Merge pull request #221 from PX4/const-sweep

Mark a number of things (most particularly the ROMFS) const to save RAM

ROMFS/Makefile

@@ -81,7 +81,7 @@ all:		$(ROMFS_HEADER)
 
 $(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
 	@echo Generating the ROMFS header...
-	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) > $@
+	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@
 
 $(ROMFS_IMG):	$(ROMFS_WORKDIR)
 	@echo Generating the ROMFS image...

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -72,38 +72,6 @@
 
 __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
-static unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
-
-static float dt = 0.005f;
-/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
-static float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f};					/**< Measurement vector */
-static float x_aposteriori_k[12];		/**< states */
-static float P_aposteriori_k[144] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
-				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
-				    }; /**< init: diagonal matrix with big values */
-
-static float x_aposteriori[12];
-static float P_aposteriori[144];
-
-/* output euler angles */
-static float euler[3] = {0.0f, 0.0f, 0.0f};
-
-static float Rot_matrix[9] = {1.f,  0,  0,
-			      0,  1.f,  0,
-			      0,  0,  1.f
-			     };		/**< init: identity matrix */
-
-
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
 static int attitude_estimator_ekf_task;				/**< Handle of deamon task / thread */
@@ -153,7 +121,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
-					      12000,
+					      12400,
 					      attitude_estimator_ekf_thread_main,
 					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
@@ -193,6 +161,38 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
  */
 int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 {
+
+const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
+
+	float dt = 0.005f;
+/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
+	float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f};					/**< Measurement vector */
+	float x_aposteriori_k[12];		/**< states */
+	float P_aposteriori_k[144] = {100.f, 0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,  100.f,  0,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0, 100.f,   0,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f, 100.0f,   0,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   100.0f,   0,
+				     0,   0,   0,   0,   0,   0,   0,   0,  0.0f,   0,   0,   100.0f,
+				    }; /**< init: diagonal matrix with big values */
+
+	float x_aposteriori[12];
+	float P_aposteriori[144];
+
+	/* output euler angles */
+	float euler[3] = {0.0f, 0.0f, 0.0f};
+
+	float Rot_matrix[9] = {1.f,  0,  0,
+			      0,  1.f,  0,
+			      0,  0,  1.f
+			     };		/**< init: identity matrix */
+
 	// print text
 	printf("Extended Kalman Filter Attitude Estimator initialized..\n\n");
 	fflush(stdout);

apps/drivers/blinkm/blinkm.cpp

@@ -135,7 +135,7 @@ public:
 	virtual int		setMode(int mode);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
-	static const char	*script_names[];
+	static const char	*const script_names[];
 
 private:
 	enum ScriptID {
@@ -219,7 +219,7 @@ namespace
 }
 
 /* list of script names, must match script ID numbers */
-const char *BlinkM::script_names[] = {
+const char *const BlinkM::script_names[] = {
 	"USER",
 	"RGB",
 	"WHITE_FLASH",
@@ -499,7 +499,7 @@ BlinkM::led()
 				for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
 					if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
 				}
-				printf("<blinkm> cells found:%u\n", num_of_cells);
+				printf("<blinkm> cells found:%d\n", num_of_cells);
 
 			} else {
 				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
@@ -827,7 +827,7 @@ BlinkM::get_firmware_version(uint8_t version[2])
 {
 	const uint8_t msg = 'Z';
 
-	return transfer(&msg, sizeof(msg), version, sizeof(version));
+	return transfer(&msg, sizeof(msg), version, 2);
 }
 
 void blinkm_usage() {

apps/mavlink/orb_listener.c

@@ -91,32 +91,32 @@ static uint64_t last_sensor_timestamp;
 static void	*uorb_receive_thread(void *arg);
 
 struct listener {
-	void	(*callback)(struct listener *l);
+	void	(*callback)(const struct listener *l);
 	int		*subp;
 	uintptr_t	arg;
 };
 
-static void	l_sensor_combined(struct listener *l);
-static void	l_vehicle_attitude(struct listener *l);
-static void	l_vehicle_gps_position(struct listener *l);
-static void	l_vehicle_status(struct listener *l);
-static void	l_rc_channels(struct listener *l);
-static void	l_input_rc(struct listener *l);
-static void	l_global_position(struct listener *l);
-static void	l_local_position(struct listener *l);
-static void	l_global_position_setpoint(struct listener *l);
-static void	l_local_position_setpoint(struct listener *l);
-static void	l_attitude_setpoint(struct listener *l);
-static void	l_actuator_outputs(struct listener *l);
-static void	l_actuator_armed(struct listener *l);
-static void	l_manual_control_setpoint(struct listener *l);
-static void	l_vehicle_attitude_controls(struct listener *l);
-static void	l_debug_key_value(struct listener *l);
-static void	l_optical_flow(struct listener *l);
-static void	l_vehicle_rates_setpoint(struct listener *l);
-static void	l_home(struct listener *l);
+static void	l_sensor_combined(const struct listener *l);
+static void	l_vehicle_attitude(const struct listener *l);
+static void	l_vehicle_gps_position(const struct listener *l);
+static void	l_vehicle_status(const struct listener *l);
+static void	l_rc_channels(const struct listener *l);
+static void	l_input_rc(const struct listener *l);
+static void	l_global_position(const struct listener *l);
+static void	l_local_position(const struct listener *l);
+static void	l_global_position_setpoint(const struct listener *l);
+static void	l_local_position_setpoint(const struct listener *l);
+static void	l_attitude_setpoint(const struct listener *l);
+static void	l_actuator_outputs(const struct listener *l);
+static void	l_actuator_armed(const struct listener *l);
+static void	l_manual_control_setpoint(const struct listener *l);
+static void	l_vehicle_attitude_controls(const struct listener *l);
+static void	l_debug_key_value(const struct listener *l);
+static void	l_optical_flow(const struct listener *l);
+static void	l_vehicle_rates_setpoint(const struct listener *l);
+static void	l_home(const struct listener *l);
 
-struct listener listeners[] = {
+static const struct listener listeners[] = {
 	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
 	{l_vehicle_attitude,		&mavlink_subs.att_sub,		0},
 	{l_vehicle_gps_position,	&mavlink_subs.gps_sub,		0},
@@ -144,7 +144,7 @@ struct listener listeners[] = {
 static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
 
 void
-l_sensor_combined(struct listener *l)
+l_sensor_combined(const struct listener *l)
 {
 	struct sensor_combined_s raw;
 
@@ -199,7 +199,7 @@ l_sensor_combined(struct listener *l)
 }
 
 void
-l_vehicle_attitude(struct listener *l)
+l_vehicle_attitude(const struct listener *l)
 {
 	struct vehicle_attitude_s att;
 
@@ -222,7 +222,7 @@ l_vehicle_attitude(struct listener *l)
 }
 
 void
-l_vehicle_gps_position(struct listener *l)
+l_vehicle_gps_position(const struct listener *l)
 {
 	struct vehicle_gps_position_s gps;
 
@@ -256,7 +256,7 @@ l_vehicle_gps_position(struct listener *l)
 }
 
 void
-l_vehicle_status(struct listener *l)
+l_vehicle_status(const struct listener *l)
 {
 	/* immediately communicate state changes back to user */
 	orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
@@ -280,7 +280,7 @@ l_vehicle_status(struct listener *l)
 }
 
 void
-l_rc_channels(struct listener *l)
+l_rc_channels(const struct listener *l)
 {
 	/* copy rc channels into local buffer */
 	orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
@@ -288,7 +288,7 @@ l_rc_channels(struct listener *l)
 }
 
 void
-l_input_rc(struct listener *l)
+l_input_rc(const struct listener *l)
 {
 	/* copy rc channels into local buffer */
 	orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
@@ -310,7 +310,7 @@ l_input_rc(struct listener *l)
 }
 
 void
-l_global_position(struct listener *l)
+l_global_position(const struct listener *l)
 {
 	/* copy global position data into local buffer */
 	orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
@@ -340,7 +340,7 @@ l_global_position(struct listener *l)
 }
 
 void
-l_local_position(struct listener *l)
+l_local_position(const struct listener *l)
 {
 	/* copy local position data into local buffer */
 	orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
@@ -357,7 +357,7 @@ l_local_position(struct listener *l)
 }
 
 void
-l_global_position_setpoint(struct listener *l)
+l_global_position_setpoint(const struct listener *l)
 {
 	struct vehicle_global_position_setpoint_s global_sp;
 
@@ -379,7 +379,7 @@ l_global_position_setpoint(struct listener *l)
 }
 
 void
-l_local_position_setpoint(struct listener *l)
+l_local_position_setpoint(const struct listener *l)
 {
 	struct vehicle_local_position_setpoint_s local_sp;
 
@@ -396,7 +396,7 @@ l_local_position_setpoint(struct listener *l)
 }
 
 void
-l_attitude_setpoint(struct listener *l)
+l_attitude_setpoint(const struct listener *l)
 {
 	struct vehicle_attitude_setpoint_s att_sp;
 
@@ -413,7 +413,7 @@ l_attitude_setpoint(struct listener *l)
 }
 
 void
-l_vehicle_rates_setpoint(struct listener *l)
+l_vehicle_rates_setpoint(const struct listener *l)
 {
 	struct vehicle_rates_setpoint_s rates_sp;
 
@@ -430,7 +430,7 @@ l_vehicle_rates_setpoint(struct listener *l)
 }
 
 void
-l_actuator_outputs(struct listener *l)
+l_actuator_outputs(const struct listener *l)
 {
 	struct actuator_outputs_s act_outputs;
 
@@ -529,13 +529,13 @@ l_actuator_outputs(struct listener *l)
 }
 
 void
-l_actuator_armed(struct listener *l)
+l_actuator_armed(const struct listener *l)
 {
 	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
 }
 
 void
-l_manual_control_setpoint(struct listener *l)
+l_manual_control_setpoint(const struct listener *l)
 {
 	struct manual_control_setpoint_s man_control;
 
@@ -553,7 +553,7 @@ l_manual_control_setpoint(struct listener *l)
 }
 
 void
-l_vehicle_attitude_controls(struct listener *l)
+l_vehicle_attitude_controls(const struct listener *l)
 {
 	struct actuator_controls_effective_s actuators;
 
@@ -581,7 +581,7 @@ l_vehicle_attitude_controls(struct listener *l)
 }
 
 void
-l_debug_key_value(struct listener *l)
+l_debug_key_value(const struct listener *l)
 {
 	struct debug_key_value_s debug;
 
@@ -597,7 +597,7 @@ l_debug_key_value(struct listener *l)
 }
 
 void
-l_optical_flow(struct listener *l)
+l_optical_flow(const struct listener *l)
 {
 	struct optical_flow_s flow;
 
@@ -608,7 +608,7 @@ l_optical_flow(struct listener *l)
 }
 
 void
-l_home(struct listener *l)
+l_home(const struct listener *l)
 {
 	struct home_position_s home;
 

apps/px4/tests/test_bson.c

@@ -51,7 +51,7 @@ static const int32_t sample_small_int = 123;
 static const int64_t sample_big_int = (int64_t)INT_MAX + 123LL;
 static const double sample_double = 2.5f;
 static const char *sample_string = "this is a test";
-static const uint8_t sample_data[256];
+static const uint8_t sample_data[256] = {0};
 //static const char *sample_filename = "/fs/microsd/bson.test";
 
 static int

apps/systemlib/param/param.c

@@ -87,7 +87,7 @@ struct param_wbuf_s {
 UT_array	*param_values;
 
 /** array info for the modified parameters array */
-UT_icd		param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
+const UT_icd	param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
 
 /** parameter update topic */
 ORB_DEFINE(parameter_update, struct parameter_update_s);