Added memory classes

libraries/AP_HAL/AP_HAL_Boards.h

@@ -92,13 +92,27 @@
 /* CPU classes, used to select if CPU intensive algorithms should be used
  * Note that these are only approximate, not exact CPU speeds. */
 
-/* 150Mhz: PX4 or similar. Assumes:
+/* 150Mhz: STM32F4 or similar. Assumes:
  *  - hardware floating point
- *  - tens of kilobytes of memory available */
+ *  - tens of kilobytes of memory available
+*/
 #define HAL_CPU_CLASS_150  3
+
 /* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */
 #define HAL_CPU_CLASS_1000 4
 
+
+/*
+  memory classes, in kbytes. Board must have at least the given amount
+  of memory
+*/
+#define HAL_MEM_CLASS_20   1
+#define HAL_MEM_CLASS_64   2
+#define HAL_MEM_CLASS_192  3
+#define HAL_MEM_CLASS_300  4
+#define HAL_MEM_CLASS_500  5
+#define HAL_MEM_CLASS_1000 6
+
 /* Operating system features
  *
  * HAL implementations may define the following extra feature defines to 1 if

libraries/AP_HAL/board/chibios.h

@@ -4,7 +4,20 @@
 #include <hal.h>
 
 #define HAL_BOARD_NAME "ChibiOS"
-#define HAL_CPU_CLASS HAL_CPU_CLASS_150
+
+#if HAL_MEMORY_TOTAL_KB >= 1000
+#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
+#elif HAL_MEMORY_TOTAL_KB >= 500
+#define HAL_MEM_CLASS HAL_MEM_CLASS_500
+#elif HAL_MEMORY_TOTAL_KB >= 300
+#define HAL_MEM_CLASS HAL_MEM_CLASS_300
+#elif HAL_MEMORY_TOTAL_KB >= 192
+#define HAL_MEM_CLASS HAL_MEM_CLASS_192
+#elif HAL_MEMORY_TOTAL_KB >= 64
+#define HAL_MEM_CLASS HAL_MEM_CLASS_64
+#else
+#define HAL_MEM_CLASS HAL_MEM_CLASS_20
+#endif
 
 #ifndef HAL_GPIO_LED_ON
 #define HAL_GPIO_LED_ON           0

libraries/AP_HAL/board/empty.h

@@ -2,6 +2,7 @@
 
 #define HAL_BOARD_NAME "EMPTY"
 #define HAL_CPU_CLASS HAL_CPU_CLASS_150
+#define HAL_MEM_CLASS HAL_MEM_CLASS_192
 #define HAL_STORAGE_SIZE            16384
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
 #define HAL_INS_DEFAULT HAL_INS_HIL

libraries/AP_HAL/board/linux.h

@@ -2,6 +2,7 @@
 
 #define HAL_BOARD_NAME "Linux"
 #define HAL_CPU_CLASS HAL_CPU_CLASS_1000
+#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
 #define HAL_OS_POSIX_IO 1
 #define HAL_OS_SOCKETS 1
 #define HAL_STORAGE_SIZE            16384

libraries/AP_HAL/board/sitl.h

@@ -2,6 +2,7 @@
 
 #define HAL_BOARD_NAME "SITL"
 #define HAL_CPU_CLASS HAL_CPU_CLASS_1000
+#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
 #define HAL_OS_POSIX_IO 1
 #define HAL_OS_SOCKETS 1
 #define HAL_STORAGE_SIZE            16384

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -596,9 +596,12 @@ def write_mcu_config(f):
     ram_map = get_mcu_config('RAM_MAP', True)
     f.write('// memory regions\n')
     regions = []
+    total_memory = 0
     for (address, size, flags) in ram_map:
         regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size*1024, flags))
+        total_memory += size
     f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))
+    f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % total_memory)
 
     f.write('\n// CPU serial number (12 bytes)\n')
     f.write('#define UDID_START 0x%08x\n\n' % get_mcu_config('UDID_START', True))

libraries/AP_Logger/AP_Logger.cpp

@@ -15,8 +15,12 @@ AP_Logger *AP_Logger::_singleton;
 extern const AP_HAL::HAL& hal;
 
 #ifndef HAL_LOGGING_FILE_BUFSIZE
+#if HAL_MEM_CLASS >= HAL_MEM_CLASS_300
+#define HAL_LOGGING_FILE_BUFSIZE  50
+#else
 #define HAL_LOGGING_FILE_BUFSIZE  16
-#endif 
+#endif
+#endif
 
 #ifndef HAL_LOGGING_MAV_BUFSIZE
 #define HAL_LOGGING_MAV_BUFSIZE  8

libraries/AP_Logger/AP_Logger_File.cpp

@@ -83,10 +83,14 @@ void AP_Logger_File::Init()
     }
     bufsize *= 1024;
 
+    const uint32_t desired_bufsize = bufsize;
+
     // If we can't allocate the full size, try to reduce it until we can allocate it
     while (!_writebuf.set_size(bufsize) && bufsize >= _writebuf_chunk) {
-        hal.console->printf("AP_Logger_File: Couldn't set buffer size to=%u\n", (unsigned)bufsize);
-        bufsize >>= 1;
+        bufsize *= 0.9;
+    }
+    if (bufsize >= _writebuf_chunk && bufsize != desired_bufsize) {
+        hal.console->printf("AP_Logger: reduced buffer %u/%u\n", (unsigned)bufsize, (unsigned)desired_bufsize);
     }
 
     if (!_writebuf.get_size()) {

libraries/GCS_MAVLink/GCS.h

@@ -812,7 +812,7 @@ class GCS
 
     void update_sensor_status_flags();
 
-#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if HAL_MEM_CLASS <= HAL_MEM_CLASS_192 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
     static const uint8_t _status_capacity = 5;
 #else
     static const uint8_t _status_capacity = 30;