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only BBL log servos defined in the mixer #10267

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Aug 1, 2024
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only BBL log servos defined in the mixer #10267

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e62028f
only BBL log servos defined in the mixer
stronnag Jul 31, 2024
60ebf26
address gcc13/gcc14/arm/intel GCC type mismatch
stronnag Jul 31, 2024
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64 changes: 43 additions & 21 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -334,24 +334,24 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"motor", 7, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},

/* servos */
{"servo", 0, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 1, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 2, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 3, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 4, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 6, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 7, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 8, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 9, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 10, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 11, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 12, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 13, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 14, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 15, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 16, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 17, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(SERVOS)},
{"servo", 0, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_1)},
{"servo", 1, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_2)},
{"servo", 2, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_3)},
{"servo", 3, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_4)},
{"servo", 4, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_5)},
{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_6)},
{"servo", 6, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_7)},
{"servo", 7, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_8)},
{"servo", 8, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_9)},
{"servo", 9, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_10)},
{"servo", 10, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_11)},
{"servo", 11, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_12)},
{"servo", 12, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_13)},
{"servo", 13, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_14)},
{"servo", 14, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_15)},
{"servo", 15, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_16)},
{"servo", 16, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_17)},
{"servo", 17, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_SERVOS_18)},

{"navState", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"navFlags", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
Expand Down Expand Up @@ -656,6 +656,26 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_SERVOS:
return isMixerUsingServos();

case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_2:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_3:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_4:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_5:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_6:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_7:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_8:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_9:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_10:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_11:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_12:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_13:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_14:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_15:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_16:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_17:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_18:
return ((FlightLogFieldCondition)getServoCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1 + 1);

case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
Expand Down Expand Up @@ -955,7 +975,8 @@ static void writeIntraframe(void)
}

if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SERVOS)) {
for (int x = 0; x < MAX_SUPPORTED_SERVOS; x++) {
const int servoCount = getServoCount();
for (int x = 0; x < servoCount; x++) {
//Assume that servos spends most of its time around the center
blackboxWriteSignedVB(blackboxCurrent->servo[x] - 1500);
}
Expand Down Expand Up @@ -1214,7 +1235,7 @@ static void writeInterframe(void)
}

if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SERVOS)) {
blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, servo), MAX_SUPPORTED_SERVOS);
blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, servo), getServoCount());
}

blackboxWriteSignedVB(blackboxCurrent->navState - blackboxLast->navState);
Expand Down Expand Up @@ -1682,7 +1703,8 @@ static void loadMainState(timeUs_t currentTimeUs)

blackboxCurrent->rssi = getRSSI();

for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
const int servoCount = getServoCount();
for (int i = 0; i < servoCount; i++) {
blackboxCurrent->servo[i] = servo[i];
}

Expand Down
19 changes: 19 additions & 0 deletions src/main/blackbox/blackbox_fielddefs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,26 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,

FLIGHT_LOG_FIELD_CONDITION_SERVOS,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_2,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_3,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_4,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_5,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_6,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_7,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_8,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_9,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_10,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_11,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_12,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_13,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_14,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_15,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_16,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_17,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_18,

FLIGHT_LOG_FIELD_CONDITION_MAG,
FLIGHT_LOG_FIELD_CONDITION_BARO,
Expand Down
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