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Instead of copying a profile from the master config into memory again,

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just use it in-place.  This saves ~308bytes of memory.

Prior to this there were 4 profiles in ram all the time, the 3 main
profiles and a copy of one of them.

This commit was aided by a side effect of the work done to clean up the
output of the cli dump command since it is now easy to conditionally
apply the changes to the memory addressed used to read/write cli
variables.  See 8c3a869251.
This commit is contained in:
Dominic Clifton 2014-08-22 21:53:23 +01:00
parent b85c5243db
commit 8ebdb245c2
10 changed files with 261 additions and 258 deletions
Download patch file Download diff file Expand all files Collapse all files

56
src/main/mw.c
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@ -96,10 +96,10 @@ extern pidControllerFuncPtr pid_controller;
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
{
currentProfile.accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
currentProfile.accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
currentProfile->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
currentProfile->accelerometerTrims.values.pitch += rollAndPitchTrimsDelta->values.pitch;
saveAndReloadCurrentProfileToCurrentProfileSlot();
saveConfigAndNotify();
}
#ifdef AUTOTUNE
@ -116,12 +116,12 @@ void updateAutotuneState(void)
autotuneReset();
landedAfterAutoTuning = false;
}
autotuneBeginNextPhase(&currentProfile.pidProfile, currentProfile.pidController);
autotuneBeginNextPhase(&currentProfile->pidProfile, currentProfile->pidController);
f.AUTOTUNE_MODE = 1;
autoTuneWasUsed = true;
} else {
if (havePidsBeenUpdatedByAutotune()) {
saveAndReloadCurrentProfileToCurrentProfileSlot();
saveConfigAndNotify();
autotuneReset();
}
}
@ -163,22 +163,22 @@ void annexCode(void)
static int32_t vbatCycleTime = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < currentProfile.tpa_breakpoint) {
if (rcData[THROTTLE] < currentProfile->tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentProfile.dynThrPID * (rcData[THROTTLE] - currentProfile.tpa_breakpoint) / (2000 - currentProfile.tpa_breakpoint);
prop2 = 100 - (uint16_t)currentProfile->dynThrPID * (rcData[THROTTLE] - currentProfile->tpa_breakpoint) / (2000 - currentProfile->tpa_breakpoint);
} else {
prop2 = 100 - currentProfile.dynThrPID;
prop2 = 100 - currentProfile->dynThrPID;
}
}
for (axis = 0; axis < 3; axis++) {
tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (currentProfile.deadband) {
if (tmp > currentProfile.deadband) {
tmp -= currentProfile.deadband;
if (currentProfile->deadband) {
if (tmp > currentProfile->deadband) {
tmp -= currentProfile->deadband;
} else {
tmp = 0;
}
@ -186,24 +186,24 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
prop1 = 100 - (uint16_t)currentProfile->controlRateConfig.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
}
if (axis == YAW) {
if (currentProfile.yaw_deadband) {
if (tmp > currentProfile.yaw_deadband) {
tmp -= currentProfile.yaw_deadband;
if (currentProfile->yaw_deadband) {
if (tmp > currentProfile->yaw_deadband) {
tmp -= currentProfile->yaw_deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.yawRate * abs(tmp) / 500;
prop1 = 100 - (uint16_t)currentProfile->controlRateConfig.yawRate * abs(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)currentProfile.pidProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile.pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile.pidProfile.D8[axis] * prop1 / 100;
dynP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop1 / 100;
if (rcData[axis] < masterConfig.rxConfig.midrc)
rcCommand[axis] = -rcCommand[axis];
@ -358,7 +358,7 @@ void updateMagHold(void)
dif -= 360;
dif *= -masterConfig.yaw_control_direction;
if (f.SMALL_ANGLE)
rcCommand[YAW] -= dif * currentProfile.pidProfile.P8[PIDMAG] / 30; // 18 deg
rcCommand[YAW] -= dif * currentProfile->pidProfile.P8[PIDMAG] / 30; // 18 deg
} else
magHold = heading;
}
@ -462,7 +462,7 @@ void processRx(void)
resetErrorGyro();
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile.activate, masterConfig.retarded_arm);
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
@ -488,7 +488,7 @@ void processRx(void)
(rcData[AUX5 + i] > 1700) << (3 * i + 2)) << 16;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & currentProfile.activate[i]) > 0;
rcOptions[i] = (auxState & currentProfile->activate[i]) > 0;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
@ -585,7 +585,7 @@ void loop(void)
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
computeIMU(&currentProfile.accelerometerTrims, masterConfig.mixerConfiguration);
computeIMU(&currentProfile->accelerometerTrims, masterConfig.mixerConfiguration);
// Measure loop rate just after reading the sensors
currentTime = micros();
@ -616,8 +616,8 @@ void loop(void)
#endif
if (currentProfile.throttle_correction_value && (f.ANGLE_MODE || f.HORIZON_MODE)) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile.throttle_correction_value);
if (currentProfile->throttle_correction_value && (f.ANGLE_MODE || f.HORIZON_MODE)) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}
#ifdef GPS
@ -630,10 +630,10 @@ void loop(void)
// PID - note this is function pointer set by setPIDController()
pid_controller(
&currentProfile.pidProfile,
&currentProfile.controlRateConfig,
&currentProfile->pidProfile,
&currentProfile->controlRateConfig,
masterConfig.max_angle_inclination,
&currentProfile.accelerometerTrims
&currentProfile->accelerometerTrims
);
mixTable();