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BlockParam: remove _extern_address and create a new class BlockParamExt for this

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In most cases, _extern_address was unused, thus wasting cycles & RAM. This
adds a separate class BlockParamExt with the field and uses it in ekf2_main

Frees roughly 0.5KB of RAM on Pixracer
This commit is contained in:
Beat Küng
2016-10-23 15:25:20 +02:00
committed by Lorenz Meier
parent 09d8e4fd8c
commit 7c6d99d30f
3 changed files with 210 additions and 162 deletions
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src/lib/controllib/block/BlockParam.cpp
+34 -11
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@@ -82,10 +82,9 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
template <class T>
BlockParam<T>::BlockParam(Block *block, const char *name,
bool parent_prefix, T *extern_address) :
bool parent_prefix) :
BlockParamBase(block, name, parent_prefix),
_val(),
_extern_address(extern_address)
_val()
{
update();
}
@@ -97,10 +96,6 @@ template <class T>
void BlockParam<T>::set(T val)
{
_val = val;
if (_extern_address != NULL) {
*_extern_address = val;
}
}
template <class T>
@@ -108,10 +103,6 @@ void BlockParam<T>::update()
{
if (_handle != PARAM_INVALID) {
param_get(_handle, &_val);
if (_extern_address != NULL) {
*_extern_address = _val;
}
}
}
@@ -127,4 +118,36 @@ BlockParam<T>::~BlockParam() {};
template class __EXPORT BlockParam<float>;
template class __EXPORT BlockParam<int>;
template <class T>
BlockParamExt<T>::BlockParamExt(Block *block, const char *name,
bool parent_prefix, T &extern_val) :
BlockParam<T>(block, name, parent_prefix),
_extern_val(extern_val)
{
update();
}
template <class T>
void BlockParamExt<T>::set(T val)
{
this->_val = val;
_extern_val = val;
}
template <class T>
void BlockParamExt<T>::update()
{
if (this->_handle != PARAM_INVALID) {
param_get(this->_handle, &this->_val);
_extern_val = this->_val;
}
}
template <class T>
BlockParamExt<T>::~BlockParamExt() {};
template class __EXPORT BlockParamExt<float>;
template class __EXPORT BlockParamExt<int>;
} // namespace control