Make a few things optional if they are mostly for diagnostics to keep memory

down

flight/CopterControl/Makefile

@@ -37,6 +37,9 @@ OUTDIR := $(TOP)/build/$(TARGET)
 # Set to YES to compile for debugging
 DEBUG ?= NO
 
+# Include objects that are just nice information to show
+DIAGNOSTICS ?= NO
+
 # Set to YES to build a FW version that will erase all flash memory
 ERASE_FLASH ?= NO
 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
@@ -156,16 +159,20 @@ SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
 SRC += $(OPUAVSYNTHDIR)/attituderaw.c
 SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
 SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
-SRC += $(OPUAVSYNTHDIR)/taskinfo.c
 SRC += $(OPUAVSYNTHDIR)/i2cstats.c
 SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
 SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
-SRC += $(OPUAVSYNTHDIR)/ratedesired.c
 SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
 SRC += $(OPUAVSYNTHDIR)/mixersettings.c
-SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
+
+ifeq ($(DIAGNOISTCS),YES)
+SRC += $(OPUAVSYNTHDIR)/taskinfo.c
+SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
+SRC += $(OPUAVSYNTHDIR)/ratedesired.c
+endif
+
 #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
 #SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
 # Cant use until i can automatically generate list of UAVObjects
@@ -417,6 +424,10 @@ ifeq ($(DEBUG),YES)
 CFLAGS = -DDEBUG
 endif
 
+ifeq ($(DIAGNOSTICS),YES)
+CFLAGS = -DDIAGNOSTICS
+endif
+
 CFLAGS += -g$(DEBUGF)
 CFLAGS += -O$(OPT)
 CFLAGS += -mcpu=$(MCU)

flight/CopterControl/System/inc/FreeRTOSConfig.h

@@ -39,7 +39,6 @@
 #define configUSE_RECURSIVE_MUTEXES	1
 #define configUSE_COUNTING_SEMAPHORES	0
 #define configUSE_ALTERNATIVE_API	0
-#define configCHECK_FOR_STACK_OVERFLOW	2
 #define configQUEUE_REGISTRY_SIZE	10
 
 /* Co-routine definitions. */
@@ -72,7 +71,9 @@ NVIC value of 255. */
 #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
 
 /* Enable run time stats collection */
-//#if defined(DEBUG)
+#if defined(DIAGNOSTICS)
+#define configCHECK_FOR_STACK_OVERFLOW	2
+
 #define configGENERATE_RUN_TIME_STATS 1
 #define INCLUDE_uxTaskGetRunTime 1
 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
@@ -81,7 +82,9 @@ do {\
 (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
 } while(0)
 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
-//#endif
+#else
+#define configCHECK_FOR_STACK_OVERFLOW	1
+#endif
 
 /**
   * @}

flight/CopterControl/System/taskmonitor.c

@@ -46,7 +46,10 @@ int32_t TaskMonitorInitialize(void)
 {
 	lock = xSemaphoreCreateRecursiveMutex();
 	memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
+	lastMonitorTime = 0;
+#if defined(DIAGNOSTICS)
 	lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
+#endif
 	return 0;
 }
 
@@ -73,6 +76,7 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
  */
 void TaskMonitorUpdateAll(void)
 {
+#if defined(DIAGNOSTICS)
 	TaskInfoData data;
 	int n;
 	
@@ -123,4 +127,5 @@ void TaskMonitorUpdateAll(void)
 	
 	// Done
 	xSemaphoreGiveRecursive(lock);
+#endif
 }

flight/Modules/Actuator/actuator.c

@@ -168,11 +168,13 @@ static void actuatorTask(void* parameters)
 		lastSysTime = thisSysTime;
 
 		FlightStatusGet(&flightStatus);
-		MixerStatusGet(&mixerStatus);
 		MixerSettingsGet (&mixerSettings);
 		ActuatorDesiredGet(&desired);
 		ActuatorCommandGet(&command);
 
+#if defined(DIAGNOSTICS)
+		MixerStatusGet(&mixerStatus);
+#endif
 		ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
 		ActuatorSettingsChannelMaxGet(ChannelMax);
 		ActuatorSettingsChannelMinGet(ChannelMin);
@@ -277,7 +279,9 @@ static void actuatorTask(void* parameters)
 							   ChannelMin[ct],
 							   ChannelNeutral[ct]);
 		}
+#if defined(DIAGNOSTICS)
 		MixerStatusSet(&mixerStatus);
+#endif
 
 		// Store update time
 		command.UpdateTime = 1000*dT;

flight/Modules/Stabilization/stabilization.c

@@ -153,9 +153,12 @@ static void stabilizationTask(void* parameters)
 		StabilizationDesiredGet(&stabDesired);
 		AttitudeActualGet(&attitudeActual);
 		AttitudeRawGet(&attitudeRaw);
-		RateDesiredGet(&rateDesired);
 		SystemSettingsGet(&systemSettings);
 
+#if defined(DIAGNOSTICS)
+		RateDesiredGet(&rateDesired);
+#endif
+
 #if defined(PIOS_QUATERNION_STABILIZATION)
 		// Quaternion calculation of error in each axis.  Uses more memory.
 		float rpy_desired[3];
@@ -213,7 +216,9 @@ static void stabilizationTask(void* parameters)
 		}
 		
 		uint8_t shouldUpdate = 1;
+#if defined(DIAGNOSTICS)
 		RateDesiredSet(&rateDesired);
+#endif
 		ActuatorDesiredGet(&actuatorDesired);
 		//Calculate desired command
 		for(int8_t ct=0; ct< MAX_AXES; ct++)

flight/OpenPilot/System/inc/FreeRTOSConfig.h

@@ -72,7 +72,9 @@ NVIC value of 255. */
 #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
 
 /* Enable run time stats collection */
-#if defined(DEBUG)
+#if defined(DIAGNOSTICS)
+#define configCHECK_FOR_STACK_OVERFLOW	2
+
 #define configGENERATE_RUN_TIME_STATS 1
 #define INCLUDE_uxTaskGetRunTime 1
 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
@@ -81,6 +83,8 @@ do {\
 (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
 } while(0)
 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
+#else
+#define configCHECK_FOR_STACK_OVERFLOW	1
 #endif
 
 

flight/OpenPilot/System/taskmonitor.c

@@ -46,7 +46,10 @@ int32_t TaskMonitorInitialize(void)
 {
 	lock = xSemaphoreCreateRecursiveMutex();
 	memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
+	lastMonitorTime = 0;
+#if defined(DIAGNOSTICS)
 	lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
+#endif
 	return 0;
 }
 
@@ -91,6 +94,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
  */
 void TaskMonitorUpdateAll(void)
 {
+#if defined(DIAGNOSTICS)
 	TaskInfoData data;
 	int n;
 
@@ -142,4 +146,5 @@ void TaskMonitorUpdateAll(void)
 
 	// Done
 	xSemaphoreGiveRecursive(lock);
+#endif
 }