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DataFlash: save some flash space on APM2

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don't include log message headers that are not used on APM2
This commit is contained in:
Andrew Tridgell 2014-06-27 10:28:21 +10:00
parent 166c1fd530
commit fd87f28a07
2 changed files with 26 additions and 14 deletions
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38
libraries/DataFlash/DataFlash.h
View File

@ -368,21 +368,16 @@ struct PACKED log_Camera {
uint16_t yaw; uint16_t yaw;
}; };
#define LOG_COMMON_STRUCTURES \ // messages for all boards
#define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \ { LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \ "FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \ { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "Nf", "Name,Value" }, \ "PARM", "Nf", "Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \ { LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \ "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), \ { LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "Iffffff", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \ "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), \ { LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "Z", "Message"}, \ "MSG", "Z", "Message"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \ { LOG_RCIN_MSG, sizeof(log_RCIN), \
@ -393,6 +388,21 @@ struct PACKED log_Camera {
"BARO", "Iffc", "TimeMS,Alt,Press,Temp" }, \ "BARO", "Iffc", "TimeMS,Alt,Press,Temp" }, \
{ LOG_POWR_MSG, sizeof(log_POWR), \ { LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","ICCH","TimeMS,Vcc,VServo,Flags" }, \ "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), \ { LOG_AHR2_MSG, sizeof(log_AHRS), \
"AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \ "AHR2","IccCfLL","TimeMS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \ { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
@ -404,13 +414,13 @@ struct PACKED log_Camera {
{ LOG_EKF3_MSG, sizeof(log_EKF3), \ { LOG_EKF3_MSG, sizeof(log_EKF3), \
"EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \ "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
{ LOG_EKF4_MSG, sizeof(log_EKF4), \ { LOG_EKF4_MSG, sizeof(log_EKF4), \
"EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,DS" }, \ "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" }, \ #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
{ LOG_RADIO_MSG, sizeof(log_Radio), \ #define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
"RAD", "IBBBBBHH", "TimeMS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \ #else
{ LOG_CAMERA_MSG, sizeof(log_Camera), \ #define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES
"CAM", "IHLLeeccC","GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" } #endif
// message types 0 to 100 reversed for vehicle specific use // message types 0 to 100 reversed for vehicle specific use

2
libraries/DataFlash/LogFile.cpp
View File

@ -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) { if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
return; return;
} }
#if INS_MAX_INSTANCES > 1
const Vector3f &gyro2 = ins.get_gyro(1); const Vector3f &gyro2 = ins.get_gyro(1);
const Vector3f &accel2 = ins.get_accel(1); const Vector3f &accel2 = ins.get_accel(1);
struct log_IMU pkt2 = { struct log_IMU pkt2 = {
@ -814,6 +815,7 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
accel_z : accel3.z accel_z : accel3.z
}; };
WriteBlock(&pkt3, sizeof(pkt3)); WriteBlock(&pkt3, sizeof(pkt3));
#endif
} }
// Write a text message to the log // Write a text message to the log