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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.
Conflicts:

	src/main/io/serial_msp.c
This commit is contained in:
Dominic Clifton 2014-08-22 21:53:23 +01:00
parent bc34fc3744
commit f51efaa7c0
10 changed files with 262 additions and 262 deletions
Download patch file Download diff file Expand all files Collapse all files

121
src/main/config/config.c
View file

@ -84,7 +84,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
static uint32_t flashWriteAddress = (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG));
master_t masterConfig; // master config struct with data independent from profiles
profile_t currentProfile; // profile config struct
profile_t *currentProfile; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 75;
@ -290,66 +290,66 @@ static void resetConf(void)
masterConfig.looptime = 3500;
masterConfig.emf_avoidance = 0;
currentProfile.pidController = 0;
resetPidProfile(&currentProfile.pidProfile);
currentProfile->pidController = 0;
resetPidProfile(&currentProfile->pidProfile);
currentProfile.controlRateConfig.rcRate8 = 90;
currentProfile.controlRateConfig.rcExpo8 = 65;
currentProfile.controlRateConfig.rollPitchRate = 0;
currentProfile.controlRateConfig.yawRate = 0;
currentProfile.dynThrPID = 0;
currentProfile.tpa_breakpoint = 1500;
currentProfile.controlRateConfig.thrMid8 = 50;
currentProfile.controlRateConfig.thrExpo8 = 0;
currentProfile->controlRateConfig.rcRate8 = 90;
currentProfile->controlRateConfig.rcExpo8 = 65;
currentProfile->controlRateConfig.rollPitchRate = 0;
currentProfile->controlRateConfig.yawRate = 0;
currentProfile->dynThrPID = 0;
currentProfile->tpa_breakpoint = 1500;
currentProfile->controlRateConfig.thrMid8 = 50;
currentProfile->controlRateConfig.thrExpo8 = 0;
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;
resetRollAndPitchTrims(&currentProfile.accelerometerTrims);
resetRollAndPitchTrims(&currentProfile->accelerometerTrims);
currentProfile.mag_declination = 0;
currentProfile.acc_lpf_factor = 4;
currentProfile.accz_lpf_cutoff = 5.0f;
currentProfile.accDeadband.xy = 40;
currentProfile.accDeadband.z = 40;
currentProfile->mag_declination = 0;
currentProfile->acc_lpf_factor = 4;
currentProfile->accz_lpf_cutoff = 5.0f;
currentProfile->accDeadband.xy = 40;
currentProfile->accDeadband.z = 40;
resetBarometerConfig(&currentProfile.barometerConfig);
resetBarometerConfig(&currentProfile->barometerConfig);
currentProfile.acc_unarmedcal = 1;
currentProfile->acc_unarmedcal = 1;
// Radio
parseRcChannels("AETR1234", &masterConfig.rxConfig);
currentProfile.deadband = 0;
currentProfile.yaw_deadband = 0;
currentProfile.alt_hold_deadband = 40;
currentProfile.alt_hold_fast_change = 1;
currentProfile.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
currentProfile.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
currentProfile->deadband = 0;
currentProfile->yaw_deadband = 0;
currentProfile->alt_hold_deadband = 40;
currentProfile->alt_hold_fast_change = 1;
currentProfile->throttle_correction_value = 0; // could 10 with althold or 40 for fpv
currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
currentProfile.failsafeConfig.failsafe_delay = 10; // 1sec
currentProfile.failsafeConfig.failsafe_off_delay = 200; // 20sec
currentProfile.failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
currentProfile.failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe
currentProfile.failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe
currentProfile->failsafeConfig.failsafe_delay = 10; // 1sec
currentProfile->failsafeConfig.failsafe_off_delay = 200; // 20sec
currentProfile->failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
currentProfile->failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe
currentProfile->failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe
// servos
for (i = 0; i < 8; i++) {
currentProfile.servoConf[i].min = DEFAULT_SERVO_MIN;
currentProfile.servoConf[i].max = DEFAULT_SERVO_MAX;
currentProfile.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
currentProfile.servoConf[i].rate = servoRates[i];
currentProfile.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN;
currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
currentProfile->servoConf[i].rate = servoRates[i];
currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
currentProfile.mixerConfig.yaw_direction = 1;
currentProfile.mixerConfig.tri_unarmed_servo = 1;
currentProfile->mixerConfig.yaw_direction = 1;
currentProfile->mixerConfig.tri_unarmed_servo = 1;
// gimbal
currentProfile.gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
#ifdef GPS
resetGpsProfile(&currentProfile.gpsProfile);
resetGpsProfile(&currentProfile->gpsProfile);
#endif
// custom mixer. clear by defaults.
@ -397,43 +397,43 @@ void activateConfig(void)
{
static imuRuntimeConfig_t imuRuntimeConfig;
generatePitchCurve(&currentProfile.controlRateConfig);
generateThrottleCurve(&currentProfile.controlRateConfig, &masterConfig.escAndServoConfig);
generatePitchCurve(&currentProfile->controlRateConfig);
generateThrottleCurve(&currentProfile->controlRateConfig, &masterConfig.escAndServoConfig);
useGyroConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY
useTelemetryConfig(&masterConfig.telemetryConfig);
#endif
setPIDController(currentProfile.pidController);
setPIDController(currentProfile->pidController);
#ifdef GPS
gpsUseProfile(&currentProfile.gpsProfile);
gpsUsePIDs(&currentProfile.pidProfile);
gpsUseProfile(&currentProfile->gpsProfile);
gpsUsePIDs(&currentProfile->pidProfile);
#endif
useFailsafeConfig(&currentProfile.failsafeConfig);
useFailsafeConfig(&currentProfile->failsafeConfig);
setAccelerationTrims(&masterConfig.accZero);
mixerUseConfigs(
currentProfile.servoConf,
currentProfile->servoConf,
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile.mixerConfig,
&currentProfile->mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig,
&currentProfile.gimbalConfig
&currentProfile->gimbalConfig
);
imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
imuRuntimeConfig.acc_unarmedcal = currentProfile.acc_unarmedcal;;
imuRuntimeConfig.acc_lpf_factor = currentProfile->acc_lpf_factor;
imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);
configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->accDeadband);
calculateThrottleAngleScale(currentProfile.throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile.accz_lpf_cutoff);
calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);
#ifdef BARO
useBarometerConfig(&currentProfile.barometerConfig);
useBarometerConfig(&currentProfile->barometerConfig);
#endif
}
@ -529,7 +529,8 @@ void readEEPROM(void)
// Copy current profile
if (masterConfig.current_profile_index > 2) // sanity check
masterConfig.current_profile_index = 0;
memcpy(&currentProfile, &masterConfig.profile[masterConfig.current_profile_index], sizeof(profile_t));
currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
validateAndFixConfig();
activateConfig();
@ -542,13 +543,6 @@ void readEEPROMAndNotify(void)
blinkLedAndSoundBeeper(15, 20, 1);
}
void copyCurrentProfileToProfileSlot(uint8_t profileSlotIndex)
{
// copy current in-memory profile to stored configuration
memcpy(&masterConfig.profile[profileSlotIndex], &currentProfile, sizeof(profile_t));
}
void writeEEPROM(void)
{
// Generate compile time error if the config does not fit in the reserved area of flash.
@ -632,9 +626,8 @@ void resetEEPROM(void)
writeEEPROM();
}
void saveAndReloadCurrentProfileToCurrentProfileSlot(void)
void saveConfigAndNotify(void)
{
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
readEEPROMAndNotify();
}