ArduCopter: replace Serial.print with Serial.print_P to save memory.
Includes replacing flight_mode_strings with print_flight_mode function. SendDebug macro replaced with direct Serial.print_P calls.
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rmackay9
parent
09485ddc5f
commit
78316adf75
@ -356,22 +356,6 @@ AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
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// Global variables
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////////////////////////////////////////////////////////////////////////////////
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static const char* flight_mode_strings[] = {
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"STABILIZE", // 0
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"ACRO", // 1
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"ALT_HOLD", // 2
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"AUTO", // 3
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"GUIDED", // 4
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"LOITER", // 5
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"RTL", // 6
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"CIRCLE", // 7
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"POSITION", // 8
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"LAND", // 9
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"OF_LOITER", // 10
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"TOY_M", // 11
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"TOY_A"
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}; // 12 THOR Added for additional Fligt mode
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/* Radio values
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* Channel assignments
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* 1 Ailerons (rudder if no ailerons)
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@ -381,9 +381,9 @@ static void Log_Read_Raw()
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for (int16_t y = 0; y < 6; y++) {
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logvar = get_float(DataFlash.ReadLong());
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Serial.print(logvar);
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Serial.print(", ");
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Serial.print_P(PSTR(", "));
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}
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Serial.println(" ");
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Serial.println_P(PSTR(" "));
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/*
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float temp1 = get_float(DataFlash.ReadLong());
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@ -714,7 +714,7 @@ static void Log_Read_Iterm()
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}
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// read 12
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temp = DataFlash.ReadInt();
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Serial.printf("%d\n", (int)temp);
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Serial.println((int)temp);
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}
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@ -846,7 +846,7 @@ static void Log_Write_Mode(byte mode)
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static void Log_Read_Mode()
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{
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Serial.printf_P(PSTR("MOD:"));
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Serial.print(flight_mode_strings[DataFlash.ReadByte()]);
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print_flight_mode(DataFlash.ReadByte());
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Serial.printf_P(PSTR(", %d\n"),(int)DataFlash.ReadInt());
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}
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@ -1041,7 +1041,7 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
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log_step++;
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else{
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log_step = 0;
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Serial.println(".");
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Serial.println_P(PSTR("."));
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}
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break;
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@ -990,32 +990,6 @@
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// #define LOG_ATTITUDE_MED DISABLED
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//#endif
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#ifndef DEBUG_PORT
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# define DEBUG_PORT 0
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#endif
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#if DEBUG_PORT == 0
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# define SendDebug_P(a) Serial.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial.println_P(PSTR(a))
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# define SendDebug Serial.print
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# define SendDebugln Serial.println
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#elif DEBUG_PORT == 1
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# define SendDebug_P(a) Serial1.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial1.println_P(PSTR(a))
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# define SendDebug Serial1.print
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# define SendDebugln Serial1.println
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#elif DEBUG_PORT == 2
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# define SendDebug_P(a) Serial2.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial2.println_P(PSTR(a))
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# define SendDebug Serial2.print
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# define SendDebugln Serial2.println
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#elif DEBUG_PORT == 3
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# define SendDebug_P(a) Serial3.print_P(PSTR(a))
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# define SendDebugln_P(a) Serial3.println_P(PSTR(a))
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# define SendDebug Serial3.print
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# define SendDebugln Serial3.println
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Navigation defaults
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//
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@ -168,8 +168,8 @@ static void throttle_failsafe(uint16_t pwm)
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// home distance is in meters
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// This is to prevent accidental RTL
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if(motors.armed() && takeoff_complete) {
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SendDebug("MSG FS ON ");
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SendDebugln(pwm, DEC);
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Serial.print_P(PSTR("MSG FS ON "));
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Serial.println(pwm, DEC);
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set_failsafe(true);
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}
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}else if (failsafeCounter > FS_COUNTER) {
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@ -184,8 +184,8 @@ static void throttle_failsafe(uint16_t pwm)
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failsafeCounter = 3;
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}
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if (failsafeCounter == 1) {
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SendDebug("MSG FS OFF ");
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SendDebugln(pwm, DEC);
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Serial.print_P(PSTR("MSG FS OFF "));
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Serial.println(pwm, DEC);
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}else if(failsafeCounter == 0) {
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set_failsafe(false);
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}else if (failsafeCounter <0) {
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@ -53,7 +53,7 @@ static void init_optflow()
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#ifdef OPTFLOW_ENABLED
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if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) {
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g.optflow_enabled = false;
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SendDebug("\nFailed to Init OptFlow ");
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Serial.print_P(PSTR("\nFailed to Init OptFlow "));
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}
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// suspend timer while we set-up SPI communication
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timer_scheduler.suspend_timer();
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@ -144,7 +144,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
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static int8_t
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setup_radio(uint8_t argc, const Menu::arg *argv)
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{
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Serial.println("\n\nRadio Setup:");
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Serial.println_P(PSTR("\n\nRadio Setup:"));
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uint8_t i;
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for(i = 0; i < 100; i++) {
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@ -1000,7 +1000,7 @@ static void
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print_switch(byte p, byte m, bool b)
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{
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Serial.printf_P(PSTR("Pos %d:\t"),p);
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Serial.print(flight_mode_strings[m]);
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print_flight_mode(m);
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Serial.printf_P(PSTR(",\t\tSimple: "));
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if(b)
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Serial.printf_P(PSTR("ON\n"));
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@ -1115,18 +1115,18 @@ static void
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print_divider(void)
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{
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for (int i = 0; i < 40; i++) {
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Serial.print("-");
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Serial.print_P(PSTR("-"));
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}
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Serial.println("");
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Serial.println();
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}
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static void print_enabled(boolean b)
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{
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if(b)
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Serial.printf_P(PSTR("en"));
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Serial.print_P(PSTR("en"));
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else
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Serial.printf_P(PSTR("dis"));
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Serial.printf_P(PSTR("abled\n"));
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Serial.print_P(PSTR("dis"));
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Serial.print_P(PSTR("abled\n"));
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}
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@ -353,7 +353,7 @@ static void init_ardupilot()
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#endif
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SendDebug("\nReady to FLY ");
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Serial.print_P(PSTR("\nReady to FLY "));
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}
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@ -684,3 +684,55 @@ uint16_t board_voltage(void)
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return vcc.read_vcc();
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}
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#endif
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//
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// print_flight_mode - prints flight mode to serial port.
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//
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static void
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print_flight_mode(uint8_t mode)
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{
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switch (mode) {
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case STABILIZE:
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Serial.print_P(PSTR("STABILIZE"));
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break;
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case ACRO:
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Serial.print_P(PSTR("ACRO"));
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break;
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case ALT_HOLD:
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Serial.print_P(PSTR("ALT_HOLD"));
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break;
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case AUTO:
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Serial.print_P(PSTR("AUTO"));
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break;
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case GUIDED:
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Serial.print_P(PSTR("GUIDED"));
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break;
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case LOITER:
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Serial.print_P(PSTR("LOITER"));
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break;
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case RTL:
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Serial.print_P(PSTR("RTL"));
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break;
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case CIRCLE:
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Serial.print_P(PSTR("CIRCLE"));
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break;
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case POSITION:
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Serial.print_P(PSTR("POSITION"));
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break;
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case LAND:
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Serial.print_P(PSTR("LAND"));
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break;
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case OF_LOITER:
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Serial.print_P(PSTR("OF_LOITER"));
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break;
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case TOY_M:
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Serial.print_P(PSTR("TOY_M"));
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break;
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case TOY_A:
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Serial.print_P(PSTR("TOY_A"));
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break;
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default:
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Serial.print_P(PSTR("---"));
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break;
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}
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}
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@ -764,7 +764,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
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g_gps->num_sats);
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g_gps->new_data = false;
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}else{
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Serial.print(".");
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Serial.print_P(PSTR("."));
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}
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if(Serial.available() > 0) {
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return (0);
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@ -1264,7 +1264,7 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
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// got 23506;, should be 22800
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navigate();
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Serial.printf("bear: %ld\n", target_bearing);
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Serial.printf_P(PSTR("bear: %ld\n"), target_bearing);
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return 0;
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}
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