diff --git a/libraries/AP_Common/AP_Var.cpp b/libraries/AP_Common/AP_Var.cpp index 8faa2be7d8..081145fae1 100644 --- a/libraries/AP_Common/AP_Var.cpp +++ b/libraries/AP_Common/AP_Var.cpp @@ -12,9 +12,9 @@ #if 0 # include extern "C" { extern void delay(unsigned long); } -# define log(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(100); } while(0) +# define debug(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(100); } while(0) #else -# define log(fmt, args...) +# define debug(fmt, args...) #endif #include @@ -172,7 +172,7 @@ bool AP_Var::save(void) // locate the variable in EEPROM, allocating space as required if (!_EEPROM_locate(true)) { - log("locate failed"); + debug("locate failed"); return false; } @@ -181,7 +181,7 @@ bool AP_Var::save(void) // if it fit in the buffer, save it to EEPROM if (size <= sizeof(vbuf)) { - log("saving %u to %u", size, _key); + debug("saving %u to %u", size, _key); eeprom_write_block(vbuf, (void *)_key, size); return true; } @@ -202,7 +202,7 @@ bool AP_Var::load(void) // locate the variable in EEPROM, but do not allocate space if (!_EEPROM_locate(false)) { - log("locate failed"); + debug("locate failed"); return false; } @@ -216,7 +216,7 @@ bool AP_Var::load(void) // has converted _key into an EEPROM address. // if (size <= sizeof(vbuf)) { - log("loading %u from %u", size, _key); + debug("loading %u from %u", size, _key); eeprom_read_block(vbuf, (void *)_key, size); return unserialize(vbuf, size); } @@ -274,7 +274,7 @@ AP_Var::erase_all() { AP_Var *vp; - log("erase EEPROM"); + debug("erase EEPROM"); // Scan the list of variables/groups, fetching their key values and // reverting them to their not-located state. @@ -354,9 +354,9 @@ AP_Var::first_member(AP_Var_group *group) vp = &_grouped_variables; - log("seeking %p", group); + debug("seeking %p", group); while (*vp) { - log("consider %p with %p", *vp, (*vp)->_group); + debug("consider %p with %p", *vp, (*vp)->_group); if ((*vp)->_group == group) { return *vp; } @@ -400,7 +400,7 @@ bool AP_Var::_EEPROM_scan(void) if ((ee_header.magic != k_EEPROM_magic) || (ee_header.revision != k_EEPROM_revision)) { - log("no header, magic 0x%x revision %u", ee_header.magic, ee_header.revision); + debug("no header, magic 0x%x revision %u", ee_header.magic, ee_header.revision); return false; } @@ -413,13 +413,13 @@ bool AP_Var::_EEPROM_scan(void) // Read a variable header // - log("reading header from %u", eeprom_address); + debug("reading header from %u", eeprom_address); eeprom_read_block(&var_header, (void *)eeprom_address, sizeof(var_header)); // If the header is for the sentinel, scanning is complete // if (var_header.key == k_key_sentinel) { - log("found tail sentinel"); + debug("found tail sentinel"); break; } @@ -431,7 +431,7 @@ bool AP_Var::_EEPROM_scan(void) var_header.size + 1 + // data for this variable sizeof(var_header))) { // header for sentinel - log("header overruns EEPROM"); + debug("header overruns EEPROM"); return false; } @@ -441,13 +441,13 @@ bool AP_Var::_EEPROM_scan(void) if (vp->key() == var_header.key) { // adjust the variable's key to point to this entry vp->_key = eeprom_address + sizeof(var_header); - log("update %p with key %u -> %u", vp, var_header.key, vp->_key); + debug("update %p with key %u -> %u", vp, var_header.key, vp->_key); break; } vp = vp->_link; } if (!vp) { - log("key %u not claimed (already scanned or unknown)", var_header.key); + debug("key %u not claimed (already scanned or unknown)", var_header.key); } // move to the next variable header @@ -466,13 +466,13 @@ bool AP_Var::_EEPROM_scan(void) while (vp) { if (vp->_key & k_key_not_located) { vp->_key |= k_key_not_allocated; - log("key %u not allocated", vp->key()); + debug("key %u not allocated", vp->key()); } vp = vp->_link; } // Scanning is complete - log("scan done"); + debug("scan done"); _tail_sentinel = eeprom_address; return true; } @@ -488,7 +488,7 @@ bool AP_Var::_EEPROM_locate(bool allocate) // Is it a group member, or does it have a no-location key? // if (_group || (_key == k_key_none)) { - log("not addressable"); + debug("not addressable"); return false; // it is/does, and thus it has no location } @@ -503,7 +503,7 @@ bool AP_Var::_EEPROM_locate(bool allocate) // try scanning to see if we can locate it. // if (!(_key & k_key_not_allocated)) { - log("need scan"); + debug("need scan"); _EEPROM_scan(); // Has the variable now been located? @@ -516,10 +516,10 @@ bool AP_Var::_EEPROM_locate(bool allocate) // If not located and not permitted to allocate, we have failed. // if (!allocate) { - log("cannot allocate"); + debug("cannot allocate"); return false; } - log("needs allocation"); + debug("needs allocation"); // Ask the serializer for the size of the thing we are allocating, and fail // if it is too large or if it has no size, as we will not be able to allocate @@ -527,7 +527,7 @@ bool AP_Var::_EEPROM_locate(bool allocate) // size = serialize(NULL, 0); if ((size == 0) || (size > k_size_max)) { - log("size %u out of bounds", size); + debug("size %u out of bounds", size); return false; } @@ -535,7 +535,7 @@ bool AP_Var::_EEPROM_locate(bool allocate) // header and the new tail sentinel. // if ((_tail_sentinel + size + sizeof(Var_header) * 2) > k_EEPROM_size) { - log("no space in EEPROM"); + debug("no space in EEPROM"); return false; } @@ -543,7 +543,7 @@ bool AP_Var::_EEPROM_locate(bool allocate) // sentinel. // if (0 == _tail_sentinel) { - log("writing header"); + debug("writing header"); EEPROM_header ee_header; ee_header.magic = k_EEPROM_magic; @@ -560,7 +560,7 @@ bool AP_Var::_EEPROM_locate(bool allocate) // new_location = _tail_sentinel; _tail_sentinel += sizeof(var_header) + size; - log("allocated %u/%u for key %u new sentinel %u", new_location, size, key(), _tail_sentinel); + debug("allocated %u/%u for key %u new sentinel %u", new_location, size, key(), _tail_sentinel); // Write the new sentinel first. If we are interrupted during this operation // the old sentinel will still correctly terminate the EEPROM image. @@ -609,17 +609,17 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali // Traverse the list of group members, serializing each in order // vp = first_member(this); - log("starting with %p", vp); + debug("starting with %p", vp); total_size = 0; while (vp) { // (un)serialise the group member if (do_serialize) { size = vp->serialize(buf, buf_size); - log("serialize %p -> %u", vp, size); + debug("serialize %p -> %u", vp, size); } else { size = vp->unserialize(buf, buf_size); - log("unserialize %p -> %u", vp, size); + debug("unserialize %p -> %u", vp, size); } // Account for the space that this variable consumes in the buffer @@ -633,7 +633,7 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali // and the calling function will have to treat it as an error. // total_size += size; - log("used %u", total_size); + debug("used %u", total_size); if (size <= buf_size) { // there was space for this one, account for it buf_size -= size;