mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 22:35:23 +03:00
CF/BF - reduce flash usage by allowing blackbox that match other strings
to be-duplicated by the linker.
This commit is contained in:
Hydra
Dominic Clifton
parent
31dc531ca0
commit
b473ebf0d0
3 changed files with 81 additions and 79 deletions
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@ -1180,8 +1180,8 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v
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}
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#ifndef BLACKBOX_PRINT_HEADER_LINE
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#define BLACKBOX_PRINT_HEADER_LINE(x, ...) case __COUNTER__: \
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blackboxPrintfHeaderLine(x, __VA_ARGS__); \
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#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
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blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
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break;
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#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
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{__VA_ARGS__}; \
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@ -1201,123 +1201,123 @@ static bool blackboxWriteSysinfo()
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const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
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switch (xmitState.headerIndex) {
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BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight");
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BLACKBOX_PRINT_HEADER_LINE("Firmware revision:%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
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BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime);
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BLACKBOX_PRINT_HEADER_LINE("Craft name:%s", systemConfig()->name);
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BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
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BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", motorConfig()->minthrottle);
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BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", motorConfig()->maxthrottle);
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BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x", castFloatBytesToInt(1.0f));
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BLACKBOX_PRINT_HEADER_LINE("motorOutput:%d,%d", motorOutputLow,motorOutputHigh);
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BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.dev.acc_1G);
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BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s", "Cleanflight");
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BLACKBOX_PRINT_HEADER_LINE("Firmware revision", "%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
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BLACKBOX_PRINT_HEADER_LINE("Firmware date", "%s %s", buildDate, buildTime);
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BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->name);
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BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
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BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
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BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
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BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x", castFloatBytesToInt(1.0f));
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BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorOutputLow,motorOutputHigh);
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BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
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BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
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blackboxPrintfHeaderLine("vbatscale:%u", voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale);
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blackboxPrintfHeaderLine("vbatscale", "%u", voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale);
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} else {
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xmitState.headerIndex += 2; // Skip the next two vbat fields too
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}
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);
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BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage:%u,%u,%u", batteryConfig()->vbatmincellvoltage,
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BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%u,%u,%u", batteryConfig()->vbatmincellvoltage,
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batteryConfig()->vbatwarningcellvoltage,
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batteryConfig()->vbatmaxcellvoltage);
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BLACKBOX_PRINT_HEADER_LINE("vbatref:%u", vbatReference);
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BLACKBOX_PRINT_HEADER_LINE("vbatref", "%u", vbatReference);
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BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
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if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
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blackboxPrintfHeaderLine("currentSensor:%d,%d",currentSensorADCConfig()->offset, currentSensorADCConfig()->scale);
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blackboxPrintfHeaderLine("currentSensor", "%d,%d",currentSensorADCConfig()->offset, currentSensorADCConfig()->scale);
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}
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);
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BLACKBOX_PRINT_HEADER_LINE("looptime:%d", gyro.targetLooptime);
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BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d", gyroConfig()->gyro_sync_denom);
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BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d", pidConfig()->pid_process_denom);
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BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", currentControlRateProfile->rcRate8);
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BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", currentControlRateProfile->rcExpo8);
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BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", currentControlRateProfile->rcYawRate8);
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BLACKBOX_PRINT_HEADER_LINE("rcYawExpo:%d", currentControlRateProfile->rcYawExpo8);
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BLACKBOX_PRINT_HEADER_LINE("thrMid:%d", currentControlRateProfile->thrMid8);
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BLACKBOX_PRINT_HEADER_LINE("thrExpo:%d", currentControlRateProfile->thrExpo8);
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BLACKBOX_PRINT_HEADER_LINE("dynThrPID:%d", currentControlRateProfile->dynThrPID);
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BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint:%d", currentControlRateProfile->tpa_breakpoint);
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BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", currentControlRateProfile->rates[ROLL],
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BLACKBOX_PRINT_HEADER_LINE("looptime", "%d", gyro.targetLooptime);
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BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d", gyroConfig()->gyro_sync_denom);
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BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d", pidConfig()->pid_process_denom);
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BLACKBOX_PRINT_HEADER_LINE("rcRate", "%d", currentControlRateProfile->rcRate8);
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BLACKBOX_PRINT_HEADER_LINE("rcExpo", "%d", currentControlRateProfile->rcExpo8);
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BLACKBOX_PRINT_HEADER_LINE("rcYawRate", "%d", currentControlRateProfile->rcYawRate8);
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BLACKBOX_PRINT_HEADER_LINE("rcYawExpo", "%d", currentControlRateProfile->rcYawExpo8);
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BLACKBOX_PRINT_HEADER_LINE("thrMid", "%d", currentControlRateProfile->thrMid8);
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BLACKBOX_PRINT_HEADER_LINE("thrExpo", "%d", currentControlRateProfile->thrExpo8);
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BLACKBOX_PRINT_HEADER_LINE("dynThrPID", "%d", currentControlRateProfile->dynThrPID);
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BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlRateProfile->tpa_breakpoint);
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BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL],
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currentControlRateProfile->rates[PITCH],
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currentControlRateProfile->rates[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", currentPidProfile->P8[ROLL],
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BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->P8[ROLL],
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currentPidProfile->I8[ROLL],
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currentPidProfile->D8[ROLL]);
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BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", currentPidProfile->P8[PITCH],
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BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d", currentPidProfile->P8[PITCH],
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currentPidProfile->I8[PITCH],
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currentPidProfile->D8[PITCH]);
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BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", currentPidProfile->P8[YAW],
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BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d", currentPidProfile->P8[YAW],
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currentPidProfile->I8[YAW],
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currentPidProfile->D8[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", currentPidProfile->P8[PIDALT],
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BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d", currentPidProfile->P8[PIDALT],
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currentPidProfile->I8[PIDALT],
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currentPidProfile->D8[PIDALT]);
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BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", currentPidProfile->P8[PIDPOS],
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BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d", currentPidProfile->P8[PIDPOS],
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currentPidProfile->I8[PIDPOS],
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currentPidProfile->D8[PIDPOS]);
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BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", currentPidProfile->P8[PIDPOSR],
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BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d", currentPidProfile->P8[PIDPOSR],
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currentPidProfile->I8[PIDPOSR],
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currentPidProfile->D8[PIDPOSR]);
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BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", currentPidProfile->P8[PIDNAVR],
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BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d", currentPidProfile->P8[PIDNAVR],
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currentPidProfile->I8[PIDNAVR],
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currentPidProfile->D8[PIDNAVR]);
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BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", currentPidProfile->P8[PIDLEVEL],
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BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d", currentPidProfile->P8[PIDLEVEL],
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currentPidProfile->I8[PIDLEVEL],
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currentPidProfile->D8[PIDLEVEL]);
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BLACKBOX_PRINT_HEADER_LINE("magPID:%d", currentPidProfile->P8[PIDMAG]);
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BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", currentPidProfile->P8[PIDVEL],
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BLACKBOX_PRINT_HEADER_LINE("magPID", "%d", currentPidProfile->P8[PIDMAG]);
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BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d", currentPidProfile->P8[PIDVEL],
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currentPidProfile->I8[PIDVEL],
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currentPidProfile->D8[PIDVEL]);
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BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", currentPidProfile->dterm_filter_type);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", currentPidProfile->dterm_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", currentPidProfile->yaw_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", currentPidProfile->dterm_notch_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", currentPidProfile->dterm_notch_cutoff);
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BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent:%d", currentPidProfile->itermWindupPointPercent);
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", currentPidProfile->dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", currentPidProfile->vbatPidCompensation);
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BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentPidProfile->pidAtMinThrottle);
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BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d", currentPidProfile->dterm_filter_type);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d", currentPidProfile->dterm_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d", currentPidProfile->yaw_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d", currentPidProfile->dterm_notch_hz);
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BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d", currentPidProfile->dterm_notch_cutoff);
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BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent", "%d", currentPidProfile->itermWindupPointPercent);
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count", "%d", currentPidProfile->dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation", "%d", currentPidProfile->vbatPidCompensation);
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BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle);
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// Betaflight PID controller parameters
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold:%d", currentPidProfile->itermThrottleThreshold);
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain:%d", castFloatBytesToInt(currentPidProfile->itermAcceleratorGain));
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BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentPidProfile->setpointRelaxRatio);
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BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentPidProfile->dtermSetpointWeight);
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BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", castFloatBytesToInt(currentPidProfile->yawRateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", castFloatBytesToInt(currentPidProfile->rateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("pidSumLimit:%d", castFloatBytesToInt(currentPidProfile->pidSumLimit));
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BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw:%d", castFloatBytesToInt(currentPidProfile->pidSumLimitYaw));
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d", currentPidProfile->itermThrottleThreshold);
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BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d", castFloatBytesToInt(currentPidProfile->itermAcceleratorGain));
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BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio", "%d", currentPidProfile->setpointRelaxRatio);
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BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight", "%d", currentPidProfile->dtermSetpointWeight);
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BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit", "%d", castFloatBytesToInt(currentPidProfile->yawRateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit", "%d", castFloatBytesToInt(currentPidProfile->rateAccelLimit));
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BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d", castFloatBytesToInt(currentPidProfile->pidSumLimit));
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BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d", castFloatBytesToInt(currentPidProfile->pidSumLimitYaw));
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// End of Betaflight controller parameters
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BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);
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BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", rcControlsConfig()->yaw_deadband);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", gyroConfig()->gyro_lpf);
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BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d", gyroConfig()->gyro_soft_lpf_type);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", gyroConfig()->gyro_soft_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d,%d", gyroConfig()->gyro_soft_notch_hz_1,
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BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband);
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BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf);
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BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type", "%d", gyroConfig()->gyro_soft_lpf_type);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d", gyroConfig()->gyro_soft_lpf_hz);
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1,
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gyroConfig()->gyro_soft_notch_hz_2);
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
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BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
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gyroConfig()->gyro_soft_notch_cutoff_2);
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BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", accelerometerConfig()->acc_hardware);
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BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", barometerConfig()->baro_hardware);
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BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", compassConfig()->mag_hardware);
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BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", armingConfig()->gyro_cal_on_first_arm);
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BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d", rxConfig()->rcInterpolation);
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BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", rxConfig()->rcInterpolationInterval);
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BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", rxConfig()->airModeActivateThreshold);
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BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d", rxConfig()->serialrx_provider);
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BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", motorConfig()->dev.useUnsyncedPwm);
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BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", motorConfig()->dev.motorPwmProtocol);
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BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", motorConfig()->dev.motorPwmRate);
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BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", systemConfig()->debug_mode);
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BLACKBOX_PRINT_HEADER_LINE("features:%d", featureConfig()->enabledFeatures);
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BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware);
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BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d", barometerConfig()->baro_hardware);
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BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d", compassConfig()->mag_hardware);
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BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d", armingConfig()->gyro_cal_on_first_arm);
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BLACKBOX_PRINT_HEADER_LINE("rc_interpolation", "%d", rxConfig()->rcInterpolation);
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BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval", "%d", rxConfig()->rcInterpolationInterval);
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BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d", rxConfig()->airModeActivateThreshold);
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BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d", rxConfig()->serialrx_provider);
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BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm", "%d", motorConfig()->dev.useUnsyncedPwm);
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BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol", "%d", motorConfig()->dev.motorPwmProtocol);
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BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d", motorConfig()->dev.motorPwmRate);
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BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset", "%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d", systemConfig()->debug_mode);
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BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);
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default:
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return true;
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@ -125,12 +125,14 @@ int blackboxPrintf(const char *fmt, ...)
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* printf a Blackbox header line with a leading "H " and trailing "\n" added automatically. blackboxHeaderBudget is
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* decreased to account for the number of bytes written.
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*/
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void blackboxPrintfHeaderLine(const char *fmt, ...)
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void blackboxPrintfHeaderLine(const char *name, const char *fmt, ...)
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{
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va_list va;
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blackboxWrite('H');
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blackboxWrite(' ');
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blackboxPrint(name);
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blackboxWrite(':');
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va_start(va, fmt);
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@ -41,7 +41,7 @@ void blackboxOpen(void);
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void blackboxWrite(uint8_t value);
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int blackboxPrintf(const char *fmt, ...);
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void blackboxPrintfHeaderLine(const char *fmt, ...);
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void blackboxPrintfHeaderLine(const char *name, const char *fmt, ...);
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int blackboxPrint(const char *s);
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void blackboxWriteUnsignedVB(uint32_t value);
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