ArduCopter: replace Serial.print with Serial.print_P to save memory.

Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.

ArduCopter/ArduCopter.pde

@@ -356,22 +356,6 @@ AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
 // Global variables
 ////////////////////////////////////////////////////////////////////////////////
 
-static const char* flight_mode_strings[] = {
-    "STABILIZE",        // 0
-    "ACRO",                     // 1
-    "ALT_HOLD",                 // 2
-    "AUTO",                     // 3
-    "GUIDED",                   // 4
-    "LOITER",                   // 5
-    "RTL",                      // 6
-    "CIRCLE",                   // 7
-    "POSITION",                 // 8
-    "LAND",                     // 9
-    "OF_LOITER",        // 10
-    "TOY_M",                    // 11
-    "TOY_A"
-};                              // 12	THOR Added for additional Fligt mode
-
 /* Radio values
  *               Channel assignments
  *                       1	Ailerons (rudder if no ailerons)

ArduCopter/Log.pde

@@ -381,9 +381,9 @@ static void Log_Read_Raw()
     for (int16_t y = 0; y < 6; y++) {
         logvar = get_float(DataFlash.ReadLong());
         Serial.print(logvar);
-        Serial.print(", ");
+        Serial.print_P(PSTR(", "));
     }
-    Serial.println(" ");
+    Serial.println_P(PSTR(" "));
 
 	/*
 	float temp1 = get_float(DataFlash.ReadLong());
@@ -714,7 +714,7 @@ static void Log_Read_Iterm()
     }
     // read 12
     temp = DataFlash.ReadInt();
-    Serial.printf("%d\n", (int)temp);
+    Serial.println((int)temp);
 }
 
 
@@ -846,7 +846,7 @@ static void Log_Write_Mode(byte mode)
 static void Log_Read_Mode()
 {
     Serial.printf_P(PSTR("MOD:"));
-    Serial.print(flight_mode_strings[DataFlash.ReadByte()]);
+    print_flight_mode(DataFlash.ReadByte());
     Serial.printf_P(PSTR(", %d\n"),(int)DataFlash.ReadInt());
 }
 
@@ -1041,7 +1041,7 @@ static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
 					log_step++;
 				else{
 					log_step = 0;
-					Serial.println(".");
+					Serial.println_P(PSTR("."));
 				}
 				break;
 

ArduCopter/config.h

@@ -990,32 +990,6 @@
 //	#define LOG_ATTITUDE_MED        DISABLED
 //#endif
 
-#ifndef DEBUG_PORT
- # define DEBUG_PORT 0
-#endif
-
-#if DEBUG_PORT == 0
- # define SendDebug_P(a) Serial.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial.println_P(PSTR(a))
- # define SendDebug Serial.print
- # define SendDebugln Serial.println
-#elif DEBUG_PORT == 1
- # define SendDebug_P(a) Serial1.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial1.println_P(PSTR(a))
- # define SendDebug Serial1.print
- # define SendDebugln Serial1.println
-#elif DEBUG_PORT == 2
- # define SendDebug_P(a) Serial2.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial2.println_P(PSTR(a))
- # define SendDebug Serial2.print
- # define SendDebugln Serial2.println
-#elif DEBUG_PORT == 3
- # define SendDebug_P(a) Serial3.print_P(PSTR(a))
- # define SendDebugln_P(a) Serial3.println_P(PSTR(a))
- # define SendDebug Serial3.print
- # define SendDebugln Serial3.println
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Navigation defaults
 //

ArduCopter/radio.pde

@@ -168,8 +168,8 @@ static void throttle_failsafe(uint16_t pwm)
             // home distance is in meters
             // This is to prevent accidental RTL
             if(motors.armed() && takeoff_complete) {
-                SendDebug("MSG FS ON ");
-                SendDebugln(pwm, DEC);
+                Serial.print_P(PSTR("MSG FS ON "));
+                Serial.println(pwm, DEC);
                 set_failsafe(true);
             }
         }else if (failsafeCounter > FS_COUNTER) {
@@ -184,8 +184,8 @@ static void throttle_failsafe(uint16_t pwm)
             failsafeCounter = 3;
         }
         if (failsafeCounter == 1) {
-            SendDebug("MSG FS OFF ");
-            SendDebugln(pwm, DEC);
+            Serial.print_P(PSTR("MSG FS OFF "));
+            Serial.println(pwm, DEC);
         }else if(failsafeCounter == 0) {
             set_failsafe(false);
         }else if (failsafeCounter <0) {

ArduCopter/sensors.pde

@@ -53,7 +53,7 @@ static void init_optflow()
 #ifdef OPTFLOW_ENABLED
     if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) {
         g.optflow_enabled = false;
-        SendDebug("\nFailed to Init OptFlow ");
+        Serial.print_P(PSTR("\nFailed to Init OptFlow "));
     }
     // suspend timer while we set-up SPI communication
     timer_scheduler.suspend_timer();

ArduCopter/setup.pde

@@ -144,7 +144,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_radio(uint8_t argc, const Menu::arg *argv)
 {
-    Serial.println("\n\nRadio Setup:");
+    Serial.println_P(PSTR("\n\nRadio Setup:"));
     uint8_t i;
 
     for(i = 0; i < 100; i++) {
@@ -1000,7 +1000,7 @@ static void
 print_switch(byte p, byte m, bool b)
 {
     Serial.printf_P(PSTR("Pos %d:\t"),p);
-    Serial.print(flight_mode_strings[m]);
+    print_flight_mode(m);
     Serial.printf_P(PSTR(",\t\tSimple: "));
     if(b)
         Serial.printf_P(PSTR("ON\n"));
@@ -1115,18 +1115,18 @@ static void
 print_divider(void)
 {
     for (int i = 0; i < 40; i++) {
-        Serial.print("-");
+        Serial.print_P(PSTR("-"));
     }
-    Serial.println("");
+    Serial.println();
 }
 
 static void print_enabled(boolean b)
 {
     if(b)
-        Serial.printf_P(PSTR("en"));
+        Serial.print_P(PSTR("en"));
     else
-        Serial.printf_P(PSTR("dis"));
-    Serial.printf_P(PSTR("abled\n"));
+        Serial.print_P(PSTR("dis"));
+    Serial.print_P(PSTR("abled\n"));
 }
 
 

ArduCopter/system.pde

@@ -353,7 +353,7 @@ static void init_ardupilot()
 
 #endif
 
-    SendDebug("\nReady to FLY ");
+    Serial.print_P(PSTR("\nReady to FLY "));
 }
 
 
@@ -684,3 +684,55 @@ uint16_t board_voltage(void)
     return vcc.read_vcc();
 }
 #endif
+
+//
+// print_flight_mode - prints flight mode to serial port.
+//
+static void
+print_flight_mode(uint8_t mode)
+{
+    switch (mode) {
+    case STABILIZE:
+        Serial.print_P(PSTR("STABILIZE"));
+        break;
+    case ACRO:
+        Serial.print_P(PSTR("ACRO"));
+        break;
+    case ALT_HOLD:
+        Serial.print_P(PSTR("ALT_HOLD"));
+        break;
+    case AUTO:
+        Serial.print_P(PSTR("AUTO"));
+        break;
+    case GUIDED:
+        Serial.print_P(PSTR("GUIDED"));
+        break;
+    case LOITER:
+        Serial.print_P(PSTR("LOITER"));
+        break;
+    case RTL:
+        Serial.print_P(PSTR("RTL"));
+        break;
+    case CIRCLE:
+        Serial.print_P(PSTR("CIRCLE"));
+        break;
+    case POSITION:
+        Serial.print_P(PSTR("POSITION"));
+        break;
+    case LAND:
+        Serial.print_P(PSTR("LAND"));
+        break;
+    case OF_LOITER:
+        Serial.print_P(PSTR("OF_LOITER"));
+        break;
+    case TOY_M:
+        Serial.print_P(PSTR("TOY_M"));
+        break;
+    case TOY_A:
+        Serial.print_P(PSTR("TOY_A"));
+        break;
+    default:
+        Serial.print_P(PSTR("---"));
+        break;
+    }
+}

ArduCopter/test.pde

@@ -764,7 +764,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
                             g_gps->num_sats);
             g_gps->new_data = false;
         }else{
-            Serial.print(".");
+            Serial.print_P(PSTR("."));
         }
         if(Serial.available() > 0) {
             return (0);
@@ -1264,7 +1264,7 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
 
     // got 23506;, should be 22800
     navigate();
-    Serial.printf("bear: %ld\n", target_bearing);
+    Serial.printf_P(PSTR("bear: %ld\n"), target_bearing);
     return 0;
 }