Merge pull request #927 from PX4/ram_cleanup

Ram cleanup

ROMFS/px4fmu_common/init.d/rcS

@@ -419,16 +419,6 @@ then
 
 	mavlink start $MAVLINK_FLAGS
 	
-	#
-	# Start the datamanager
-	#
-	dataman start
-	
-	#
-	# Start the navigator
-	#
-	navigator start
-	
 	#
 	# Sensors, Logging, GPS
 	#
@@ -550,6 +540,16 @@ then
 		fi
 	fi
 
+	#
+	# Start the datamanager
+	#
+	dataman start
+
+	#
+	# Start the navigator
+	#
+	navigator start
+
 	#
 	# Generic setup (autostart ID not found)
 	#

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y
 #
 # USART1 Configuration
 #
-CONFIG_USART1_RXBUFSIZE=512
+CONFIG_USART1_RXBUFSIZE=256
-CONFIG_USART1_TXBUFSIZE=512
+CONFIG_USART1_TXBUFSIZE=128
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y
 #
 # UART5 Configuration
 #
-CONFIG_UART5_RXBUFSIZE=512
+CONFIG_UART5_RXBUFSIZE=256
-CONFIG_UART5_TXBUFSIZE=512
+CONFIG_UART5_TXBUFSIZE=128
 CONFIG_UART5_BAUD=57600
 CONFIG_UART5_BITS=8
 CONFIG_UART5_PARITY=0
@@ -540,8 +540,8 @@ CONFIG_UART5_2STOP=0
 #
 # USART6 Configuration
 #
-CONFIG_USART6_RXBUFSIZE=512
+CONFIG_USART6_RXBUFSIZE=128
-CONFIG_USART6_TXBUFSIZE=512
+CONFIG_USART6_TXBUFSIZE=64
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_BITS=8
 CONFIG_USART6_PARITY=0

src/drivers/blinkm/blinkm.cpp

@@ -194,6 +194,26 @@ private:
 
 	bool systemstate_run;
 
+	int vehicle_status_sub_fd;
+	int vehicle_control_mode_sub_fd;
+	int vehicle_gps_position_sub_fd;
+	int actuator_armed_sub_fd;
+	int safety_sub_fd;
+
+	int num_of_cells;
+	int detected_cells_runcount;
+
+	int t_led_color[8];
+	int t_led_blink;
+	int led_thread_runcount;
+	int led_interval;
+
+	bool topic_initialized;
+	bool detected_cells_blinked;
+	bool led_thread_ready;
+
+	int num_of_used_sats;
+
 	void 			setLEDColor(int ledcolor);
 	static void		led_trampoline(void *arg);
 	void			led();
@@ -265,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) :
 	led_color_7(LED_OFF),
 	led_color_8(LED_OFF),
 	led_blink(LED_NOBLINK),
-	systemstate_run(false)
+	systemstate_run(false),
+	vehicle_status_sub_fd(-1),
+	vehicle_control_mode_sub_fd(-1),
+	vehicle_gps_position_sub_fd(-1),
+	actuator_armed_sub_fd(-1),
+	safety_sub_fd(-1),
+	num_of_cells(0),
+	detected_cells_runcount(0),
+	t_led_color({0}),
+	t_led_blink(0),
+	led_thread_runcount(0),
+	led_interval(1000),
+	topic_initialized(false),
+	detected_cells_blinked(false),
+	led_thread_ready(true),
+	num_of_used_sats(0)
 {
 	memset(&_work, 0, sizeof(_work));
 }
@@ -382,31 +417,6 @@ void
 BlinkM::led()
 {
 
-	static int vehicle_status_sub_fd;
-	static int vehicle_control_mode_sub_fd;
-	static int vehicle_gps_position_sub_fd;
-	static int actuator_armed_sub_fd;
-	static int safety_sub_fd;
-
-	static int num_of_cells = 0;
-	static int detected_cells_runcount = 0;
-
-	static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
-	static int t_led_blink = 0;
-	static int led_thread_runcount=0;
-	static int led_interval = 1000;
-
-	static int no_data_vehicle_status = 0;
-	static int no_data_vehicle_control_mode = 0;
-	static int no_data_actuator_armed = 0;
-	static int no_data_vehicle_gps_position = 0;
-
-	static bool topic_initialized = false;
-	static bool detected_cells_blinked = false;
-	static bool led_thread_ready = true;
-
-	int num_of_used_sats = 0;
-
 	if(!topic_initialized) {
 		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
 		orb_set_interval(vehicle_status_sub_fd, 250);
@@ -494,6 +504,11 @@ BlinkM::led()
 
 		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
 
+		int no_data_vehicle_status = 0;
+		int no_data_vehicle_control_mode = 0;
+		int no_data_actuator_armed = 0;
+		int no_data_vehicle_gps_position = 0;
+
 		if (new_data_vehicle_status) {
 			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
 			no_data_vehicle_status = 0;

src/drivers/hmc5883/hmc5883.cpp

@@ -158,6 +158,7 @@ private:
 	int			_class_instance;
 
 	orb_advert_t		_mag_topic;
+	orb_advert_t		_subsystem_pub;
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
@@ -324,7 +325,9 @@ HMC5883::HMC5883(int bus) :
 	_reports(nullptr),
 	_range_scale(0), /* default range scale from counts to gauss */
 	_range_ga(1.3f),
+	_collect_phase(false),
 	_mag_topic(-1),
+	_subsystem_pub(-1),
 	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
@@ -1137,13 +1140,12 @@ int HMC5883::check_calibration()
 			true,
 			_calibrated,
 			SUBSYSTEM_TYPE_MAG};
-		static orb_advert_t pub = -1;
 
 		if (!(_pub_blocked)) {
-			if (pub > 0) {
+			if (_subsystem_pub > 0) {
-				orb_publish(ORB_ID(subsystem_info), pub, &info);
+				orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
 			} else {
-				pub = orb_advertise(ORB_ID(subsystem_info), &info);
+				_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
 			}
 		}
 	}

src/drivers/hott/messages.cpp

@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_gps_position.h>
 
+#include <drivers/drv_hrt.h>
+
 /* The board is very roughly 5 deg warmer than the surrounding air */
 #define BOARD_TEMP_OFFSET_DEG 5
 
@@ -62,7 +64,6 @@ static int _airspeed_sub = -1;
 static int _esc_sub = -1;
 
 static orb_advert_t _esc_pub;
-struct esc_status_s _esc;
 
 static bool _home_position_set = false;
 static double _home_lat = 0.0d;
@@ -82,8 +83,6 @@ init_sub_messages(void)
 void 
 init_pub_messages(void)
 {
-	memset(&_esc, 0, sizeof(_esc));
-	_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
 }
 
 void
@@ -106,23 +105,26 @@ publish_gam_message(const uint8_t *buffer)
 	size_t size = sizeof(msg);
 	memset(&msg, 0, size);
 	memcpy(&msg, buffer, size);
+	struct esc_status_s esc;
+	memset(&esc, 0, sizeof(esc));
+
+	// Publish it.
+	esc.timestamp = hrt_absolute_time();
+	esc.esc_count = 1;
+	esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+
+	esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
+	esc.esc[0].esc_temperature = msg.temperature1 - 20; 
+	esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
+	esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 
 	/* announce the esc if needed, just publish else */
 	if (_esc_pub > 0) {
-		orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
+		orb_publish(ORB_ID(esc_status), _esc_pub, &esc);
 	} else {
-		_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
+		_esc_pub = orb_advertise(ORB_ID(esc_status), &esc);
 	}
-
-	// Publish it.
-	_esc.esc_count = 1;
-	_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
-
-	_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
-	_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
-	_esc.esc[0].esc_temperature = msg.temperature1 - 20; 
-	_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
-	_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 }
 
 void 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -92,8 +92,20 @@
 #define MOTOR_SPINUP_COUNTER			30
 #define ESC_UORB_PUBLISH_DELAY		500000
 
-
+struct MotorData_t {
-
+	unsigned int Version;                        // the version of the BL (0 = old)
+	unsigned int SetPoint;                       // written by attitude controller
+	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+	float SetPoint_PX4; 			     // Values from PX4
+	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
+	unsigned int ReadMode;                       // select data to read
+	unsigned short RawPwmValue;							// length of PWM pulse
+	// the following bytes must be exactly in that order!
+	unsigned int Current;                        // in 0.1 A steps, read back from BL
+	unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
+	unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
+	unsigned int RoundCount;
+};
 
 class MK : public device::I2C
 {
@@ -154,6 +166,8 @@ private:
 
 	actuator_controls_s _controls;
 
+	MotorData_t Motor[MAX_MOTORS];
+
 	static void	task_main_trampoline(int argc, char *argv[]);
 	void		task_main();
 
@@ -195,24 +209,6 @@ const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
 
 int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
 
-struct MotorData_t {
-	unsigned int Version;                        // the version of the BL (0 = old)
-	unsigned int SetPoint;                       // written by attitude controller
-	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
-	float SetPoint_PX4; 			     // Values from PX4
-	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
-	unsigned int ReadMode;                       // select data to read
-	unsigned short RawPwmValue;							// length of PWM pulse
-	// the following bytes must be exactly in that order!
-	unsigned int Current;                        // in 0.1 A steps, read back from BL
-	unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
-	unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
-	unsigned int RoundCount;
-};
-
-MotorData_t Motor[MAX_MOTORS];
-
-
 namespace
 {
 

src/drivers/stm32/drv_hrt.c

@@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0;
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
+#define PPM_DEBUG 0
+
+#if PPM_DEBUG
 /* PPM edge history */
 __EXPORT uint16_t ppm_edge_history[32];
 unsigned ppm_edge_next;
@@ -361,6 +364,7 @@ unsigned ppm_edge_next;
 /* PPM pulse history */
 __EXPORT uint16_t ppm_pulse_history[32];
 unsigned ppm_pulse_next;
+#endif
 
 static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 
@@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status)
 	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
 
+#if PPM_DEBUG
 	ppm_edge_history[ppm_edge_next++] = width;
 
 	if (ppm_edge_next >= 32)
 		ppm_edge_next = 0;
+#endif
 
 	/*
 	 * if this looks like a start pulse, then push the last set of values
@@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status)
 		interval = count - ppm.last_mark;
 		ppm.last_mark = count;
 
+#if PPM_DEBUG
 		ppm_pulse_history[ppm_pulse_next++] = interval;
 
 		if (ppm_pulse_next >= 32)
 			ppm_pulse_next = 0;
+#endif
 
 		/* if the mark-mark timing is out of bounds, abandon the frame */
 		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))

src/modules/mavlink/mavlink_main.cpp

@@ -727,9 +727,9 @@ int Mavlink::mavlink_pm_send_param(param_t param)
 	if (param == PARAM_INVALID) { return 1; }
 
 	/* buffers for param transmission */
-	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
+	char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
 	float val_buf;
-	static mavlink_message_t tx_msg;
+	mavlink_message_t tx_msg;
 
 	/* query parameter type */
 	param_type_t type = param_type(param);

src/modules/navigator/mission_feasibility_checker.cpp

@@ -100,8 +100,8 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	/* Check if all mission items are inside the geofence (if we have a valid geofence) */
 	if (geofence.valid()) {
 		for (size_t i = 0; i < nMissionItems; i++) {
-			static struct mission_item_s missionitem;
+			struct mission_item_s missionitem;
-			const ssize_t len = sizeof(struct mission_item_s);
+			const ssize_t len = sizeof(missionitem);
 
 			if (dm_read(dm_current, i, &missionitem, len) != len) {
 				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
@@ -125,8 +125,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 
 
 	for (size_t i = 0; i < nMissionItems; i++) {
-		static struct mission_item_s missionitem;
+		struct mission_item_s missionitem;
-		const ssize_t len = sizeof(struct mission_item_s);
+		const ssize_t len = sizeof(missionitem);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return false;