Merge pull request #3098 from hydra/bf-merges-20200603

Bf merges 20200603

Makefile

@@ -690,6 +690,10 @@ test junittest test-all test-representative:
 test_help:
 	$(V0) cd src/test && $(MAKE) help
 
+## test_versions         : print the compiler versions used for the test suite
+test_versions:
+	$(V0) cd src/test && $(MAKE) versions
+
 ## test_%            : run test 'test_%' from the test suite
 test_%:
 	$(V0) cd src/test && $(MAKE) $@

src/main/blackbox/blackbox.c

@@ -42,17 +42,13 @@
 #include "common/time.h"
 #include "common/utils.h"
 
+#include "config/config.h"
 #include "config/feature.h"
-#include "pg/pg.h"
-#include "pg/pg_ids.h"
-#include "pg/motor.h"
-#include "pg/rx.h"
 
 #include "drivers/compass/compass.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
 
-#include "config/config.h"
 #include "fc/board_info.h"
 #include "fc/controlrate_profile.h"
 #include "fc/rc.h"
@@ -70,6 +66,11 @@
 #include "io/gps.h"
 #include "io/serial.h"
 
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+#include "pg/motor.h"
+#include "pg/rx.h"
+
 #include "rx/rx.h"
 
 #include "sensors/acceleration.h"
@@ -281,6 +282,7 @@ typedef enum BlackboxState {
     BLACKBOX_STATE_SEND_GPS_G_HEADER,
     BLACKBOX_STATE_SEND_SLOW_HEADER,
     BLACKBOX_STATE_SEND_SYSINFO,
+    BLACKBOX_STATE_CACHE_FLUSH,
     BLACKBOX_STATE_PAUSED,
     BLACKBOX_STATE_RUNNING,
     BLACKBOX_STATE_SHUTTING_DOWN,
@@ -1608,6 +1610,8 @@ STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs)
  */
 void blackboxUpdate(timeUs_t currentTimeUs)
 {
+    static BlackboxState cacheFlushNextState;
+
     switch (blackboxState) {
     case BLACKBOX_STATE_STOPPED:
         if (ARMING_FLAG(ARMED)) {
@@ -1681,7 +1685,8 @@ void blackboxUpdate(timeUs_t currentTimeUs)
         //On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
         if (!sendFieldDefinition('S', 0, blackboxSlowFields, blackboxSlowFields + 1, ARRAYLEN(blackboxSlowFields),
                 NULL, NULL)) {
-            blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
+            cacheFlushNextState = BLACKBOX_STATE_SEND_SYSINFO;
+            blackboxSetState(BLACKBOX_STATE_CACHE_FLUSH);
         }
         break;
     case BLACKBOX_STATE_SEND_SYSINFO:
@@ -1695,9 +1700,14 @@ void blackboxUpdate(timeUs_t currentTimeUs)
              * (overflowing circular buffers causes all data to be discarded, so the first few logged iterations
              * could wipe out the end of the header if we weren't careful)
              */
-            if (blackboxDeviceFlushForce()) {
-                blackboxSetState(BLACKBOX_STATE_RUNNING);
-            }
+            cacheFlushNextState = BLACKBOX_STATE_RUNNING;
+            blackboxSetState(BLACKBOX_STATE_CACHE_FLUSH);
+        }
+        break;
+    case BLACKBOX_STATE_CACHE_FLUSH:
+        // Flush the cache and wait until all possible entries have been written to the media
+        if (blackboxDeviceFlushForceComplete()) {
+            blackboxSetState(cacheFlushNextState);
         }
         break;
     case BLACKBOX_STATE_PAUSED:

src/main/blackbox/blackbox_io.c

@@ -242,9 +242,11 @@ bool blackboxDeviceFlushForce(void)
 
 #ifdef USE_SDCARD
     case BLACKBOX_DEVICE_SDCARD:
-        /* SD card will flush itself without us calling it, but we need to call flush manually in order to check
-         * if it's done yet or not!
-         */
+        // SD card will flush itself without us calling it, but we need to call flush manually in order to check
+        // if it's done yet or not!
+        // However the "flush" only queues one dirty sector each time and the process is asynchronous. So after
+        // the last dirty sector is queued the flush returns true even though the sector may not actually have
+        // been physically written to the SD card yet.
         return afatfs_flush();
 #endif // USE_SDCARD
 
@@ -253,6 +255,26 @@ bool blackboxDeviceFlushForce(void)
     }
 }
 
+// Flush the blackbox device and only return true if sync is actually complete.
+// Primarily to ensure the async operations of SD card sector writes complete thus freeing the cache entries.
+bool blackboxDeviceFlushForceComplete(void)
+{
+    switch (blackboxConfig()->device) {
+#ifdef USE_SDCARD
+    case BLACKBOX_DEVICE_SDCARD:
+        if (afatfs_sectorCacheInSync()) {
+            return true;
+        } else {
+            blackboxDeviceFlushForce();
+            return false;
+        }
+#endif // USE_SDCARD
+
+    default:
+        return blackboxDeviceFlushForce();
+    }
+}
+
 /**
  * Attempt to open the logging device. Returns true if successful.
  */

src/main/blackbox/blackbox_io.h

@@ -46,6 +46,8 @@ int blackboxWriteString(const char *s);
 
 void blackboxDeviceFlush(void);
 bool blackboxDeviceFlushForce(void);
+bool blackboxDeviceFlushForceComplete(void);
+
 bool blackboxDeviceOpen(void);
 void blackboxDeviceClose(void);
 

src/main/cli/cli.c

@@ -228,12 +228,15 @@ static char cliBufferTemp[CLI_IN_BUFFER_SIZE];
 #define CUSTOM_DEFAULTS_CHANGESET_ID_PREFIX ", version: "
 #define CUSTOM_DEFAULTS_DATE_PREFIX ", date: "
 
+#define MAX_CHANGESET_ID_LENGTH 8
+#define MAX_DATE_LENGTH 20
+
 static bool customDefaultsHeaderParsed = false;
 static bool customDefaultsFound = false;
 static char customDefaultsManufacturerId[MAX_MANUFACTURER_ID_LENGTH + 1] = { 0 };
 static char customDefaultsBoardName[MAX_BOARD_NAME_LENGTH + 1] = { 0 };
-static char customDefaultsChangesetId[9] = { 0 };
-static char customDefaultsDate[21] = { 0 };
+static char customDefaultsChangesetId[MAX_CHANGESET_ID_LENGTH + 1] = { 0 };
+static char customDefaultsDate[MAX_DATE_LENGTH + 1] = { 0 };
 #endif
 
 #if defined(USE_CUSTOM_DEFAULTS_ADDRESS)
@@ -4252,7 +4255,7 @@ static bool customDefaultsHasNext(const char *customDefaultsPtr)
     return *customDefaultsPtr && *customDefaultsPtr != 0xFF && customDefaultsPtr < customDefaultsEnd;
 }
 
-static const char *parseCustomDefaultsHeaderElement(char *dest, const char *customDefaultsPtr, const char *prefix, char terminator)
+static const char *parseCustomDefaultsHeaderElement(char *dest, const char *customDefaultsPtr, const char *prefix, const char terminator, const unsigned maxLength)
 {
     char *endPtr = NULL;
     unsigned len = strlen(prefix);
@@ -4263,7 +4266,7 @@ static const char *parseCustomDefaultsHeaderElement(char *dest, const char *cust
 
     if (endPtr && customDefaultsHasNext(endPtr)) {
         len = endPtr - customDefaultsPtr;
-        memcpy(dest, customDefaultsPtr, len);
+        memcpy(dest, customDefaultsPtr, MIN(len, maxLength));
 
         customDefaultsPtr += len;
 
@@ -4284,13 +4287,13 @@ static void parseCustomDefaultsHeader(void)
             customDefaultsPtr++;
         }
 
-        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsManufacturerId, customDefaultsPtr, CUSTOM_DEFAULTS_MANUFACTURER_ID_PREFIX, CUSTOM_DEFAULTS_BOARD_NAME_PREFIX[0]);
+        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsManufacturerId, customDefaultsPtr, CUSTOM_DEFAULTS_MANUFACTURER_ID_PREFIX, CUSTOM_DEFAULTS_BOARD_NAME_PREFIX[0], MAX_MANUFACTURER_ID_LENGTH);
 
-        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsBoardName, customDefaultsPtr, CUSTOM_DEFAULTS_BOARD_NAME_PREFIX, CUSTOM_DEFAULTS_CHANGESET_ID_PREFIX[0]);
+        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsBoardName, customDefaultsPtr, CUSTOM_DEFAULTS_BOARD_NAME_PREFIX, CUSTOM_DEFAULTS_CHANGESET_ID_PREFIX[0], MAX_BOARD_NAME_LENGTH);
 
-        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsChangesetId, customDefaultsPtr, CUSTOM_DEFAULTS_CHANGESET_ID_PREFIX, CUSTOM_DEFAULTS_DATE_PREFIX[0]);
+        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsChangesetId, customDefaultsPtr, CUSTOM_DEFAULTS_CHANGESET_ID_PREFIX, CUSTOM_DEFAULTS_DATE_PREFIX[0], MAX_CHANGESET_ID_LENGTH);
 
-        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsDate, customDefaultsPtr, CUSTOM_DEFAULTS_DATE_PREFIX, '\n');
+        customDefaultsPtr = parseCustomDefaultsHeaderElement(customDefaultsDate, customDefaultsPtr, CUSTOM_DEFAULTS_DATE_PREFIX, '\n', MAX_DATE_LENGTH);
     }
 
     customDefaultsHeaderParsed = true;
@@ -5201,24 +5204,27 @@ static void resourceCheck(uint8_t resourceIndex, uint8_t index, ioTag_t newTag)
     }
 }
 
-static bool strToPin(char *pch, ioTag_t *tag)
+static bool strToPin(char *ptr, ioTag_t *tag)
 {
-    if (strcasecmp(pch, "NONE") == 0) {
+    if (strcasecmp(ptr, "NONE") == 0) {
         *tag = IO_TAG_NONE;
+
         return true;
     } else {
-        unsigned pin = 0;
-        unsigned port = (*pch >= 'a') ? *pch - 'a' : *pch - 'A';
-
+        const unsigned port = (*ptr >= 'a') ? *ptr - 'a' : *ptr - 'A';
         if (port < 8) {
-            pch++;
-            pin = atoi(pch);
-            if (pin < 16) {
+            ptr++;
+
+            char *end;
+            const long pin = strtol(ptr, &end, 10);
+            if (end != ptr && pin >= 0 && pin < 16) {
                 *tag = DEFIO_TAG_MAKE(port, pin);
+
                 return true;
             }
         }
     }
+
     return false;
 }
 

src/main/config/config.c

@@ -60,6 +60,8 @@
 #include "io/serial.h"
 #include "io/vtx.h"
 
+#include "msp/msp_box.h"
+
 #include "osd/osd.h"
 
 #include "pg/adc.h"
@@ -181,6 +183,8 @@ static void activateConfig(void)
 #if defined(USE_LED_STRIP_STATUS_MODE)
     reevaluateLedConfig();
 #endif
+
+    initActiveBoxIds();
 }
 
 static void adjustFilterLimit(uint16_t *parm, uint16_t resetValue)