Changed DIAGNOSTICS flag to be individual to each module instead of global.

The upshot is the stack usage monitor can be turned on at a lower RAM threshold.

flight/CopterControl/Makefile

@@ -38,9 +38,13 @@ OUTDIR := $(TOP)/build/$(TARGET)
 DEBUG ?= NO
 
 # Include objects that are just nice information to show
-DIAGNOSTICS ?= NO
+STACK_DIAGNOSTICS ?= NO
+MIXERSTATUS_DIAGNOSTICS ?= NO
+RATEDESIRED_DIAGNOSTICS ?= NO
+I2C_WDG_STATS_DIAGNOSTICS ?= NO
 DIAG_TASKS ?= 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
@@ -474,8 +478,20 @@ ifeq ($(DEBUG),YES)
 CFLAGS += -DDEBUG
 endif
 
-ifeq ($(DIAGNOSTICS),YES)
-CFLAGS += -DDIAGNOSTICS
+ifeq ($(STACK_DIAGNOSTICS),YES)
+CFLAGS += -DSTACK_DIAGNOSTICS
+endif
+
+ifeq ($(MIXERSTATUS_DIAGNOSTICS),YES)
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+endif
+
+ifeq ($(RATEDESIRED_DIAGNOSTICS),YES)
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+endif
+
+ifeq ($(I2C_WDG_STATS_DIAGNOSTICS),YES)
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
 endif
 
 ifeq ($(DIAG_TASKS),YES)

flight/Modules/Actuator/actuator.c

@@ -126,7 +126,7 @@ int32_t ActuatorInitialize()
 	// Primary output of this module
 	ActuatorCommandInitialize();
 
-#if defined(DIAGNOSTICS)
+#if defined(MIXERSTATUS_DIAGNOSTICS)
 	// UAVO only used for inspecting the internal status of the mixer during debug
 	MixerStatusInitialize();
 #endif
@@ -212,7 +212,7 @@ static void actuatorTask(void* parameters)
 		ActuatorDesiredGet(&desired);
 		ActuatorCommandGet(&command);
 
-#if defined(DIAGNOSTICS)
+#if defined(MIXERSTATUS_DIAGNOSTICS)
 		MixerStatusGet(&mixerStatus);
 #endif
 		int nMixers = 0;
@@ -362,7 +362,7 @@ static void actuatorTask(void* parameters)
 		// Update in case read only (eg. during servo configuration)
 		ActuatorCommandGet(&command);
 
-#if defined(DIAGNOSTICS)
+#if defined(MIXERSTATUS_DIAGNOSTICS)
 		MixerStatusSet(&mixerStatus);
 #endif
 		

flight/Modules/Stabilization/stabilization.c

@@ -127,7 +127,7 @@ int32_t StabilizationInitialize()
 	// Initialize variables
 	StabilizationSettingsInitialize();
 	ActuatorDesiredInitialize();
-#if defined(DIAGNOSTICS)
+#if defined(RATEDESIRED_DIAGNOSTICS)
 	RateDesiredInitialize();
 #endif
 
@@ -176,7 +176,7 @@ static void stabilizationTask(void* parameters)
 		AttitudeActualGet(&attitudeActual);
 		GyrosGet(&gyrosData);
 
-#if defined(DIAGNOSTICS)
+#if defined(RATEDESIRED_DIAGNOSTICS)
 		RateDesiredGet(&rateDesired);
 #endif
 
@@ -308,7 +308,7 @@ static void stabilizationTask(void* parameters)
 		}
 
 		uint8_t shouldUpdate = 1;
-#if defined(DIAGNOSTICS)
+#if defined(RATEDESIRED_DIAGNOSTICS)
 		RateDesiredSet(&rateDesired);
 #endif
 		ActuatorDesiredGet(&actuatorDesired);

flight/Modules/System/systemmod.c

@@ -82,7 +82,7 @@ static void objectUpdatedCb(UAVObjEvent * ev);
 static void updateStats();
 static void updateSystemAlarms();
 static void systemTask(void *parameters);
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 static void updateI2Cstats();
 static void updateWDGstats();
 #endif
@@ -118,7 +118,7 @@ int32_t SystemModInitialize(void)
 #if defined(DIAG_TASKS)
 	TaskInfoInitialize();
 #endif
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 	I2CStatsInitialize();
 	WatchdogStatusInitialize();
 #endif
@@ -168,7 +168,7 @@ static void systemTask(void *parameters)
 
 		// Update the system alarms
 		updateSystemAlarms();
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 		updateI2Cstats();
 		updateWDGstats();
 #endif
@@ -301,7 +301,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 /**
  * Called periodically to update the I2C statistics 
  */
-#if defined(DIAGNOSTICS)
+#if defined(I2C_WDG_STATS_DIAGNOSTICS)
 static void updateI2Cstats() 
 {
 #if defined(PIOS_INCLUDE_I2C)

flight/PipXtreme/Makefile

@@ -38,7 +38,10 @@ OUTDIR := $(TOP)/build/$(TARGET)
 DEBUG ?= NO
 
 # Include objects that are just nice information to show
-DIAGNOSTICS ?= NO
+STACK_DIAGNOSTICS ?= NO
+MIXERSTATUS_DIAGNOSTICS ?= NO
+RATEDESIRED_DIAGNOSTICS ?= NO
+I2C_WDG_STATS_DIAGNOSTICS ?= NO
 
 # Set to YES to build a FW version that will erase all flash memory
 ERASE_FLASH ?= NO
@@ -378,8 +381,20 @@ ifeq ($(DEBUG),YES)
 CFLAGS = -DDEBUG
 endif
 
-ifeq ($(DIAGNOSTICS),YES)
-CFLAGS = -DDIAGNOSTICS
+ifeq ($(STACK_DIAGNOSTICS),YES)
+CFLAGS += -DSTACK_DIAGNOSTICS
+endif
+
+ifeq ($(MIXERSTATUS_DIAGNOSTICS),YES)
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+endif
+
+ifeq ($(RATEDESIRED_DIAGNOSTICS),YES)
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+endif
+
+ifeq ($(I2C_WDG_STATS_DIAGNOSTICS),YES)
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
 endif
 
 CFLAGS += -g$(DEBUGF)

flight/Revolution/Makefile

@@ -255,7 +255,11 @@ endif
 # common architecture-specific flags from the device-specific library makefile
 CFLAGS += $(ARCHFLAGS)
 
-CFLAGS += -DDIAGNOSTICS
+CFLAGS += -DSTACK_DIAGNOSTICS
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
+
 CFLAGS += -DDIAG_TASKS
 
 # This is not the best place for these.  Really should abstract out

flight/SimPosix/Makefile

@@ -250,7 +250,13 @@ endif
 CFLAGS += $(ARCHFLAGS)
 
 CFLAGS += $(UAVOBJDEFINE)
-CFLAGS += -DDIAGNOSTICS
+
+CFLAGS += -DSTACK_DIAGNOSTICS
+CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
+CFLAGS += -DRATEDESIRED_DIAGNOSTICS
+CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
+
+
 CFLAGS += -DDIAG_TASKS
 
 # This is not the best place for these.  Really should abstract out