT_CHANNELS  = AXIS_COUNT;
+constexpr size_t OUTPUT_CHANNELS = ESC_CHANNEL_COUNT;
 static_assert(ESC_CHANNEL_COUNT == ESPFC_OUTPUT_COUNT, "ESC_CHANNEL_COUNT and ESPFC_OUTPUT_COUNT must be equal");
 
-const size_t RPM_FILTER_MOTOR_MAX = 4;
-const size_t RPM_FILTER_HARMONICS_MAX = 3;
+constexpr size_t RPM_FILTER_MOTOR_MAX = 4;
+constexpr size_t RPM_FILTER_HARMONICS_MAX = 3;
 
 enum PinFunction {
 #ifdef ESPFC_INPUT
@@ -288,10 +288,10 @@ enum PinFunction {
   PIN_SPI_CS1,
   PIN_SPI_CS2,
 #endif
-  PIN_COUNT
+  PIN_COUNT,
 };
 
-#define ACTUATOR_CONDITIONS 8
+constexpr size_t ACTUATOR_CONDITIONS = 8;
 
 struct ActuatorCondition
 {
@@ -311,7 +311,7 @@ struct SerialPortConfig
   int32_t blackboxBaud;
 };
 
-#define BUZZER_MAX_EVENTS 8
+constexpr size_t BUZZER_MAX_EVENTS = 8;
 
 enum BuzzerEvent {
   BUZZER_SILENCE = 0,             // Silence, see beeperSilence()
@@ -359,7 +359,7 @@ enum PidIndex {
   FC_PID_LEVEL,
   FC_PID_MAG,
   FC_PID_VEL,
-  FC_PID_ITEM_COUNT
+  FC_PID_ITEM_COUNT,
 };
 
 enum BlacboxLogField { // no more than 32, sync with FlightLogFieldSelect_e
@@ -377,7 +377,14 @@ enum BlacboxLogField { // no more than 32, sync with FlightLogFieldSelect_e
   BLACKBOX_FIELD_GPS,
   BLACKBOX_FIELD_RPM,
   BLACKBOX_FIELD_GYROUNFILT,
-  BLACKBOX_FIELD_COUNT
+  BLACKBOX_FIELD_COUNT,
+};
+
+enum BlackboxLogDevice {
+  BLACKBOX_DEV_NONE = 0,
+  BLACKBOX_DEV_FLASH = 1,
+  BLACKBOX_DEV_SDCARD = 2,
+  BLACKBOX_DEV_SERIAL = 3,
 };
 
 struct PidConfig
@@ -517,6 +524,14 @@ struct FailsafeConfig
   uint8_t killSwitch = 0;
 };
 
+struct BlackboxConfig
+{
+  int8_t dev = 0;
+  int16_t pDenom = 32; // 1k
+  int32_t fieldsMask = 0xffff;
+  int8_t mode = 0;
+};
+
 // persistent data
 class ModelConfig
 {
@@ -599,10 +614,7 @@ class ModelConfig
     int32_t telemetryInterval = 1000;
     int8_t telemetryPort; // unused
 
-    int8_t blackboxDev = 0;
-    int16_t blackboxPdenom = 32; // 1k
-    int32_t blackboxFieldsMask = 0xffff;
-    int8_t blackboxMode = 0;
+    BlackboxConfig blackbox;
 
     SerialPortConfig serial[SERIAL_UART_COUNT];
 
@@ -769,7 +781,7 @@ class ModelConfig
     void devPreset()
     {
 #ifdef ESPFC_DEV_PRESET_BLACKBOX
-      blackboxDev = 3; // serial
+      blackbox.dev = BLACKBOX_DEV_SERIAL; // serial
       debugMode = DEBUG_GYRO_SCALED;
       serial[ESPFC_DEV_PRESET_BLACKBOX].functionMask |= SERIAL_FUNCTION_BLACKBOX;
       serial[ESPFC_DEV_PRESET_BLACKBOX].blackboxBaud = SERIAL_SPEED_250000;

diff --git a/lib/Espfc/src/Msp/MspProcessor.h b/lib/Espfc/src/Msp/MspProcessor.h
@@ -642,18 +642,18 @@ class MspProcessor
 
         case MSP_BLACKBOX_CONFIG:
           r.writeU8(1); // Blackbox supported
-          r.writeU8(_model.config.blackboxDev); // device serial or none
+          r.writeU8(_model.config.blackbox.dev); // device serial or none
           r.writeU8(1); // blackboxGetRateNum()); // unused
           r.writeU8(1); // blackboxGetRateDenom());
-          r.writeU16(_model.config.blackboxPdenom);//blackboxGetPRatio()); // p_denom
-          //r.writeU8(_model.config.blackboxPdenom); // sample_rate
-          //r.writeU32(~_model.config.blackboxFieldsMask);
+          r.writeU16(_model.config.blackbox.pDenom);//blackboxGetPRatio()); // p_denom
+          //r.writeU8(_model.config.blackbox.pDenom); // sample_rate
+          //r.writeU32(~_model.config.blackbox.fieldsMask);
           break;
 
         case MSP_SET_BLACKBOX_CONFIG:
           // Don't allow config to be updated while Blackbox is logging
           if (true) {
-            _model.config.blackboxDev = m.readU8();
+            _model.config.blackbox.dev = m.readU8();
             const int rateNum = m.readU8(); // was rate_num
             const int rateDenom = m.readU8(); // was rate_denom
             uint16_t pRatio = 0;
@@ -664,16 +664,16 @@ class MspProcessor
                 //pRatio = blackboxCalculatePDenom(rateNum, rateDenom);
                 (void)(rateNum + rateDenom);
             }
-            _model.config.blackboxPdenom = pRatio;
+            _model.config.blackbox.pDenom = pRatio;
 
             /*if (m.remain() >= 1) {
-                _model.config.blackboxPdenom = m.readU8();
+                _model.config.blackbox.pDenom = m.readU8();
             } else if(pRatio > 0) {
-                _model.config.blackboxPdenom = blackboxCalculateSampleRate(pRatio);
-                //_model.config.blackboxPdenom = pRatio;
+                _model.config.blackbox.pDenom = blackboxCalculateSampleRate(pRatio);
+                //_model.config.blackbox.pDenom = pRatio;
             }
             if (m.remain() >= 4) {
-              _model.config.blackboxFieldsMask = ~m.readU32();
+              _model.config.blackbox.fieldsMask = ~m.readU32();
             }*/
           }
           break;