src/main/blackbox/blackbox_fielddefs.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   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.
   8  *
   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.
  13  *
  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/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdint.h>
  21 #include <stdbool.h>
  22
  23 #include "common/time.h"
  24
  25 typedef enum FlightLogFieldCondition {
  26     FLIGHT_LOG_FIELD_CONDITION_ALWAYS = 0,
  27     FLIGHT_LOG_FIELD_CONDITION_MOTORS,
  28     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1,
  29     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2,
  30     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3,
  31     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4,
  32     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5,
  33     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6,
  34     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7,
  35     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
  36
  37     FLIGHT_LOG_FIELD_CONDITION_SERVOS,
  38     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1,
  39     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_2,
  40     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_3,
  41     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_4,
  42     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_5,
  43     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_6,
  44     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_7,
  45     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_8,
  46     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_9,
  47     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_10,
  48     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_11,
  49     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_12,
  50     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_13,
  51     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_14,
  52     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_15,
  53     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_16,
  54     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_17,
  55     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_18,
  56     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_19,
  57     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_20,
  58     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_21,
  59     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_22,
  60     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_23,
  61     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_24,
  62     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_25,
  63     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_26,
  64     /*
  65     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_27,
  66     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_28,
  67     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_29,
  68     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_30,
  69     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_31,
  70     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_32,
  71     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_33,
  72     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_34,
  73     */
  74
  75     FLIGHT_LOG_FIELD_CONDITION_MAG,
  76     FLIGHT_LOG_FIELD_CONDITION_BARO,
  77     FLIGHT_LOG_FIELD_CONDITION_PITOT,
  78     FLIGHT_LOG_FIELD_CONDITION_VBAT,
  79     FLIGHT_LOG_FIELD_CONDITION_AMPERAGE,
  80     FLIGHT_LOG_FIELD_CONDITION_SURFACE,
  81     FLIGHT_LOG_FIELD_CONDITION_FIXED_WING_NAV,
  82     FLIGHT_LOG_FIELD_CONDITION_MC_NAV,
  83     FLIGHT_LOG_FIELD_CONDITION_RSSI,
  84
  85     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
  86     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
  87     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
  88
  89     FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
  90
  91     FLIGHT_LOG_FIELD_CONDITION_DEBUG,
  92
  93     FLIGHT_LOG_FIELD_CONDITION_NAV_ACC,
  94     FLIGHT_LOG_FIELD_CONDITION_NAV_POS,
  95     FLIGHT_LOG_FIELD_CONDITION_NAV_PID,
  96     FLIGHT_LOG_FIELD_CONDITION_ACC,
  97     FLIGHT_LOG_FIELD_CONDITION_ATTITUDE,
  98     FLIGHT_LOG_FIELD_CONDITION_RC_DATA,
  99     FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND,
 100     FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW,
 101
 102     FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL,
 103     FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_PITCH,
 104     FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_YAW,
 105
 106     FLIGHT_LOG_FIELD_CONDITION_NEVER,
 107
 108     FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS,
 109     FLIGHT_LOG_FIELD_CONDITION_LAST = FLIGHT_LOG_FIELD_CONDITION_NEVER
 110 } FlightLogFieldCondition;
 111
 112 typedef enum FlightLogFieldPredictor {
 113     //No prediction:
 114     FLIGHT_LOG_FIELD_PREDICTOR_0              = 0,
 115
 116     //Predict that the field is the same as last frame:
 117     FLIGHT_LOG_FIELD_PREDICTOR_PREVIOUS       = 1,
 118
 119     //Predict that the slope between this field and the previous item is the same as that between the past two history items:
 120     FLIGHT_LOG_FIELD_PREDICTOR_STRAIGHT_LINE  = 2,
 121
 122     //Predict that this field is the same as the average of the last two history items:
 123     FLIGHT_LOG_FIELD_PREDICTOR_AVERAGE_2      = 3,
 124
 125     //Predict that this field is minthrottle
 126     FLIGHT_LOG_FIELD_PREDICTOR_MINTHROTTLE    = 4,
 127
 128     //Predict that this field is the same as motor 0
 129     FLIGHT_LOG_FIELD_PREDICTOR_MOTOR_0        = 5,
 130
 131     //This field always increments
 132     FLIGHT_LOG_FIELD_PREDICTOR_INC            = 6,
 133
 134     //Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
 135     FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     = 7,
 136
 137     //Predict 1500
 138     FLIGHT_LOG_FIELD_PREDICTOR_1500           = 8,
 139
 140     //Predict vbatref, the reference ADC level stored in the header
 141     FLIGHT_LOG_FIELD_PREDICTOR_VBATREF        = 9,
 142
 143     //Predict the last time value written in the main stream
 144     FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
 145
 146 } FlightLogFieldPredictor;
 147
 148 typedef enum FlightLogFieldEncoding {
 149     FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       = 0, // Signed variable-byte
 150     FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     = 1, // Unsigned variable-byte
 151     FLIGHT_LOG_FIELD_ENCODING_NEG_14BIT       = 3, // Unsigned variable-byte but we negate the value before storing, value is 14 bits
 152     FLIGHT_LOG_FIELD_ENCODING_TAG8_8SVB       = 6,
 153     FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32       = 7,
 154     FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       = 8,
 155     FLIGHT_LOG_FIELD_ENCODING_NULL            = 9 // Nothing is written to the file, take value to be zero
 156 } FlightLogFieldEncoding;
 157
 158 typedef enum FlightLogFieldSign {
 159     FLIGHT_LOG_FIELD_UNSIGNED = 0,
 160     FLIGHT_LOG_FIELD_SIGNED   = 1
 161 } FlightLogFieldSign;
 162
 163 typedef enum FlightLogEvent {
 164     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
 165     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
 166     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
 167     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
 168     FLIGHT_LOG_EVENT_IMU_FAILURE = 40,
 169     FLIGHT_LOG_EVENT_LOG_END = 255
 170 } FlightLogEvent;
 171
 172 typedef struct flightLogEvent_syncBeep_s {
 173     uint32_t time;
 174 } flightLogEvent_syncBeep_t;
 175
 176 typedef struct flightLogEvent_flightMode_s { // New Event Data type
 177     uint32_t flags;
 178     uint32_t lastFlags;
 179 } flightLogEvent_flightMode_t;
 180
 181 typedef struct flightLogEvent_inflightAdjustment_s {
 182     uint8_t adjustmentFunction;
 183     bool floatFlag;
 184     int32_t newValue;
 185     float newFloatValue;
 186 } flightLogEvent_inflightAdjustment_t;
 187
 188 typedef struct flightLogEvent_loggingResume_s {
 189     uint32_t logIteration;
 190     timeUs_t currentTimeUs;
 191 } flightLogEvent_loggingResume_t;
 192
 193 typedef struct flightLogEvent_IMUError_s {
 194     uint32_t errorCode;
 195 } flightLogEvent_IMUError_t;
 196
 197 #define FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG 128
 198
 199 typedef union flightLogEventData_u {
 200     flightLogEvent_syncBeep_t syncBeep;
 201     flightLogEvent_flightMode_t flightMode; // New event data
 202     flightLogEvent_inflightAdjustment_t inflightAdjustment;
 203     flightLogEvent_loggingResume_t loggingResume;
 204     flightLogEvent_IMUError_t imuError;
 205 } flightLogEventData_t;
 206
 207 typedef struct flightLogEvent_s {
 208     FlightLogEvent event;
 209     flightLogEventData_t data;
 210 } flightLogEvent_t;