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MAVLink: moved CRC table into program

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this saves 256 bytes of memory
This commit is contained in:
Andrew Tridgell 2013-01-10 21:28:07 +11:00
parent f3783b0306
commit ea3b405959
2 changed files with 14 additions and 0 deletions
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7
libraries/GCS_MAVLink/GCS_MAVLink.cpp
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@ -68,3 +68,10 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
} }
} }
static const uint8_t mavlink_message_crc_progmem[256] PROGMEM = MAVLINK_MESSAGE_CRCS;
// return CRC byte for a mavlink message ID
uint8_t mavlink_get_message_crc(uint8_t msgid)
{
return pgm_read_byte(&mavlink_message_crc_progmem[msgid]);
}

7
libraries/GCS_MAVLink/GCS_MAVLink.h
View File

@ -15,6 +15,10 @@
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len) #define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
// define our own MAVLINK_MESSAGE_CRC() macro to allow it to be put
// into progmem
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <util/crc16.h> #include <util/crc16.h>
#define HAVE_CRC_ACCUMULATE #define HAVE_CRC_ACCUMULATE
@ -146,4 +150,7 @@ uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
// return a MAVLink variable type given a AP_Param type // return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t); uint8_t mav_var_type(enum ap_var_type t);
// return CRC byte for a mavlink message ID
uint8_t mavlink_get_message_crc(uint8_t msgid);
#endif // GCS_MAVLink_h #endif // GCS_MAVLink_h