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     FLIGHT_LOG_FIELD_CONDITION_SERVOS,
  37
  38     FLIGHT_LOG_FIELD_CONDITION_MAG,
  39     FLIGHT_LOG_FIELD_CONDITION_BARO,
  40     FLIGHT_LOG_FIELD_CONDITION_PITOT,
  41     FLIGHT_LOG_FIELD_CONDITION_VBAT,
  42     FLIGHT_LOG_FIELD_CONDITION_AMPERAGE,
  43     FLIGHT_LOG_FIELD_CONDITION_SURFACE,
  44     FLIGHT_LOG_FIELD_CONDITION_FIXED_WING_NAV,
  45     FLIGHT_LOG_FIELD_CONDITION_MC_NAV,
  46     FLIGHT_LOG_FIELD_CONDITION_RSSI,
  47
  48     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
  49     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
  50     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
  51
  52     FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
  53
  54     FLIGHT_LOG_FIELD_CONDITION_DEBUG,
  55
  56     FLIGHT_LOG_FIELD_CONDITION_NAV_ACC,
  57     FLIGHT_LOG_FIELD_CONDITION_NAV_POS,
  58     FLIGHT_LOG_FIELD_CONDITION_NAV_PID,
  59     FLIGHT_LOG_FIELD_CONDITION_ACC,
  60     FLIGHT_LOG_FIELD_CONDITION_ATTITUDE,
  61     FLIGHT_LOG_FIELD_CONDITION_RC_DATA,
  62     FLIGHT_LOG_FIELD_CONDITION_RC_COMMAND,
  63     FLIGHT_LOG_FIELD_CONDITION_GYRO_RAW,
  64
  65     FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_ROLL,
  66     FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_PITCH,
  67     FLIGHT_LOG_FIELD_CONDITION_GYRO_PEAKS_YAW,
  68
  69     FLIGHT_LOG_FIELD_CONDITION_NEVER,
  70
  71     FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS,
  72     FLIGHT_LOG_FIELD_CONDITION_LAST = FLIGHT_LOG_FIELD_CONDITION_NEVER
  73 } FlightLogFieldCondition;
  74
  75 typedef enum FlightLogFieldPredictor {
  76     //No prediction:
  77     FLIGHT_LOG_FIELD_PREDICTOR_0              = 0,
  78
  79     //Predict that the field is the same as last frame:
  80     FLIGHT_LOG_FIELD_PREDICTOR_PREVIOUS       = 1,
  81
  82     //Predict that the slope between this field and the previous item is the same as that between the past two history items:
  83     FLIGHT_LOG_FIELD_PREDICTOR_STRAIGHT_LINE  = 2,
  84
  85     //Predict that this field is the same as the average of the last two history items:
  86     FLIGHT_LOG_FIELD_PREDICTOR_AVERAGE_2      = 3,
  87
  88     //Predict that this field is minthrottle
  89     FLIGHT_LOG_FIELD_PREDICTOR_MINTHROTTLE    = 4,
  90
  91     //Predict that this field is the same as motor 0
  92     FLIGHT_LOG_FIELD_PREDICTOR_MOTOR_0        = 5,
  93
  94     //This field always increments
  95     FLIGHT_LOG_FIELD_PREDICTOR_INC            = 6,
  96
  97     //Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
  98     FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     = 7,
  99
 100     //Predict 1500
 101     FLIGHT_LOG_FIELD_PREDICTOR_1500           = 8,
 102
 103     //Predict vbatref, the reference ADC level stored in the header
 104     FLIGHT_LOG_FIELD_PREDICTOR_VBATREF        = 9,
 105
 106     //Predict the last time value written in the main stream
 107     FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
 108
 109 } FlightLogFieldPredictor;
 110
 111 typedef enum FlightLogFieldEncoding {
 112     FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       = 0, // Signed variable-byte
 113     FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     = 1, // Unsigned variable-byte
 114     FLIGHT_LOG_FIELD_ENCODING_NEG_14BIT       = 3, // Unsigned variable-byte but we negate the value before storing, value is 14 bits
 115     FLIGHT_LOG_FIELD_ENCODING_TAG8_8SVB       = 6,
 116     FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32       = 7,
 117     FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       = 8,
 118     FLIGHT_LOG_FIELD_ENCODING_NULL            = 9 // Nothing is written to the file, take value to be zero
 119 } FlightLogFieldEncoding;
 120
 121 typedef enum FlightLogFieldSign {
 122     FLIGHT_LOG_FIELD_UNSIGNED = 0,
 123     FLIGHT_LOG_FIELD_SIGNED   = 1
 124 } FlightLogFieldSign;
 125
 126 typedef enum FlightLogEvent {
 127     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
 128     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
 129     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
 130     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
 131     FLIGHT_LOG_EVENT_IMU_FAILURE = 40,
 132     FLIGHT_LOG_EVENT_LOG_END = 255
 133 } FlightLogEvent;
 134
 135 typedef struct flightLogEvent_syncBeep_s {
 136     uint32_t time;
 137 } flightLogEvent_syncBeep_t;
 138
 139 typedef struct flightLogEvent_flightMode_s { // New Event Data type
 140     uint32_t flags;
 141     uint32_t lastFlags;
 142 } flightLogEvent_flightMode_t;
 143
 144 typedef struct flightLogEvent_inflightAdjustment_s {
 145     uint8_t adjustmentFunction;
 146     bool floatFlag;
 147     int32_t newValue;
 148     float newFloatValue;
 149 } flightLogEvent_inflightAdjustment_t;
 150
 151 typedef struct flightLogEvent_loggingResume_s {
 152     uint32_t logIteration;
 153     timeUs_t currentTimeUs;
 154 } flightLogEvent_loggingResume_t;
 155
 156 typedef struct flightLogEvent_IMUError_s {
 157     uint32_t errorCode;
 158 } flightLogEvent_IMUError_t;
 159
 160 #define FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG 128
 161
 162 typedef union flightLogEventData_u {
 163     flightLogEvent_syncBeep_t syncBeep;
 164     flightLogEvent_flightMode_t flightMode; // New event data
 165     flightLogEvent_inflightAdjustment_t inflightAdjustment;
 166     flightLogEvent_loggingResume_t loggingResume;
 167     flightLogEvent_IMUError_t imuError;
 168 } flightLogEventData_t;
 169
 170 typedef struct flightLogEvent_s {
 171     FlightLogEvent event;
 172     flightLogEventData_t data;
 173 } flightLogEvent_t;