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[UAVCANv1] snprintf and cleanup ram usage ~4KB

This commit is contained in:
Peter van der Perk 2021-04-13 16:37:29 +02:00 committed by Lorenz Meier
parent 399815469f
commit 02a4d93c74
3 changed files with 1 additions and 6 deletions
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1
src/drivers/uavcan_v1/Publishers/Publisher.hpp
View File

@ -94,7 +94,6 @@ public:
protected:
CanardInstance &_canard_instance;
UavcanParamManager &_param_manager;
CanardRxSubscription _canard_sub;
const char *_subject_name;
uint8_t _instance {0};

2
src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp
View File

@ -64,7 +64,7 @@ public:
while (curSubj != NULL) {
char uavcan_param[90];
sprintf(uavcan_param, "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
// Set _port_id from _uavcan_param
uavcan_register_Value_1_0 value;

4
src/drivers/uavcan_v1/Uavcan.hpp
View File

@ -185,11 +185,7 @@ private:
pthread_mutex_t _node_mutex;
CanardRxSubscription _heartbeat_subscription;
CanardRxSubscription _pnp_v1_subscription;
CanardRxSubscription _drone_srv_battery_subscription;
CanardRxSubscription _drone_srv_gps_subscription;
CanardRxSubscription _register_access_subscription;
CanardRxSubscription _register_list_subscription;
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};