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https://github.com/iNavFlight/inav.git
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Instead of copying a profile from the master config into memory again,
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
parent
b85c5243db
commit
8ebdb245c2
10 changed files with 261 additions and 258 deletions
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@ -497,16 +497,16 @@ static bool processOutCommand(uint8_t cmdMSP)
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case MSP_SERVO_CONF:
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headSerialReply(56);
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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serialize16(currentProfile.servoConf[i].min);
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serialize16(currentProfile.servoConf[i].max);
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serialize16(currentProfile.servoConf[i].middle);
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serialize8(currentProfile.servoConf[i].rate);
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serialize16(currentProfile->servoConf[i].min);
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serialize16(currentProfile->servoConf[i].max);
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serialize16(currentProfile->servoConf[i].middle);
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serialize8(currentProfile->servoConf[i].rate);
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}
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break;
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case MSP_CHANNEL_FORWARDING:
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headSerialReply(8);
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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serialize8(currentProfile.servoConf[i].forwardFromChannel);
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serialize8(currentProfile->servoConf[i].forwardFromChannel);
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}
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break;
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case MSP_MOTOR:
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@ -540,38 +540,38 @@ static bool processOutCommand(uint8_t cmdMSP)
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break;
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case MSP_RC_TUNING:
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headSerialReply(7);
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serialize8(currentProfile.controlRateConfig.rcRate8);
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serialize8(currentProfile.controlRateConfig.rcExpo8);
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serialize8(currentProfile.controlRateConfig.rollPitchRate);
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serialize8(currentProfile.controlRateConfig.yawRate);
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serialize8(currentProfile.dynThrPID);
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serialize8(currentProfile.controlRateConfig.thrMid8);
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serialize8(currentProfile.controlRateConfig.thrExpo8);
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serialize8(currentProfile->controlRateConfig.rcRate8);
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serialize8(currentProfile->controlRateConfig.rcExpo8);
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serialize8(currentProfile->controlRateConfig.rollPitchRate);
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serialize8(currentProfile->controlRateConfig.yawRate);
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serialize8(currentProfile->dynThrPID);
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serialize8(currentProfile->controlRateConfig.thrMid8);
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serialize8(currentProfile->controlRateConfig.thrExpo8);
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break;
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case MSP_PID:
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headSerialReply(3 * PID_ITEM_COUNT);
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if (currentProfile.pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
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if (currentProfile->pidController == 2) { // convert float stuff into uint8_t to keep backwards compatability with all 8-bit shit with new pid
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for (i = 0; i < 3; i++) {
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serialize8(constrain(lrintf(currentProfile.pidProfile.P_f[i] * 10.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile.pidProfile.I_f[i] * 100.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile.pidProfile.D_f[i] * 1000.0f), 0, 100));
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serialize8(constrain(lrintf(currentProfile->pidProfile.P_f[i] * 10.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile->pidProfile.I_f[i] * 100.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile->pidProfile.D_f[i] * 1000.0f), 0, 100));
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}
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for (i = 3; i < PID_ITEM_COUNT; i++) {
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if (i == PIDLEVEL) {
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serialize8(constrain(lrintf(currentProfile.pidProfile.A_level * 10.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile.pidProfile.H_level * 10.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 250));
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serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 250));
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serialize8(0);
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} else {
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serialize8(currentProfile.pidProfile.P8[i]);
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serialize8(currentProfile.pidProfile.I8[i]);
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serialize8(currentProfile.pidProfile.D8[i]);
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serialize8(currentProfile->pidProfile.P8[i]);
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serialize8(currentProfile->pidProfile.I8[i]);
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serialize8(currentProfile->pidProfile.D8[i]);
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}
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}
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} else {
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for (i = 0; i < PID_ITEM_COUNT; i++) {
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serialize8(currentProfile.pidProfile.P8[i]);
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serialize8(currentProfile.pidProfile.I8[i]);
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serialize8(currentProfile.pidProfile.D8[i]);
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serialize8(currentProfile->pidProfile.P8[i]);
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serialize8(currentProfile->pidProfile.I8[i]);
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serialize8(currentProfile->pidProfile.D8[i]);
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}
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}
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break;
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@ -582,9 +582,9 @@ static bool processOutCommand(uint8_t cmdMSP)
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case MSP_BOX:
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headSerialReply(4 * numberBoxItems);
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for (i = 0; i < numberBoxItems; i++)
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serialize16(currentProfile.activate[availableBoxes[i]] & ACTIVATE_MASK);
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serialize16(currentProfile->activate[availableBoxes[i]] & ACTIVATE_MASK);
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for (i = 0; i < numberBoxItems; i++)
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serialize16((currentProfile.activate[availableBoxes[i]] >> 16) & ACTIVATE_MASK);
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serialize16((currentProfile->activate[availableBoxes[i]] >> 16) & ACTIVATE_MASK);
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break;
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case MSP_BOXNAMES:
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// headSerialReply(sizeof(boxnames) - 1);
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@ -601,10 +601,10 @@ static bool processOutCommand(uint8_t cmdMSP)
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serialize16(masterConfig.escAndServoConfig.minthrottle);
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serialize16(masterConfig.escAndServoConfig.maxthrottle);
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serialize16(masterConfig.escAndServoConfig.mincommand);
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serialize16(currentProfile.failsafeConfig.failsafe_throttle);
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serialize16(currentProfile->failsafeConfig.failsafe_throttle);
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serialize16(0); // plog useless shit
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serialize32(0); // plog useless shit
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serialize16(currentProfile.mag_declination / 10); // TODO check this shit
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serialize16(currentProfile->mag_declination / 10); // TODO check this shit
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serialize8(masterConfig.batteryConfig.vbatscale);
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serialize8(masterConfig.batteryConfig.vbatmincellvoltage);
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serialize8(masterConfig.batteryConfig.vbatmaxcellvoltage);
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@ -672,8 +672,8 @@ static bool processOutCommand(uint8_t cmdMSP)
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// Additional commands that are not compatible with MultiWii
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case MSP_ACC_TRIM:
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headSerialReply(4);
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serialize16(currentProfile.accelerometerTrims.values.pitch);
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serialize16(currentProfile.accelerometerTrims.values.roll);
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serialize16(currentProfile->accelerometerTrims.values.pitch);
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serialize16(currentProfile->accelerometerTrims.values.roll);
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break;
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case MSP_UID:
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headSerialReply(12);
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@ -716,59 +716,59 @@ static bool processInCommand(void)
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rxMspFrameRecieve();
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break;
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case MSP_SET_ACC_TRIM:
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currentProfile.accelerometerTrims.values.pitch = read16();
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currentProfile.accelerometerTrims.values.roll = read16();
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currentProfile->accelerometerTrims.values.pitch = read16();
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currentProfile->accelerometerTrims.values.roll = read16();
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break;
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case MSP_SET_PID:
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if (currentProfile.pidController == 2) {
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if (currentProfile->pidController == 2) {
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for (i = 0; i < 3; i++) {
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currentProfile.pidProfile.P_f[i] = (float)read8() / 10.0f;
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currentProfile.pidProfile.I_f[i] = (float)read8() / 100.0f;
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currentProfile.pidProfile.D_f[i] = (float)read8() / 1000.0f;
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currentProfile->pidProfile.P_f[i] = (float)read8() / 10.0f;
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currentProfile->pidProfile.I_f[i] = (float)read8() / 100.0f;
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currentProfile->pidProfile.D_f[i] = (float)read8() / 1000.0f;
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}
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for (i = 3; i < PID_ITEM_COUNT; i++) {
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if (i == PIDLEVEL) {
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currentProfile.pidProfile.A_level = (float)read8() / 10.0f;
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currentProfile.pidProfile.H_level = (float)read8() / 10.0f;
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currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
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currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
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read8();
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} else {
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currentProfile.pidProfile.P8[i] = read8();
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currentProfile.pidProfile.I8[i] = read8();
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currentProfile.pidProfile.D8[i] = read8();
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currentProfile->pidProfile.P8[i] = read8();
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currentProfile->pidProfile.I8[i] = read8();
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currentProfile->pidProfile.D8[i] = read8();
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}
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}
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} else {
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for (i = 0; i < PID_ITEM_COUNT; i++) {
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currentProfile.pidProfile.P8[i] = read8();
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currentProfile.pidProfile.I8[i] = read8();
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currentProfile.pidProfile.D8[i] = read8();
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currentProfile->pidProfile.P8[i] = read8();
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currentProfile->pidProfile.I8[i] = read8();
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currentProfile->pidProfile.D8[i] = read8();
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}
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}
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break;
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case MSP_SET_BOX:
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for (i = 0; i < numberBoxItems; i++)
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currentProfile.activate[availableBoxes[i]] = read16() & ACTIVATE_MASK;
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currentProfile->activate[availableBoxes[i]] = read16() & ACTIVATE_MASK;
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for (i = 0; i < numberBoxItems; i++)
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currentProfile.activate[availableBoxes[i]] |= (read16() & ACTIVATE_MASK) << 16;
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currentProfile->activate[availableBoxes[i]] |= (read16() & ACTIVATE_MASK) << 16;
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break;
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case MSP_SET_RC_TUNING:
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currentProfile.controlRateConfig.rcRate8 = read8();
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currentProfile.controlRateConfig.rcExpo8 = read8();
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currentProfile.controlRateConfig.rollPitchRate = read8();
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currentProfile.controlRateConfig.yawRate = read8();
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currentProfile.dynThrPID = read8();
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currentProfile.controlRateConfig.thrMid8 = read8();
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currentProfile.controlRateConfig.thrExpo8 = read8();
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currentProfile->controlRateConfig.rcRate8 = read8();
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currentProfile->controlRateConfig.rcExpo8 = read8();
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currentProfile->controlRateConfig.rollPitchRate = read8();
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currentProfile->controlRateConfig.yawRate = read8();
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currentProfile->dynThrPID = read8();
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currentProfile->controlRateConfig.thrMid8 = read8();
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currentProfile->controlRateConfig.thrExpo8 = read8();
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break;
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case MSP_SET_MISC:
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read16(); // powerfailmeter
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masterConfig.escAndServoConfig.minthrottle = read16();
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masterConfig.escAndServoConfig.maxthrottle = read16();
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masterConfig.escAndServoConfig.mincommand = read16();
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currentProfile.failsafeConfig.failsafe_throttle = read16();
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currentProfile->failsafeConfig.failsafe_throttle = read16();
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read16();
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read32();
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currentProfile.mag_declination = read16() * 10;
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currentProfile->mag_declination = read16() * 10;
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masterConfig.batteryConfig.vbatscale = read8(); // actual vbatscale as intended
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masterConfig.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
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masterConfig.batteryConfig.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
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@ -780,22 +780,22 @@ static bool processInCommand(void)
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break;
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case MSP_SET_SERVO_CONF:
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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currentProfile.servoConf[i].min = read16();
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currentProfile.servoConf[i].max = read16();
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currentProfile->servoConf[i].min = read16();
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currentProfile->servoConf[i].max = read16();
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// provide temporary support for old clients that try and send a channel index instead of a servo middle
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uint16_t potentialServoMiddleOrChannelToForward = read16();
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if (potentialServoMiddleOrChannelToForward < MAX_SUPPORTED_SERVOS) {
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currentProfile.servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
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currentProfile->servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
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}
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if (potentialServoMiddleOrChannelToForward >= PWM_RANGE_MIN && potentialServoMiddleOrChannelToForward <= PWM_RANGE_MAX) {
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currentProfile.servoConf[i].middle = potentialServoMiddleOrChannelToForward;
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currentProfile->servoConf[i].middle = potentialServoMiddleOrChannelToForward;
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}
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currentProfile.servoConf[i].rate = read8();
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currentProfile->servoConf[i].rate = read8();
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}
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break;
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case MSP_SET_CHANNEL_FORWARDING:
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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currentProfile.servoConf[i].forwardFromChannel = read8();
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currentProfile->servoConf[i].forwardFromChannel = read8();
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}
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break;
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case MSP_RESET_CONF:
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@ -817,7 +817,7 @@ static bool processInCommand(void)
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headSerialError(0);
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return true;
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}
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copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
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//copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
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writeEEPROM();
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readEEPROM();
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break;
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