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Memory optimization
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HoTT Textmode iavailable n DISARMED state only!
Example APM_Config.h changed to a Hexa config
Some code cleanup
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Adam Majerczyk committed Apr 9, 2013
1 parent a371529 commit 8493c94
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Showing 2 changed files with 45 additions and 93 deletions.
29 changes: 9 additions & 20 deletions APM_Config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,11 +8,11 @@
// valid! You should switch to using a HAL_BOARD flag in your local config.mk.

//#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
//#define HIL_MODE HIL_MODE_ATTITUDE
//#define HIL_MODE HIL_MODE_SENSORS
//#define DMP_ENABLED ENABLED
//#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes

#define FRAME_CONFIG Y6_FRAME
#define FRAME_CONFIG HEXA_FRAME
/*
* options:
* QUAD_FRAME
Expand All @@ -24,14 +24,14 @@
* HELI_FRAME
*/

#define FRAME_ORIENTATION X_FRAME
#define FRAME_ORIENTATION PLUS_FRAME
/*
* PLUS_FRAME
* X_FRAME
* V_FRAME
*/

//#define CH7_OPTION CH7_SAVE_WP
#define CH7_OPTION CH7_DO_NOTHING
/*
* CH7_DO_NOTHING
* CH7_FLIP
Expand All @@ -43,8 +43,7 @@
*/

// Inertia based contollers
//#define INERTIAL_NAV_XY ENABLED
#define INERTIAL_NAV_Z ENABLED
#define RTL_YAW YAW_HOLD

//#define MOTORS_JD880
//#define MOTORS_JD850
Expand All @@ -68,26 +67,16 @@
// #define LOITER_REPOSITIONING ENABLED // Experimental Do Not Use
// #define LOITER_RP ROLL_PITCH_LOITER_PR




//
// HoTT definitions
//
#define HOTT_TELEMETRY
#define HOTT_TELEMETRY_SERIAL_PORT 2
#define HOTT_SIM_GPS_SENSOR
#define HOTT_SIM_EAM_SENSOR
//#define HOTT_SIM_VARIO_SENSOR
#define HOTT_SIM_VARIO_SENSOR
//#define HOTT_SIM_GAM_SENSOR


#define HOTT_SIM_TEXTMODE
//#define HOTT_SIM_GPS_TEXTMODE
#define HOTT_SIM_EAM_TEXTMODE
//#define HOTT_SIM_VARIO_TEXTMODE
//#define HOTT_SIM_GAM_TEXTMODE

#define HOTT_TEXT_MODE_DEBUG // useful to display memory and sat_count in last line


//Textmode address to simulate
#define HOTT_SIM_TEXTMODE_ADDRESS HOTT_TELEMETRY_GPS_SENSOR_ID
//#define CONFIG_SONAR_SOURCE_ANALOG_PIN 0
109 changes: 36 additions & 73 deletions Hott.pde
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,10 +11,10 @@
//
// 01/2013 by Adam Majerczyk ([email protected])
// Texmode add-on by Michi ([email protected])
// v0.9.7b (beta software)
// v0.9.7.1b (beta software)
//
// Developed and tested with:
// Transmitter MC-32 (v1.030), MX-20, MC-20
// Transmitter MC-32 (v1.030,v1.041), MX-20, MC-20
// Receiver GR-16 v6a10_f9
// Receiver GR-12 v3a40_e9
//
Expand Down Expand Up @@ -64,7 +64,7 @@ struct HOTT_TEXTMODE_MSG {
// Bit 7 = 1 -> Inverse character display
// Display 21x8
int8_t stop_byte; //#171 constant value 0x7d
int8_t parity; //#172 Checksum / parity
// int8_t parity; //#172 Checksum / parity
};
static HOTT_TEXTMODE_MSG hott_txt_msg;
#endif
Expand Down Expand Up @@ -157,7 +157,7 @@ struct HOTT_GAM_MSG {
int8_t pressure; //#42 Pressure up to 16bar. 0,1bar scale. 20 = 2bar
int8_t version; //#43 version number TODO: more info?
int8_t stop_byte; //#44 stop int8_t
int8_t parity; //#45 CRC/Parity
// int8_t parity; //#45 CRC/Parity
};

static struct HOTT_GAM_MSG hott_gam_msg;
Expand Down Expand Up @@ -213,7 +213,7 @@ struct HOTT_VARIO_MSG {
int8_t compass_direction; //#42 Compass heading in 2° steps. 1 = 2°
int8_t version; //#43 version number TODO: more info?
int8_t stop_byte; //#44 stop int8_t, constant value 0x7d
int8_t parity; //#45 checksum / parity
// int8_t parity; //#45 checksum / parity
};

static HOTT_VARIO_MSG hott_vario_msg;
Expand Down Expand Up @@ -316,7 +316,7 @@ struct HOTT_EAM_MSG {
int8_t speed_L; //#41 (air?) speed in km/h. Steps 1km/h
int8_t speed_H; //#42
int8_t stop_byte; //#43 stop int8_t
int8_t parity; //#44 CRC/Parity
// int8_t parity; //#44 CRC/Parity
};

static HOTT_EAM_MSG hott_eam_msg;
Expand Down Expand Up @@ -398,7 +398,7 @@ struct HOTT_GPS_MSG {
// 1 Gyro Receiver
// 255 Mikrokopter
int8_t end_byte; //#44 constant value 0x7d
int8_t parity; //#45
// int8_t parity; //#45
};

static HOTT_GPS_MSG hott_gps_msg;
Expand Down Expand Up @@ -489,13 +489,13 @@ void _hott_msgs_init() {
/*
called by timer_scheduler
*/
static uint32_t _hott_serial_timer;
/*
Called periodically (≈1ms) by timer scheduler
@param tnow timestamp in uSecond
*/
void _hott_serial_scheduler(uint32_t tnow) {
static uint32_t _hott_serial_timer;
_hott_check_serial_data(tnow); // Check for data request
if(_hott_msg_ptr == 0) return; //no data to send
if(_hott_telemetry_is_sending) {
Expand Down Expand Up @@ -534,11 +534,11 @@ void _hott_send_telemetry_data() {
--_hott_msg_len;
if(_hott_msg_len != 0) {
msg_crc += *_hott_msg_ptr;
_HOTT_PORT->write(*_hott_msg_ptr++);
} else {
//last int8_t, send crc
*_hott_msg_ptr = (int8_t) (msg_crc);
_HOTT_PORT->write((int8_t) (msg_crc));
}
_HOTT_PORT->write(*_hott_msg_ptr++);
}
}

Expand All @@ -557,9 +557,9 @@ void _hott_setup() {
/*
Check for a valid HoTT requests on serial bus
*/
static uint32_t _hott_serial_request_timer = 0;

void _hott_check_serial_data(uint32_t tnow) {
static uint32_t _hott_serial_request_timer = 0;
if(_hott_telemetry_is_sending == true) return;
if(_HOTT_PORT->available() > 1) {
if(_HOTT_PORT->available() == 2) {
Expand All @@ -580,48 +580,18 @@ void _hott_check_serial_data(uint32_t tnow) {
//*****************************************************************************
#ifdef HOTT_SIM_TEXTMODE
case HOTT_TEXT_MODE_REQUEST_ID:
//Text mode
{
hott_txt_msg.start_byte = 0x7b;
hott_txt_msg.stop_byte = 0x7d;
uint8_t tmp = (addr >> 4); // Sensor type


#ifdef HOTT_SIM_GPS_TEXTMODE
if(tmp == (HOTT_TELEMETRY_GPS_SENSOR_ID & 0x0f)) {
HOTT_Clear_Text_Screen();
HOTT_HandleTextMode(addr);
_hott_send_text_msg(); //send message
}
#endif

#ifdef HOTT_SIM_EAM_TEXTMODE

if(tmp == (HOTT_TELEMETRY_EAM_SENSOR_ID & 0x0f)) {
HOTT_Clear_Text_Screen();
HOTT_HandleTextMode(addr);
_hott_send_text_msg(); //send message
}

#endif
#ifdef HOTT_SIM_VARIO_TEXTMODE
if(tmp == (HOTT_TELEMETRY_VARIO_SENSOR_ID & 0x0f)) {
HOTT_Clear_Text_Screen();
HOTT_HandleTextMode(addr);
_hott_send_text_msg(); //send message
}
#endif
#ifdef HOTT_SIM_GAM_TEXTMODE
if(tmp == (HOTT_TELEMETRY_GAM_SENSOR_ID & 0x0f)) {
HOTT_Clear_Text_Screen();
HOTT_HandleTextMode(addr);
_hott_send_text_msg(); //send message
}
#endif


//Text mode, handle only if not armed!
if(!motors.armed())
{
hott_txt_msg.start_byte = 0x7b;
hott_txt_msg.stop_byte = 0x7d;
uint8_t tmp = (addr >> 4); // Sensor type
if(tmp == (HOTT_SIM_TEXTMODE_ADDRESS & 0x0f)) {
HOTT_Clear_Text_Screen();
HOTT_HandleTextMode(addr);
_hott_send_text_msg(); //send message
}
}

break;
#endif
//*****************************************************************************
Expand All @@ -630,28 +600,24 @@ void _hott_check_serial_data(uint32_t tnow) {
#ifdef HOTT_SIM_GPS_SENSOR
//GPS module binary mode
if(addr == HOTT_TELEMETRY_GPS_SENSOR_ID) {
// Serial.printf("\n%ld: REQ_GPS",micros() / 1000);
_hott_send_gps_msg();
break;
}
#endif
#ifdef HOTT_SIM_EAM_SENSOR
if(addr == HOTT_TELEMETRY_EAM_SENSOR_ID) {
// Serial.printf("\n%ld: REQ_EAM",micros() / 1000);
_hott_send_eam_msg();
break;
}
#endif
#ifdef HOTT_SIM_VARIO_SENSOR
if(addr == HOTT_TELEMETRY_VARIO_SENSOR_ID) {
// Serial.printf("\n%ld: REQ_VARIO",micros() / 1000);
_hott_send_vario_msg();
break;
}
#endif
#ifdef HOTT_SIM_GAM_SENSOR
if(addr == HOTT_TELEMETRY_GAM_SENSOR_ID) {
// Serial.printf("\n%ld: REQ_GAM",micros() / 1000);
_hott_send_gam_msg();
break;
}
Expand All @@ -661,7 +627,6 @@ void _hott_check_serial_data(uint32_t tnow) {
break;
//*****************************************************************************
default:
//Serial.printf("0x%02x Mode for 0x%02x\n", c, addr);
break;
}
} else {
Expand All @@ -675,7 +640,7 @@ void _hott_check_serial_data(uint32_t tnow) {
void _hott_send_msg(int8_t *buffer, int len) {
if(_hott_telemetry_is_sending == true) return;
_hott_msg_ptr = buffer;
_hott_msg_len = len;
_hott_msg_len = len +1; //len + 1 byte for crc
}

#ifdef HOTT_SIM_GAM_SENSOR
Expand Down Expand Up @@ -885,11 +850,9 @@ void _hott_update_gps_msg() {
#endif

#ifdef HOTT_SIM_VARIO_SENSOR
static int _hott_max_altitude = 0;
static int _hott_min_altitude = 0;

static const char* hott_flight_mode_strings[] = {
"STABILIZE", // 0
const char hott_flight_mode_strings[NUM_MODES+1][10] PROGMEM = {
"STABILIZE", // 0
"ACRO", // 1
"ALT_HOLD", // 2
"AUTO", // 3
Expand All @@ -899,13 +862,19 @@ static const char* hott_flight_mode_strings[] = {
"CIRCLE", // 7
"POSITION", // 8
"LAND", // 9
"OF_LOITER", // 10
"OF_LOITER", // 10
"TOY_M", // 11
"TOY_A",
"TOY_A", // 12
"???"
};

const char hott_ARMED_STR[] PROGMEM = "ARMED";
const char hott_DISARMED_STR[] PROGMEM = "DISARMED";

void _hott_update_vario_msg() {
static int _hott_max_altitude = 0;
static int _hott_min_altitude = 0;

(int &)hott_vario_msg.altitude_L = (int)((current_loc.alt - home.alt) / 100)+500;

if( (current_loc.alt - home.alt) > _hott_max_altitude)
Expand All @@ -927,12 +896,12 @@ void _hott_update_vario_msg() {
char armed[10];
if(control_mode > NUM_MODES)
control_mode = NUM_MODES;
strcpy(mode,hott_flight_mode_strings[control_mode]);
strcpy_P(mode,hott_flight_mode_strings[control_mode]);

if (motors.armed()) {
strcpy(armed,"ARMED");
strcpy_P(armed,hott_ARMED_STR);
} else {
strcpy(armed,"DISAR");
strcpy_P(armed,hott_DISARMED_STR);
}
memset(hott_vario_msg.text_msg,0x20,HOTT_VARIO_MSG_TEXT_LEN);
snprintf((char*)hott_vario_msg.text_msg,HOTT_VARIO_MSG_TEXT_LEN, "%s %s", &armed[0], &mode[0]);
Expand Down Expand Up @@ -1062,7 +1031,6 @@ void _hott_add_alarm(struct _hott_alarm_event_T *alarm) {
return;
// we have a new alarm
memcpy(&_hott_alarm_queue[_hott_alarmCnt++], alarm, sizeof(struct _hott_alarm_event_T));
// Serial.print("\nadd to queue");
}

//
Expand All @@ -1077,7 +1045,6 @@ void _hott_add_replay_alarm(struct _hott_alarm_event_T *alarm) {
return;
// we have a new alarm
memcpy(&_hott_alarm_replay_queue[_hott_alarm_ReplayCnt++], alarm, sizeof(struct _hott_alarm_event_T));
// Serial.print("\nadd to replay queue");
}

//
Expand All @@ -1092,7 +1059,6 @@ void _hott_remove_alarm(uint8_t num) {
memcpy(&_hott_alarm_queue[num-1], &_hott_alarm_queue[num], sizeof(struct _hott_alarm_event_T) * (_hott_alarmCnt - num) );
}
--_hott_alarmCnt;
// Serial.print("\nremove from queue");
}

//
Expand All @@ -1107,7 +1073,6 @@ void _hott_remove_replay_alarm(uint8_t num) {
memcpy(&_hott_alarm_replay_queue[num-1], &_hott_alarm_replay_queue[num], sizeof(struct _hott_alarm_event_T) * (_hott_alarm_ReplayCnt - num) );
}
--_hott_alarm_ReplayCnt;
// Serial.print("\nremove from delay queue");
}

//
Expand Down Expand Up @@ -1189,7 +1154,6 @@ void _hott_alarm_scheduler() {
_hott_add_replay_alarm(&_hott_alarm_queue[i]);
_hott_remove_alarm(i+1); //first alarm at offset 1
--i; //correct counter
// Serial.print("\nremoved alarm");
continue;
}

Expand Down Expand Up @@ -1254,7 +1218,6 @@ void _hott_alarm_scheduler() {
activeAlarm = 0;
return;
}
//Serial.printf("\nAlarm change %d",activeAlarm);
_hott_set_voice_alarm(_hott_alarm_queue[activeAlarm-1].alarm_profile, _hott_alarm_queue[activeAlarm-1].alarm_num);
}

Expand Down

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