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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

129
src/main/io/serial_msp.c
View file

@ -137,13 +137,11 @@ extern int16_t debug[4]; // FIXME dependency on mw.c
#define ACTIVATE_MASK 0xFFF // see
typedef struct box_e {
struct box_t {
const uint8_t boxIndex; // this is from boxnames enum
const char *boxName; // GUI-readable box name
const uint8_t permanentId; //
} box_t;
static const box_t const boxes[] = {
} boxes[] = {
{ BOXARM, "ARM;", 0 },
{ BOXANGLE, "ANGLE;", 1 },
{ BOXHORIZON, "HORIZON;", 2 },
@ -418,8 +416,8 @@ static void evaluateCommand(void)
rxMspFrameRecieve();
break;
case MSP_SET_ACC_TRIM:
currentProfile.accelerometerTrims.values.pitch = read16();
currentProfile.accelerometerTrims.values.roll = read16();
currentProfile->accelerometerTrims.values.pitch = read16();
currentProfile->accelerometerTrims.values.roll = read16();
headSerialReply(0);
break;
#ifdef GPS
@ -435,47 +433,47 @@ static void evaluateCommand(void)
break;
#endif
case MSP_SET_PID:
if (currentProfile.pidController == 2) {
if (currentProfile->pidController == 2) {
for (i = 0; i < 3; i++) {
currentProfile.pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile.pidProfile.I_f[i] = (float)read8() / 100.0f;
currentProfile.pidProfile.D_f[i] = (float)read8() / 1000.0f;
currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f;
currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;
currentProfile->pidProfile.D_f[i] = (float)read8() / 1000.0f;
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
currentProfile.pidProfile.A_level = (float)read8() / 10.0f;
currentProfile.pidProfile.H_level = (float)read8() / 10.0f;
currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
read8();
} else {
currentProfile.pidProfile.P8[i] = read8();
currentProfile.pidProfile.I8[i] = read8();
currentProfile.pidProfile.D8[i] = read8();
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
currentProfile->pidProfile.D8[i] = read8();
}
}
} else {
for (i = 0; i < PID_ITEM_COUNT; i++) {
currentProfile.pidProfile.P8[i] = read8();
currentProfile.pidProfile.I8[i] = read8();
currentProfile.pidProfile.D8[i] = read8();
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
currentProfile->pidProfile.D8[i] = read8();
}
}
headSerialReply(0);
break;
case MSP_SET_BOX:
for (i = 0; i < numberBoxItems; i++)
currentProfile.activate[availableBoxes[i]] = read16() & ACTIVATE_MASK;
currentProfile->activate[availableBoxes[i]] = read16() & ACTIVATE_MASK;
for (i = 0; i < numberBoxItems; i++)
currentProfile.activate[availableBoxes[i]] |= (read16() & ACTIVATE_MASK) << 16;
currentProfile->activate[availableBoxes[i]] |= (read16() & ACTIVATE_MASK) << 16;
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
currentProfile.controlRateConfig.rcRate8 = read8();
currentProfile.controlRateConfig.rcExpo8 = read8();
currentProfile.controlRateConfig.rollPitchRate = read8();
currentProfile.controlRateConfig.yawRate = read8();
currentProfile.dynThrPID = read8();
currentProfile.controlRateConfig.thrMid8 = read8();
currentProfile.controlRateConfig.thrExpo8 = read8();
currentProfile->controlRateConfig.rcRate8 = read8();
currentProfile->controlRateConfig.rcExpo8 = read8();
currentProfile->controlRateConfig.rollPitchRate = read8();
currentProfile->controlRateConfig.yawRate = read8();
currentProfile->dynThrPID = read8();
currentProfile->controlRateConfig.thrMid8 = read8();
currentProfile->controlRateConfig.thrExpo8 = read8();
headSerialReply(0);
break;
case MSP_SET_MISC:
@ -483,10 +481,10 @@ static void evaluateCommand(void)
masterConfig.escAndServoConfig.minthrottle = read16();
masterConfig.escAndServoConfig.maxthrottle = read16();
masterConfig.escAndServoConfig.mincommand = read16();
currentProfile.failsafeConfig.failsafe_throttle = read16();
currentProfile->failsafeConfig.failsafe_throttle = read16();
read16();
read32();
currentProfile.mag_declination = read16() * 10;
currentProfile->mag_declination = read16() * 10;
masterConfig.batteryConfig.vbatscale = read8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
@ -578,38 +576,38 @@ static void evaluateCommand(void)
case MSP_SERVO_CONF:
headSerialReply(56);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize16(currentProfile.servoConf[i].min);
serialize16(currentProfile.servoConf[i].max);
serialize16(currentProfile.servoConf[i].middle);
serialize8(currentProfile.servoConf[i].rate);
serialize16(currentProfile->servoConf[i].min);
serialize16(currentProfile->servoConf[i].max);
serialize16(currentProfile->servoConf[i].middle);
serialize8(currentProfile->servoConf[i].rate);
}
break;
case MSP_SET_SERVO_CONF:
headSerialReply(0);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile.servoConf[i].min = read16();
currentProfile.servoConf[i].max = read16();
currentProfile->servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16();
// provide temporary support for old clients that try and send a channel index instead of a servo middle
uint16_t potentialServoMiddleOrChannelToForward = read16();
if (potentialServoMiddleOrChannelToForward < MAX_SUPPORTED_SERVOS) {
currentProfile.servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
currentProfile->servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
}
if (potentialServoMiddleOrChannelToForward >= PWM_RANGE_MIN && potentialServoMiddleOrChannelToForward <= PWM_RANGE_MAX) {
currentProfile.servoConf[i].middle = potentialServoMiddleOrChannelToForward;
currentProfile->servoConf[i].middle = potentialServoMiddleOrChannelToForward;
}
currentProfile.servoConf[i].rate = read8();
currentProfile->servoConf[i].rate = read8();
}
break;
case MSP_CHANNEL_FORWARDING:
headSerialReply(8);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize8(currentProfile.servoConf[i].forwardFromChannel);
serialize8(currentProfile->servoConf[i].forwardFromChannel);
}
break;
case MSP_SET_CHANNEL_FORWARDING:
headSerialReply(0);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile.servoConf[i].forwardFromChannel = read8();
currentProfile->servoConf[i].forwardFromChannel = read8();
}
break;
case MSP_MOTOR:
@ -661,38 +659,38 @@ static void evaluateCommand(void)
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(currentProfile.controlRateConfig.rcRate8);
serialize8(currentProfile.controlRateConfig.rcExpo8);
serialize8(currentProfile.controlRateConfig.rollPitchRate);
serialize8(currentProfile.controlRateConfig.yawRate);
serialize8(currentProfile.dynThrPID);
serialize8(currentProfile.controlRateConfig.thrMid8);
serialize8(currentProfile.controlRateConfig.thrExpo8);
serialize8(currentProfile->controlRateConfig.rcRate8);
serialize8(currentProfile->controlRateConfig.rcExpo8);
serialize8(currentProfile->controlRateConfig.rollPitchRate);
serialize8(currentProfile->controlRateConfig.yawRate);
serialize8(currentProfile->dynThrPID);
serialize8(currentProfile->controlRateConfig.thrMid8);
serialize8(currentProfile->controlRateConfig.thrExpo8);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
if (currentProfile.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
if (currentProfile->pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
for (i = 0; i < 3; i++) {
serialize8(constrain(lrintf(currentProfile.pidProfile.P_f[i] * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile.pidProfile.I_f[i] * 100.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile.pidProfile.D_f[i] * 1000.0f), 0, 100));
serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 100));
}
for (i = 3; i < PID_ITEM_COUNT; i++) {
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(currentProfile.pidProfile.A_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile.pidProfile.H_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 250));
serialize8(0);
} else {
serialize8(currentProfile.pidProfile.P8[i]);
serialize8(currentProfile.pidProfile.I8[i]);
serialize8(currentProfile.pidProfile.D8[i]);
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
serialize8(currentProfile->pidProfile.D8[i]);
}
}
} else {
for (i = 0; i < PID_ITEM_COUNT; i++) {
serialize8(currentProfile.pidProfile.P8[i]);
serialize8(currentProfile.pidProfile.I8[i]);
serialize8(currentProfile.pidProfile.D8[i]);
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
serialize8(currentProfile->pidProfile.D8[i]);
}
}
break;
@ -703,9 +701,9 @@ static void evaluateCommand(void)
case MSP_BOX:
headSerialReply(4 * numberBoxItems);
for (i = 0; i < numberBoxItems; i++)
serialize16(currentProfile.activate[availableBoxes[i]] & ACTIVATE_MASK);
serialize16(currentProfile->activate[availableBoxes[i]] & ACTIVATE_MASK);
for (i = 0; i < numberBoxItems; i++)
serialize16((currentProfile.activate[availableBoxes[i]] >> 16) & ACTIVATE_MASK);
serialize16((currentProfile->activate[availableBoxes[i]] >> 16) & ACTIVATE_MASK);
break;
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
@ -722,10 +720,10 @@ static void evaluateCommand(void)
serialize16(masterConfig.escAndServoConfig.minthrottle);
serialize16(masterConfig.escAndServoConfig.maxthrottle);
serialize16(masterConfig.escAndServoConfig.mincommand);
serialize16(currentProfile.failsafeConfig.failsafe_throttle);
serialize16(currentProfile->failsafeConfig.failsafe_throttle);
serialize16(0); // plog useless shit
serialize32(0); // plog useless shit
serialize16(currentProfile.mag_declination / 10); // TODO check this shit
serialize16(currentProfile->mag_declination / 10); // TODO check this shit
serialize8(masterConfig.batteryConfig.vbatscale);
serialize8(masterConfig.batteryConfig.vbatmincellvoltage);
serialize8(masterConfig.batteryConfig.vbatmaxcellvoltage);
@ -802,7 +800,6 @@ static void evaluateCommand(void)
if (f.ARMED) {
headSerialError(0);
} else {
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
readEEPROM();
headSerialReply(0);
@ -819,8 +816,8 @@ static void evaluateCommand(void)
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
headSerialReply(4);
serialize16(currentProfile.accelerometerTrims.values.pitch);
serialize16(currentProfile.accelerometerTrims.values.roll);
serialize16(currentProfile->accelerometerTrims.values.pitch);
serialize16(currentProfile->accelerometerTrims.values.roll);
break;
case MSP_UID:
headSerialReply(12);