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Reduce BLHeli flash usage #13006

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Reduce BLHeli flash usage #13006

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9e851e0
AP_HAL: introduce HAL_MEM_CLASS_2000 for 2Mb boards
andyp1per Dec 8, 2019
b74c8d9
AP_BLHeli: disable debug on 1Mb boards
andyp1per Dec 8, 2019
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10 changes: 8 additions & 2 deletions libraries/AP_BLHeli/AP_BLHeli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,13 @@

extern const AP_HAL::HAL& hal;

#define BLHELI_DEBUG (HAL_MEM_CLASS == HAL_MEM_CLASS_2000)

#if BLHELI_DEBUG
#define debug(fmt, args ...) do { if (debug_level) { gcs().send_text(MAV_SEVERITY_INFO, "ESC: " fmt, ## args); } } while (0)
#else
#define debug(fmt, args ...)
#endif

// key for locking UART for exclusive use. This prevents any other writes from corrupting
// the MSP protocol on hal.console
Expand Down Expand Up @@ -79,14 +85,14 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Range: 0 500
// @User: Standard
AP_GROUPINFO("TRATE", 5, AP_BLHeli, telem_rate, 10),

#if BLHELI_DEBUG
// @Param: DEBUG
// @DisplayName: BLHeli debug level
// @Description: When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("DEBUG", 6, AP_BLHeli, debug_level, 0),

#endif
// @Param: OTYPE
// @DisplayName: BLHeli output type override
// @Description: When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
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1 change: 1 addition & 0 deletions libraries/AP_HAL/AP_HAL_Boards.h
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Expand Up @@ -112,6 +112,7 @@
#define HAL_MEM_CLASS_300 4
#define HAL_MEM_CLASS_500 5
#define HAL_MEM_CLASS_1000 6
#define HAL_MEM_CLASS_2000 7

/* Operating system features
*
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4 changes: 3 additions & 1 deletion libraries/AP_HAL/board/chibios.h
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Expand Up @@ -5,7 +5,9 @@

#define HAL_BOARD_NAME "ChibiOS"

#if HAL_MEMORY_TOTAL_KB >= 1000
#if HAL_MEMORY_TOTAL_KB >= 2000
#define HAL_MEM_CLASS HAL_MEM_CLASS_2000
#elif 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
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2 changes: 1 addition & 1 deletion libraries/AP_HAL/board/sitl.h
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Expand Up @@ -2,7 +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_MEM_CLASS HAL_MEM_CLASS_2000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE 16384
Expand Down