Out of memory warning, flash and RAM optimizations

apps/px4io/controls.c

@@ -45,7 +45,6 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/ppm_decode.h>
 
-//#define DEBUG
 #include "px4io.h"
 
 #define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */

apps/px4io/dsm.c

@@ -248,18 +248,18 @@ dsm_guess_format(bool reset)
 
 	if ((votes11 == 1) && (votes10 == 0)) {
 		channel_shift = 11;
-		debug("DSM: detected 11-bit format");
+		debug("DSM: 11-bit format");
 		return;
 	}
 
 	if ((votes10 == 1) && (votes11 == 0)) {
 		channel_shift = 10;
-		debug("DSM: detected 10-bit format");
+		debug("DSM: 10-bit format");
 		return;
 	}
 
 	/* call ourselves to reset our state ... we have to try again */
-	debug("DSM: format detector failed, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
+	debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
 	dsm_guess_format(true);
 }
 

apps/px4io/mixer.cpp

@@ -157,71 +157,6 @@ mixer_tick(void)
 			r_page_servos[i] = 0;
 	}
 
-#if 0
-		/* if everything is ok */
-
-		if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
-			/* we have recent control data from the FMU */
-			control_count = PX4IO_CONTROL_CHANNELS;
-			control_values = &system_state.fmu_channel_data[0];
-
-		} else if (system_state.rc_channels > 0) {
-			/* when override is on or the fmu is not available, but RC is present */
-			control_count = system_state.rc_channels;
-
-			sched_lock();
-
-			/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
-			rc_channel_data[ROLL]     = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
-			rc_channel_data[PITCH]    = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
-			rc_channel_data[YAW]      = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
-			rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
-			//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
-
-			/* get the remaining channels, no remapping needed */
-			for (unsigned i = 4; i < system_state.rc_channels; i++) {
-				rc_channel_data[i] = system_state.rc_channel_data[i];
-			}
-
-			/* scale the control inputs */ 
-			rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / 
-				(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
-
-			if (rc_channel_data[THROTTLE] > 2000) {
-				rc_channel_data[THROTTLE] = 2000;
-			}
-
-			if (rc_channel_data[THROTTLE] < 1000) {
-				rc_channel_data[THROTTLE] = 1000;
-			}
-			
-			// lowsyslog("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
-			// 	(int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
-			// 	(int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
-
-			control_values = &rc_channel_data[0];
-			sched_unlock();
-		} else {
-			/* we have no control input (no FMU, no RC) */
-
-			// XXX builtin failsafe would activate here
-			control_count = 0;
-		}
-		//lowsyslog("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
-
-	/* this is for multicopters, etc. where manual override does not make sense */
-	} else {
-		/* if the fmu is available whe are good */
-		if (system_state.mixer_fmu_available) {
-			control_count = PX4IO_CONTROL_CHANNELS;
-			control_values = &system_state.fmu_channel_data[0];
-		/* we better shut everything off */
-		} else {
-			control_count = 0;
-		}
-	}
-#endif
-
 	/*
 	 * Decide whether the servos should be armed right now.
 	 *
@@ -301,7 +236,7 @@ mixer_handle_text(const void *buffer, size_t length)
 
 	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
 
-	isr_debug(2, "mixer text %u", length);
+	isr_debug(2, "mix txt %u", length);
 
 	if (length < sizeof(px4io_mixdata))
 		return;

apps/px4io/px4io.c

@@ -83,12 +83,12 @@ static volatile uint32_t last_msg_counter;
 static volatile uint8_t msg_next_out, msg_next_in;
 
 /*
- * WARNING too large buffers here consume the memory required
+ * WARNING: too large buffers here consume the memory required
  * for mixer handling. Do not allocate more than 80 bytes for
  * output.
  */
 #define NUM_MSG 2
-static char msg[NUM_MSG][50];
+static char msg[NUM_MSG][40];
 
 /*
   add a debug message to be printed on the console
@@ -127,7 +127,7 @@ static void show_debug_messages(void)
  */
 static void loop_overtime(void *arg)
 {
-	debug("RESETTING\n");
+	lowsyslog("I2C RESET\n");
 	i2c_loop_resets++;
 	i2c_dump();
 	i2c_reset();
@@ -136,7 +136,7 @@ static void loop_overtime(void *arg)
 
 static void wakeup_handler(int signo, siginfo_t *info, void *ucontext)
 {
-	// nothing to do - we just want poll() to return
+	/* nothing to do - we just want poll() to return */
 }
 
 
@@ -185,16 +185,31 @@ int user_start(int argc, char *argv[])
 	up_pwm_servo_init(0xff);
 
 	/* start the flight control signal handler */
-	task_create("FCon",
+	int ret = task_create("FCon",
 		    SCHED_PRIORITY_DEFAULT,
 		    1024,
 		    (main_t)controls_main,
 		    NULL);
 
 	struct mallinfo minfo = mallinfo();
-	lowsyslog("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
+	lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
 
-	debug("debug_level=%u\n", (unsigned)debug_level);
+	/* not enough memory, lock down */
+	if (ret != OK || minfo.mxordblk < 500) {
+		lowsyslog("ERR: not enough MEM");
+		bool phase = false;
+
+		if (phase) {
+			LED_AMBER(true);
+			LED_BLUE(false);
+		} else {
+			LED_AMBER(false);
+			LED_BLUE(true);
+		}
+
+		phase = !phase;
+		usleep(300000);
+	}
 
 	/* start the i2c handler */
 	i2c_init();
@@ -211,7 +226,7 @@ int user_start(int argc, char *argv[])
 	sigfillset(&sa.sa_mask);
 	sigdelset(&sa.sa_mask, SIGUSR1);
         if (sigaction(SIGUSR1, &sa, NULL) != OK) {
-		debug("Failed to setup SIGUSR1 handler\n");
+		lowsyslog("SIGUSR1 init fail\n");
 	}
 
 	/* 

apps/px4io/sbus.c

@@ -53,7 +53,7 @@
 #include "debug.h"
 
 #define SBUS_FRAME_SIZE		25
-#define SBUS_INPUT_CHANNELS	18
+#define SBUS_INPUT_CHANNELS	16
 
 static int sbus_fd = -1;
 
@@ -239,7 +239,9 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 	}
 
 	/* decode switch channels if data fields are wide enough */
-	if (chancount > 17) {
+	if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
+		chancount = 18;
+
 		/* channel 17 (index 16) */
 		values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
 		/* channel 18 (index 17) */

nuttx/configs/px4io/io/defconfig

@@ -475,12 +475,12 @@ CONFIG_ARCH_BZERO=n
 #   timer structures to minimize dynamic allocations.  Set to
 #   zero for all dynamic allocations.
 #
-CONFIG_MAX_TASKS=8
+CONFIG_MAX_TASKS=4
 CONFIG_MAX_TASK_ARGS=4
-CONFIG_NPTHREAD_KEYS=4
+CONFIG_NPTHREAD_KEYS=2
 CONFIG_NFILE_DESCRIPTORS=8
 CONFIG_NFILE_STREAMS=0
-CONFIG_NAME_MAX=32
+CONFIG_NAME_MAX=12
 CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STDIO_LINEBUFFER=n
 CONFIG_NUNGET_CHARS=2