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Health Flags: Optimize flash usage

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Changing from a define to a function for reporting to safe space.
This commit is contained in:
Lorenz Meier
2020-03-16 00:30:55 +01:00
parent aea68f06f9
commit e951123cff
2 changed files with 41 additions and 36 deletions
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src/modules/commander/Arming/HealthFlags/HealthFlags.cpp
+40 -35
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -80,42 +80,47 @@ void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_sta
status.onboard_control_sensors_enabled & (uint32_t)subsystem_type, healthy, status);
}
#define _print_sub(name, bit) PX4_INFO(name":\t\t%s\t%s", \
(status.onboard_control_sensors_enabled & bit) ? "EN" : " ", \
(status.onboard_control_sensors_present & bit) ? ((status.onboard_control_sensors_health & bit) ? "OK" : "ERR") : (status.onboard_control_sensors_enabled & bit) ? "OFF" : "")
void _print_sub(const char *name, const vehicle_status_s &status, uint32_t bit)
{
PX4_INFO("%s:\t\t%s\t%s", name,
(status.onboard_control_sensors_enabled & bit) ? "EN" : " ",
(status.onboard_control_sensors_present & bit) ?
((status.onboard_control_sensors_health & bit) ? "OK" : "ERR") :
(status.onboard_control_sensors_enabled & bit) ? "OFF" : "");
}
void print_health_flags(vehicle_status_s &status)
void print_health_flags(const vehicle_status_s &status)
{
PX4_INFO("DEVICE\t\tSTATUS");
PX4_INFO("----------------------------------");
_print_sub("GYRO", subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
_print_sub("ACC", subsystem_info_s::SUBSYSTEM_TYPE_ACC);
_print_sub("MAG", subsystem_info_s::SUBSYSTEM_TYPE_MAG);
_print_sub("PRESS", subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
_print_sub("AIRSP", subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE);
_print_sub("GPS", subsystem_info_s::SUBSYSTEM_TYPE_GPS);
_print_sub("OPT", subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW);
_print_sub("VIO", subsystem_info_s::SUBSYSTEM_TYPE_CVPOSITION);
_print_sub("LASER", subsystem_info_s::SUBSYSTEM_TYPE_LASERPOSITION);
_print_sub("GTRUTH", subsystem_info_s::SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH);
_print_sub("RATES", subsystem_info_s::SUBSYSTEM_TYPE_ANGULARRATECONTROL);
_print_sub("ATT", subsystem_info_s::SUBSYSTEM_TYPE_ATTITUDESTABILIZATION);
_print_sub("YAW", subsystem_info_s::SUBSYSTEM_TYPE_YAWPOSITION);
_print_sub("ALTCTL", subsystem_info_s::SUBSYSTEM_TYPE_ALTITUDECONTROL);
_print_sub("POS", subsystem_info_s::SUBSYSTEM_TYPE_POSITIONCONTROL);
_print_sub("MOT", subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL);
_print_sub("RC ", subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER);
_print_sub("GYRO2", subsystem_info_s::SUBSYSTEM_TYPE_GYRO2);
_print_sub("ACC2", subsystem_info_s::SUBSYSTEM_TYPE_ACC2);
_print_sub("MAG2", subsystem_info_s::SUBSYSTEM_TYPE_MAG2);
_print_sub("GEOFENCE", subsystem_info_s::SUBSYSTEM_TYPE_GEOFENCE);
_print_sub("AHRS", subsystem_info_s::SUBSYSTEM_TYPE_AHRS);
_print_sub("TERRAIN", subsystem_info_s::SUBSYSTEM_TYPE_TERRAIN);
_print_sub("REVMOT", subsystem_info_s::SUBSYSTEM_TYPE_REVERSEMOTOR);
_print_sub("LOGGIN", subsystem_info_s::SUBSYSTEM_TYPE_LOGGING);
_print_sub("BATT", subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY);
_print_sub("PROX", subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY);
_print_sub("SATCOM", subsystem_info_s::SUBSYSTEM_TYPE_SATCOM);
_print_sub("PREARM", subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK);
_print_sub("OBSAVD", subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE);
_print_sub("GYRO", status, subsystem_info_s::SUBSYSTEM_TYPE_GYRO);
_print_sub("ACC", status, subsystem_info_s::SUBSYSTEM_TYPE_ACC);
_print_sub("MAG", status, subsystem_info_s::SUBSYSTEM_TYPE_MAG);
_print_sub("PRESS", status, subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE);
_print_sub("AIRSP", status, subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE);
_print_sub("GPS", status, subsystem_info_s::SUBSYSTEM_TYPE_GPS);
_print_sub("OPT", status, subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW);
_print_sub("VIO", status, subsystem_info_s::SUBSYSTEM_TYPE_CVPOSITION);
_print_sub("LASER", status, subsystem_info_s::SUBSYSTEM_TYPE_LASERPOSITION);
_print_sub("GTRUTH", status, subsystem_info_s::SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH);
_print_sub("RATES", status, subsystem_info_s::SUBSYSTEM_TYPE_ANGULARRATECONTROL);
_print_sub("ATT", status, subsystem_info_s::SUBSYSTEM_TYPE_ATTITUDESTABILIZATION);
_print_sub("YAW", status, subsystem_info_s::SUBSYSTEM_TYPE_YAWPOSITION);
_print_sub("ALTCTL", status, subsystem_info_s::SUBSYSTEM_TYPE_ALTITUDECONTROL);
_print_sub("POS", status, subsystem_info_s::SUBSYSTEM_TYPE_POSITIONCONTROL);
_print_sub("MOT", status, subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL);
_print_sub("RC ", status, subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER);
_print_sub("GYRO2", status, subsystem_info_s::SUBSYSTEM_TYPE_GYRO2);
_print_sub("ACC2", status, subsystem_info_s::SUBSYSTEM_TYPE_ACC2);
_print_sub("MAG2", status, subsystem_info_s::SUBSYSTEM_TYPE_MAG2);
_print_sub("GEOFENCE", status, subsystem_info_s::SUBSYSTEM_TYPE_GEOFENCE);
_print_sub("AHRS", status, subsystem_info_s::SUBSYSTEM_TYPE_AHRS);
_print_sub("TERRAIN", status, subsystem_info_s::SUBSYSTEM_TYPE_TERRAIN);
_print_sub("REVMOT", status, subsystem_info_s::SUBSYSTEM_TYPE_REVERSEMOTOR);
_print_sub("LOGGIN", status, subsystem_info_s::SUBSYSTEM_TYPE_LOGGING);
_print_sub("BATT", status, subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY);
_print_sub("PROX", status, subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY);
_print_sub("SATCOM", status, subsystem_info_s::SUBSYSTEM_TYPE_SATCOM);
_print_sub("PREARM", status, subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK);
_print_sub("OBSAVD", status, subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE);
}
src/modules/commander/Arming/HealthFlags/HealthFlags.h
+1 -1
View File
@@ -48,4 +48,4 @@
void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status);
void set_health_flags_present_healthy(uint64_t subsystem_type, bool present, bool healthy, vehicle_status_s &status);
void set_health_flags_healthy(uint64_t subsystem_type, bool healthy, vehicle_status_s &status);
void print_health_flags(vehicle_status_s &status);
void print_health_flags(const vehicle_status_s &status);