From fd87f28a07aa4a3d248201c956311ce58172bdfd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 27 Jun 2014 10:28:21 +1000
Subject: [PATCH] DataFlash: save some flash space on APM2

don't include log message headers that are not used on APM2
---
 libraries/DataFlash/DataFlash.h | 38 +++++++++++++++++++++------------
 libraries/DataFlash/LogFile.cpp |  2 ++
 2 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index aa3d229d16..769fa9e1da 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -368,21 +368,16 @@ struct PACKED log_Camera {
     uint16_t yaw;
 };
 
-#define LOG_COMMON_STRUCTURES \
+// messages for all boards
+#define LOG_BASE_STRUCTURES \
     { LOG_FORMAT_MSG, sizeof(log_Format), \
       "FMT", "BBnNZ",      "Type,Length,Name,Format,Columns" },    \
     { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
       "PARM", "Nf",        "Name,Value" },    \
     { LOG_GPS_MSG, sizeof(log_GPS), \
       "GPS",  "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
-    { LOG_GPS2_MSG, sizeof(log_GPS2), \
-      "GPS2",  "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
     { LOG_IMU_MSG, sizeof(log_IMU), \
       "IMU",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
-    { LOG_IMU2_MSG, sizeof(log_IMU), \
-      "IMU2",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
-    { LOG_IMU3_MSG, sizeof(log_IMU), \
-      "IMU3",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
     { LOG_MESSAGE_MSG, sizeof(log_Message), \
       "MSG",  "Z",     "Message"}, \
     { LOG_RCIN_MSG, sizeof(log_RCIN), \
@@ -393,6 +388,21 @@ struct PACKED log_Camera {
       "BARO",  "Iffc",     "TimeMS,Alt,Press,Temp" }, \
     { LOG_POWR_MSG, sizeof(log_POWR), \
       "POWR","ICCH","TimeMS,Vcc,VServo,Flags" },  \
+    { LOG_CMD_MSG, sizeof(log_Cmd), \
+      "CMD", "IHHHfffffff","TimeMS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
+    { LOG_RADIO_MSG, sizeof(log_Radio), \
+      "RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
+    { LOG_CAMERA_MSG, sizeof(log_Camera), \
+      "CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }
+
+// messages for more advanced boards
+#define LOG_EXTRA_STRUCTURES \
+    { LOG_GPS2_MSG, sizeof(log_GPS2), \
+      "GPS2",  "BIHBcLLeEefIBI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,T,DSc,DAg" }, \
+    { LOG_IMU2_MSG, sizeof(log_IMU), \
+      "IMU2",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
+    { LOG_IMU3_MSG, sizeof(log_IMU), \
+      "IMU3",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
     { LOG_AHR2_MSG, sizeof(log_AHRS), \
       "AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
     { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
@@ -404,13 +414,13 @@ struct PACKED log_Camera {
     { LOG_EKF3_MSG, sizeof(log_EKF3), \
       "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
     { LOG_EKF4_MSG, sizeof(log_EKF4), \
-      "EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }, \
-    { LOG_CMD_MSG, sizeof(log_Cmd), \
-      "CMD", "IHHHfffffff","TimeMS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
-    { LOG_RADIO_MSG, sizeof(log_Radio), \
-      "RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
-    { LOG_CAMERA_MSG, sizeof(log_Camera), \
-      "CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }
+      "EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }
+
+#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
+#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
+#else
+#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES
+#endif
 
 // message types 0 to 100 reversed for vehicle specific use
 
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index c4adc426af..6dc0d0e901 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -785,6 +785,7 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
     if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
         return;
     }
+#if INS_MAX_INSTANCES > 1
     const Vector3f &gyro2 = ins.get_gyro(1);
     const Vector3f &accel2 = ins.get_accel(1);
     struct log_IMU pkt2 = {
@@ -814,6 +815,7 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
         accel_z : accel3.z
     };
     WriteBlock(&pkt3, sizeof(pkt3));
+#endif
 }
 
 // Write a text message to the log