From 95764f4d78495e46dd138a71c63a9b983fd80f13 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 7 Apr 2014 17:20:22 +1000
Subject: [PATCH] Plane: fixed allocation and reporting of fence status
prevent a false fence active report on boot, and prevent the fence
from loading when it is not needed. This saves about 200 bytes of ram
on APM2 for most users
---
ArduPlane/geofence.pde | 57 +++++++++++++++++++++++++-----------------
1 file changed, 34 insertions(+), 23 deletions(-)
diff --git a/ArduPlane/geofence.pde b/ArduPlane/geofence.pde
index 300c1a492..9ea95d992 100644
--- a/ArduPlane/geofence.pde
+++ b/ArduPlane/geofence.pde
@@ -140,38 +140,48 @@ static bool geofence_present(void)
{
//require at least a return point and a triangle
//to define a geofence area:
- if (g.fence_action != FENCE_ACTION_NONE && g.fence_total < MIN_GEOFENCE_POINTS) {
+ if (g.fence_action == FENCE_ACTION_NONE || g.fence_total < MIN_GEOFENCE_POINTS) {
return false;
}
return true;
}
-static void geofence_update_pwm_enabled_state() {
- if (geofence_state == NULL) {
+/*
+ check FENCE_CHANNEL and update the is_pwm_enabled state
+ */
+static void geofence_update_pwm_enabled_state()
+{
+ bool is_pwm_enabled;
+ if (g.fence_channel == 0) {
+ is_pwm_enabled = false;
+ } else {
+ is_pwm_enabled = (hal.rcin->read(g.fence_channel-1) > FENCE_ENABLE_PWM);
+ }
+ if (is_pwm_enabled && geofence_state == NULL) {
+ // we need to load the fence
+ geofence_load();
return;
}
- geofence_state->previous_is_pwm_enabled = geofence_state->is_pwm_enabled;
-
- if (g.fence_channel == 0) {
- geofence_state->is_pwm_enabled = false;
- } else {
- geofence_state->is_pwm_enabled =
- (hal.rcin->read(g.fence_channel-1) > FENCE_ENABLE_PWM);
+ if (geofence_state == NULL) {
+ // not loaded
+ return;
}
- if (geofence_state->is_pwm_enabled == true &&
- geofence_state->previous_is_pwm_enabled == false) {
- geofence_set_enabled(true, PWM_TOGGLED);
+ geofence_state->previous_is_pwm_enabled = geofence_state->is_pwm_enabled;
+ geofence_state->is_pwm_enabled = is_pwm_enabled;
- } else if (geofence_state->is_pwm_enabled == false &&
- geofence_state->previous_is_pwm_enabled == true) {
- geofence_set_enabled(false, PWM_TOGGLED);
+ if (geofence_state->is_pwm_enabled != geofence_state->previous_is_pwm_enabled) {
+ geofence_set_enabled(geofence_state->is_pwm_enabled, PWM_TOGGLED);
}
}
//return true on success, false on failure
-static bool geofence_set_enabled(bool enable, GeofenceEnableReason r) {
+static bool geofence_set_enabled(bool enable, GeofenceEnableReason r)
+{
+ if (geofence_state == NULL && enable) {
+ geofence_load();
+ }
if (geofence_state == NULL) {
return false;
}
@@ -189,15 +199,16 @@ static bool geofence_enabled(void)
{
geofence_update_pwm_enabled_state();
+ if (geofence_state == NULL) {
+ return false;
+ }
+
if (g.fence_action == FENCE_ACTION_NONE ||
!geofence_present() ||
- (g.fence_action != FENCE_ACTION_REPORT &&
- (geofence_state != NULL && !geofence_state->is_enabled))) {
+ (g.fence_action != FENCE_ACTION_REPORT && !geofence_state->is_enabled)) {
// geo-fencing is disabled
- if (geofence_state != NULL) {
- // re-arm for when the channel trigger is switched on
- geofence_state->fence_triggered = false;
- }
+ // re-arm for when the channel trigger is switched on
+ geofence_state->fence_triggered = false;
return false;
}
--
GitLab