Merge pull request cleanflight#1752 from martinbudden/issue1751

Fixes Issue1751 - decreases ROM size of CJMCU target by about 1500 bytes
malenie · Feb 5, 2016 · 688931d · 688931d
2 parents e285a74 + 4743b55
commit 688931d
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Showing 12 changed files with 83 additions and 5 deletions.
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -220,13 +220,15 @@ void resetGpsProfile(gpsProfile_t *gpsProfile)
 }
 #endif
 
+#ifdef BARO
 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 {
     barometerConfig->baro_sample_count = 21;
     barometerConfig->baro_noise_lpf = 0.6f;
     barometerConfig->baro_cf_vel = 0.985f;
     barometerConfig->baro_cf_alt = 0.965f;
 }
+#endif
 
 void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 {
@@ -251,6 +253,7 @@ void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
     flight3DConfig->deadband3d_throttle = 50;
 }
 
+#ifdef TELEMETRY
 void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
 {
     telemetryConfig->telemetry_inversion = 0;
@@ -262,6 +265,7 @@ void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
     telemetryConfig->frsky_vfas_precision = 0;
     telemetryConfig->hottAlarmSoundInterval = 5;
 }
+#endif
 
 void resetBatteryConfig(batteryConfig_t *batteryConfig)
 {
@@ -424,7 +428,9 @@ static void resetConf(void)
 
     resetBatteryConfig(&masterConfig.batteryConfig);
 
+#ifdef TELEMETRY
     resetTelemetryConfig(&masterConfig.telemetryConfig);
+#endif
 
     masterConfig.rxConfig.serialrx_provider = 0;
     masterConfig.rxConfig.sbus_inversion = 1;
@@ -502,7 +508,9 @@ static void resetConf(void)
     currentProfile->accDeadband.z = 40;
     currentProfile->acc_unarmedcal = 1;
 
+#ifdef BARO
     resetBarometerConfig(&currentProfile->barometerConfig);
+#endif
 
     // Radio
     parseRcChannels("AETR1234", &masterConfig.rxConfig);
@@ -778,12 +786,14 @@ void activateConfig(void)
         currentProfile->throttle_correction_angle
     );
 
+#if defined(BARO) || defined(SONAR)
     configureAltitudeHold(
         &currentProfile->pidProfile,
         &currentProfile->barometerConfig,
         &currentProfile->rcControlsConfig,
         &masterConfig.escAndServoConfig
     );
+#endif
 
 #ifdef BARO
     useBarometerConfig(&currentProfile->barometerConfig);
@@ -834,7 +844,9 @@ void validateAndFixConfig(void)
 
 #ifdef STM32F303xC
     // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
+#ifdef TELEMETRY
     masterConfig.telemetryConfig.telemetry_inversion = 1;
+#endif
 #endif
 
     /*

diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
@@ -87,7 +87,9 @@ typedef struct master_t {
 
     serialConfig_t serialConfig;
 
+#ifdef TELEMETRY
     telemetryConfig_t telemetryConfig;
+#endif
 
 #ifdef LED_STRIP
     ledConfig_t ledConfigs[MAX_LED_STRIP_LENGTH];

diff --git a/src/main/config/config_profile.h b/src/main/config/config_profile.h
@@ -32,7 +32,9 @@ typedef struct profile_s {
     float accz_lpf_cutoff;                  // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
     accDeadband_t accDeadband;
 
+#ifdef BARO
     barometerConfig_t barometerConfig;
+#endif
 
     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
 

diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
@@ -19,11 +19,17 @@
 #include "gpio.h"
 #include "timer.h"
 
+#ifdef USE_QUAD_MIXER_ONLY
+#define MAX_PWM_MOTORS  4
+#define MAX_PWM_SERVOS  1
+#define MAX_MOTORS  4
+#define MAX_SERVOS  1
+#else
 #define MAX_PWM_MOTORS  12
 #define MAX_PWM_SERVOS  8
-
 #define MAX_MOTORS  12
 #define MAX_SERVOS  8
+#endif
 #define MAX_PWM_OUTPUT_PORTS MAX_PWM_MOTORS // must be set to the largest of either MAX_MOTORS or MAX_SERVOS
 
 #if MAX_PWM_OUTPUT_PORTS < MAX_MOTORS || MAX_PWM_OUTPUT_PORTS < MAX_SERVOS

diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
@@ -370,10 +370,12 @@ static bool imuIsAccelerometerHealthy(void)
     return (81 < accMagnitude) && (accMagnitude < 121);
 }
 
+#ifdef MAG
 static bool isMagnetometerHealthy(void)
 {
     return (magADC[X] != 0) && (magADC[Y] != 0) && (magADC[Z] != 0);
 }
+#endif
 
 static void imuCalculateEstimatedAttitude(void)
 {
@@ -402,9 +404,11 @@ static void imuCalculateEstimatedAttitude(void)
         useAcc = true;
     }
 
+#ifdef MAG
     if (sensors(SENSOR_MAG) && isMagnetometerHealthy()) {
         useMag = true;
     }
+#endif
 #if defined(GPS)
     else if (STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5 && GPS_speed >= 300) {
         // In case of a fixed-wing aircraft we can use GPS course over ground to correct heading
@@ -464,4 +468,4 @@ int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
     if (angle > 900)
         angle = 900;
     return lrintf(throttle_correction_value * sin_approx(angle / (900.0f * M_PIf / 2.0f)));
-}
+}
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
@@ -17,8 +17,13 @@
 
 #pragma once
 
+#ifdef USE_QUAD_MIXER_ONLY
+#define MAX_SUPPORTED_MOTORS 4
+#define MAX_SUPPORTED_SERVOS 1
+#else
 #define MAX_SUPPORTED_MOTORS 12
 #define MAX_SUPPORTED_SERVOS 8
+#endif
 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
 

diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c
@@ -51,6 +51,7 @@
 #define BEEPER_COMMAND_REPEAT 0xFE
 #define BEEPER_COMMAND_STOP   0xFF
 
+#ifdef BEEPER
 /* Beeper Sound Sequences: (Square wave generation)
  * Sequence must end with 0xFF or 0xFE. 0xFE repeats the sequence from
  * start when 0xFF stops the sound when it's completed.
@@ -379,3 +380,17 @@ int beeperTableEntryCount(void)
 {
     return (int)BEEPER_TABLE_ENTRY_COUNT;
 }
+
+#else
+
+// Stub out beeper functions if #BEEPER not defined
+void beeper(beeperMode_e mode) {UNUSED(mode);}
+void beeperSilence(void) {}
+void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
+void beeperUpdate(void) {}
+uint32_t getArmingBeepTimeMicros(void) {return 0;}
+beeperMode_e beeperModeForTableIndex(int idx) {UNUSED(idx); return BEEPER_SILENCE;}
+const char *beeperNameForTableIndex(int idx) {UNUSED(idx); return NULL;}
+int beeperTableEntryCount(void) {return 0;}
+
+#endif
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
@@ -541,6 +541,7 @@ const clivalue_t valueTable[] = {
     { "sbus_inversion",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.sbus_inversion, .config.lookup = { TABLE_OFF_ON } },
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED,  SPEKTRUM_SAT_BIND_MAX} },
 
+#ifdef TELEMETRY
     { "telemetry_switch",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.telemetry_switch, .config.lookup = { TABLE_OFF_ON } },
     { "telemetry_inversion",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.telemetry_inversion, .config.lookup = { TABLE_OFF_ON } },
     { "frsky_default_lattitude",    VAR_FLOAT  | MASTER_VALUE,  &masterConfig.telemetryConfig.gpsNoFixLatitude, .config.minmax = { -90.0,  90.0 } },
@@ -549,6 +550,7 @@ const clivalue_t valueTable[] = {
     { "frsky_unit",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.telemetryConfig.frsky_unit, .config.lookup = { TABLE_UNIT } },
     { "frsky_vfas_precision",       VAR_UINT8  | MASTER_VALUE,  &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW,  FRSKY_VFAS_PRECISION_HIGH } },
     { "hott_alarm_sound_interval",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0,  120 } },
+#endif
 
     { "battery_capacity",           VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.batteryCapacity, .config.minmax = { 0,  20000 } },
     { "vbat_scale",                 VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatscale, .config.minmax = { VBAT_SCALE_MIN,  VBAT_SCALE_MAX } },
@@ -631,14 +633,18 @@ const clivalue_t valueTable[] = {
     { "acc_trim_pitch",             VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.pitch, .config.minmax = { -300,  300 } },
     { "acc_trim_roll",              VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.roll, .config.minmax = { -300,  300 } },
 
+#ifdef BARO
     { "baro_tab_size",              VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, .config.minmax = { 0,  BARO_SAMPLE_COUNT_MAX } },
     { "baro_noise_lpf",             VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
     { "baro_cf_vel",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
     { "baro_cf_alt",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
     { "baro_hardware",              VAR_UINT8  | MASTER_VALUE,  &masterConfig.baro_hardware, .config.minmax = { 0,  BARO_MAX } },
+#endif
 
+#ifdef MAG
     { "mag_hardware",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.mag_hardware, .config.minmax = { 0,  MAG_MAX } },
     { "mag_declination",            VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, .config.minmax = { -18000,  18000 } },
+#endif
 
     { "pid_delta_method",           VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
 

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
@@ -243,12 +243,14 @@ static void tailSerialReply(void)
     serialEndWrite(mspSerialPort);
 }
 
+#ifdef USE_SERVOS
 static void s_struct(uint8_t *cb, uint8_t siz)
 {
     headSerialReply(siz);
     while (siz--)
         serialize8(*cb++);
 }
+#endif
 
 static void serializeNames(const char *s)
 {
@@ -464,9 +466,11 @@ void mspInit(serialConfig_t *serialConfig)
         activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
     }
 
+#ifdef BARO
     if (sensors(SENSOR_BARO)) {
         activeBoxIds[activeBoxIdCount++] = BOXBARO;
     }
+#endif
 
     if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
         activeBoxIds[activeBoxIdCount++] = BOXMAG;
@@ -500,8 +504,10 @@ void mspInit(serialConfig_t *serialConfig)
 
     activeBoxIds[activeBoxIdCount++] = BOXOSD;
 
+#ifdef TELEMETRY
     if (feature(FEATURE_TELEMETRY) && masterConfig.telemetryConfig.telemetry_switch)
         activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;
+#endif
 
     if (feature(FEATURE_SONAR)){
         activeBoxIds[activeBoxIdCount++] = BOXSONAR;
@@ -727,7 +733,10 @@ static bool processOutCommand(uint8_t cmdMSP)
         break;
 #endif
     case MSP_MOTOR:
-        s_struct((uint8_t *)motor, 16);
+        headSerialReply(16);
+        for (i = 0; i < 8; i++) {
+            serialize16(i < MAX_SUPPORTED_MOTORS ? motor[i] : 0);
+        }
         break;
     case MSP_RC:
         headSerialReply(2 * rxRuntimeConfig.channelCount);
@@ -1361,8 +1370,12 @@ static bool processInCommand(void)
         masterConfig.batteryConfig.vbatwarningcellvoltage = read8();  // vbatlevel when buzzer starts to alert
         break;
     case MSP_SET_MOTOR:
-        for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
-            motor_disarmed[i] = read16();
+        for (i = 0; i < 8; i++) {
+            const int16_t disarmed = read16();
+            if (i < MAX_SUPPORTED_MOTORS) {
+                motor_disarmed[i] = disarmed;
+            }
+        }
         break;
     case MSP_SET_SERVO_CONFIGURATION:
 #ifdef USE_SERVOS

diff --git a/src/main/mw.c b/src/main/mw.c
@@ -729,10 +729,12 @@ void taskHandleSerial(void)
     handleSerial();
 }
 
+#ifdef BEEPER
 void taskUpdateBeeper(void)
 {
     beeperUpdate();          //call periodic beeper handler
 }
+#endif
 
 void taskUpdateBattery(void)
 {

diff --git a/src/main/scheduler_tasks.c b/src/main/scheduler_tasks.c
@@ -70,12 +70,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_LOW,
     },
 
+#ifdef BEEPER
     [TASK_BEEPER] = {
         .taskName = "BEEPER",
         .taskFunc = taskUpdateBeeper,
         .desiredPeriod = 1000000 / 100,     // 100 Hz
         .staticPriority = TASK_PRIORITY_MEDIUM,
     },
+#endif
 
     [TASK_BATTERY] = {
         .taskName = "BATTERY",

diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
@@ -535,6 +535,7 @@ static void detectBaro(baroSensor_e baroHardwareToUse)
 #endif
 }
 
+#ifdef MAG
 static void detectMag(magSensor_e magHardwareToUse)
 {
     magSensor_e magHardware;
@@ -637,6 +638,7 @@ static void detectMag(magSensor_e magHardwareToUse)
     detectedSensors[SENSOR_INDEX_MAG] = magHardware;
     sensorsSet(SENSOR_MAG);
 }
+#endif
 
 void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
 {
@@ -646,9 +648,11 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
     if (sensorAlignmentConfig->acc_align != ALIGN_DEFAULT) {
         accAlign = sensorAlignmentConfig->acc_align;
     }
+#ifdef MAG
     if (sensorAlignmentConfig->mag_align != ALIGN_DEFAULT) {
         magAlign = sensorAlignmentConfig->mag_align;
     }
+#endif
 }
 
 bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse,
@@ -657,6 +661,9 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t g
 
     int16_t deg, min;
 
+#ifndef MAG
+    UNUSED(magHardwareToUse);
+#endif
     memset(&acc, 0, sizeof(acc));
     memset(&gyro, 0, sizeof(gyro));
 
@@ -682,7 +689,9 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t g
     gyroUpdateSampleRate(looptime, gyroLpf, gyroSync, gyroSyncDenominator);   // Set gyro sampling rate divider before initialization
     gyro.init(gyroLpf);
 
+#ifdef MAG
     detectMag(magHardwareToUse);
+#endif
 
     reconfigureAlignment(sensorAlignmentConfig);