Conditional RAMFUNC directives (#230)

* add conditional ramfunc directives

* add ndebug flag

* bump debug level

firmware/Makefile

@@ -102,15 +102,15 @@ OBJECTS := $(addprefix $(BUILDDIR)/,$(CSOURCES:%.c=%.o)) $(addprefix $(BUILDDIR)
 all: release
 
 # Debug target
-debug: CFLAGS += -DDEBUG -g1 -O1
-debug: CPPFLAGS += -DDEBUG -g1 -O1
+debug: CFLAGS += -DDEBUG -g2 -O1
+debug: CPPFLAGS += -DDEBUG -g2 -O1
 debug: LDFLAGS += -O1
 debug: OBJECTS += $(BUILDDIR)/bootloader.o
 debug: binary
 
 # Upgrade target
-upgrade: CFLAGS += -g0 -O3
-upgrade: CPPFLAGS += -g0 -O3
+upgrade: CFLAGS += -DNDEBUG -g0 -O3
+upgrade: CPPFLAGS += -DNDEBUG -g0 -O3
 upgrade: LDFLAGS += -O3
 upgrade: binary
 

firmware/src/adc/adc.c

@@ -216,12 +216,12 @@ void ADC_DTSE_Init(void)
     pac5xxx_dtse_seq_config(18, ADC0, 0, ADC_IRQ0_EN, SEQ_END); // Get result at DTSERES18, Interrupt
 }
 
-PAC5XXX_RAMFUNC int16_t adc_get_mcu_temp(void)
+TM_RAMFUNC int16_t adc_get_mcu_temp(void)
 {
     return adc_state.temp;
 }
 
-PAC5XXX_RAMFUNC void ADC_GetPhaseCurrents(struct FloatTriplet *phc)
+TM_RAMFUNC void ADC_GetPhaseCurrents(struct FloatTriplet *phc)
 {
     phc->A = adc_state.I_phase_meas.A;
     if (motor_phases_swapped())
@@ -236,7 +236,7 @@ PAC5XXX_RAMFUNC void ADC_GetPhaseCurrents(struct FloatTriplet *phc)
     }
 }
 
-PAC5XXX_RAMFUNC void ADC_update(void)
+TM_RAMFUNC void ADC_update(void)
 {
     if (gate_driver_is_enabled() == true)
     {

firmware/src/can/can.c

@@ -152,7 +152,7 @@ void CAN_restore_config(CANConfig *config_)
     config = *config_;
 }
 
-PAC5XXX_RAMFUNC void CAN_task(void) {
+TM_RAMFUNC void CAN_task(void) {
     // Transmit heartbeat
     const uint32_t msg_diff = msTicks - state.last_msg_ms;
     if (msg_diff >= config.heartbeat_period && PAC55XX_CAN->SR.TBS != 0)

firmware/src/can/can_func.c

@@ -169,7 +169,7 @@ void can_baud(CAN_BAUD_TYPE baud)
     }
 }
 
-PAC5XXX_RAMFUNC void can_process_standard(void)
+TM_RAMFUNC void can_process_standard(void)
 {
     uint32_t buffer = PAC55XX_CAN->RXBUF; //  read RX buffer, RX buffer bit order same as TX buffer
 
@@ -212,7 +212,7 @@ PAC5XXX_RAMFUNC void can_process_standard(void)
 //  * You should have received a copy of the GNU General Public License
 //  * along with this program. If not, see <http://www.gnu.org/licenses/>.
 
-PAC5XXX_RAMFUNC void can_process_extended(void)
+TM_RAMFUNC void can_process_extended(void)
 {
     uint32_t buffer = PAC55XX_CAN->RXBUF; //  read RX buffer, RX buffer bit order same as TX buffer
 
@@ -244,7 +244,7 @@ PAC5XXX_RAMFUNC void can_process_extended(void)
     }
 }
 
-PAC5XXX_RAMFUNC void can_transmit_standard(uint8_t dataLen, uint16_t id, const uint8_t * data)
+TM_RAMFUNC void can_transmit_standard(uint8_t dataLen, uint16_t id, const uint8_t * data)
 {
     while (PAC55XX_CAN->SR.TBS == 0) {};           // wait for TX buffer free
     PAC55XX_CAN->TXBUF = (dataLen << 0)         |  // DLC - Data Length Code
@@ -288,7 +288,7 @@ PAC5XXX_RAMFUNC void can_transmit_standard(uint8_t dataLen, uint16_t id, const u
 //  * You should have received a copy of the GNU General Public License
 //  * along with this program. If not, see <http://www.gnu.org/licenses/>.
 
-PAC5XXX_RAMFUNC void can_transmit_extended(uint8_t dataLen, uint32_t id, const uint8_t * data)
+TM_RAMFUNC void can_transmit_extended(uint8_t dataLen, uint32_t id, const uint8_t * data)
 {
     while (PAC55XX_CAN->SR.TBS == 0) {};                 // wait for TX buffer free
     PAC55XX_CAN->TXBUF = (dataLen << 0)                | // DLC - Data Length Code

firmware/src/common.h

@@ -62,6 +62,14 @@
 #define PAC5XXX_ERROR 1
 #endif
 
+#if defined(DEBUG)
+#define TM_RAMFUNC
+#elif defined (NDEBUG)
+#define TM_RAMFUNC PAC5XXX_RAMFUNC
+#else
+#error "Unknown debug configuration"
+#endif
+
 #define PI (3.141592f)
 #define TWOPI (6.283185f)
 #define INVTWOPI (0.159155f)

firmware/src/controller/controller.c

@@ -155,7 +155,7 @@ void Controller_ControlLoop(void)
     }
 }
 
-PAC5XXX_RAMFUNC void CLControlStep(void)
+TM_RAMFUNC void CLControlStep(void)
 {
     if (state.mode >= CTRL_TRAJECTORY)
     {
@@ -302,12 +302,12 @@ PAC5XXX_RAMFUNC void CLControlStep(void)
 }
 
 
-PAC5XXX_RAMFUNC ControlState controller_get_state(void)
+TM_RAMFUNC ControlState controller_get_state(void)
 {
     return state.state;
 }
 
-PAC5XXX_RAMFUNC void controller_set_state(ControlState new_state)
+TM_RAMFUNC void controller_set_state(ControlState new_state)
 {
     if ((new_state != state.state) && (false == state.is_calibrating))
     {
@@ -331,12 +331,12 @@ PAC5XXX_RAMFUNC void controller_set_state(ControlState new_state)
     }
 }
 
-PAC5XXX_RAMFUNC ControlMode controller_get_mode(void)
+TM_RAMFUNC ControlMode controller_get_mode(void)
 {
     return state.mode;
 }
 
-PAC5XXX_RAMFUNC void controller_set_mode(ControlMode new_mode)
+TM_RAMFUNC void controller_set_mode(ControlMode new_mode)
 {
     if (new_mode != state.mode)
     {
@@ -359,69 +359,69 @@ PAC5XXX_RAMFUNC void controller_set_mode(ControlMode new_mode)
     }
 }
 
-PAC5XXX_RAMFUNC float controller_get_pos_setpoint_user_frame(void)
+TM_RAMFUNC float controller_get_pos_setpoint_user_frame(void)
 {
     return (state.pos_setpoint - motor_get_user_offset()) * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC void controller_set_pos_setpoint_user_frame(float value)
+TM_RAMFUNC void controller_set_pos_setpoint_user_frame(float value)
 {
     // direction is either 1 or -1 so we can multiply instead of divide
     state.pos_setpoint = value * motor_get_user_direction() + motor_get_user_offset();
 }
 
-PAC5XXX_RAMFUNC float controller_get_vel_setpoint_user_frame(void)
+TM_RAMFUNC float controller_get_vel_setpoint_user_frame(void)
 {
     return state.vel_setpoint * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC void controller_set_vel_setpoint_user_frame(float value)
+TM_RAMFUNC void controller_set_vel_setpoint_user_frame(float value)
 {
     // direction is either 1 or -1 so we can multiply instead of divide
     state.vel_setpoint = value * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC float controller_get_Iq_estimate(void)
+TM_RAMFUNC float controller_get_Iq_estimate(void)
 {
     return state.Iq_est;
 }
 
-PAC5XXX_RAMFUNC float controller_get_Iq_setpoint(void)
+TM_RAMFUNC float controller_get_Iq_setpoint(void)
 {
     return state.Iq_setpoint;
 }
 
-PAC5XXX_RAMFUNC void controller_set_Iq_setpoint(float value)
+TM_RAMFUNC void controller_set_Iq_setpoint(float value)
 {
     state.Iq_setpoint = value;
 }
 
-PAC5XXX_RAMFUNC float controller_get_Iq_estimate_user_frame(void)
+TM_RAMFUNC float controller_get_Iq_estimate_user_frame(void)
 {
     return state.Iq_est * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC float controller_get_Iq_setpoint_user_frame(void)
+TM_RAMFUNC float controller_get_Iq_setpoint_user_frame(void)
 {
     return state.Iq_setpoint * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC void controller_set_Iq_setpoint_user_frame(float value)
+TM_RAMFUNC void controller_set_Iq_setpoint_user_frame(float value)
 {
     state.Iq_setpoint = value * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC float controller_get_Id_setpoint_user_frame(void)
+TM_RAMFUNC float controller_get_Id_setpoint_user_frame(void)
 {
     return state.Id_setpoint;
 }
 
-PAC5XXX_RAMFUNC float controller_get_Vq_setpoint_user_frame(void)
+TM_RAMFUNC float controller_get_Vq_setpoint_user_frame(void)
 {
     return state.Vq_setpoint * motor_get_user_direction();
 }
 
-PAC5XXX_RAMFUNC float controller_set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
+TM_RAMFUNC float controller_set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
 {
     controller_set_pos_setpoint_user_frame(pos_setpoint);
     controller_set_vel_setpoint_user_frame(vel_setpoint);
@@ -605,20 +605,20 @@ static inline bool Controller_LimitVelocity(float min_limit, float max_limit, fl
     return our_clampc(I, Imin, Imax);
 }
 
-PAC5XXX_RAMFUNC void controller_update_I_gains(void)
+TM_RAMFUNC void controller_update_I_gains(void)
 {
     config.I_gain = config.I_bw * motor_get_phase_inductance();
     float plant_pole = motor_get_phase_resistance() / motor_get_phase_inductance();
     config.Iq_integrator_gain = plant_pole * config.I_gain;
     config.Id_integrator_gain = config.Iq_integrator_gain;
 }
 
-PAC5XXX_RAMFUNC uint8_t controller_get_warnings(void)
+TM_RAMFUNC uint8_t controller_get_warnings(void)
 {
     return state.warnings;
 }
 
-PAC5XXX_RAMFUNC uint8_t controller_get_errors(void)
+TM_RAMFUNC uint8_t controller_get_errors(void)
 {
     return state.errors;
 }

firmware/src/controller/controller.h

@@ -83,35 +83,35 @@ typedef struct
 
 void Controller_ControlLoop(void);
 
-PAC5XXX_RAMFUNC ControlState controller_get_state(void);
-PAC5XXX_RAMFUNC void controller_set_state(ControlState new_state);
+ControlState controller_get_state(void);
+void controller_set_state(ControlState new_state);
 
-PAC5XXX_RAMFUNC ControlMode controller_get_mode(void);
-PAC5XXX_RAMFUNC void controller_set_mode(ControlMode mode);
+ControlMode controller_get_mode(void);
+void controller_set_mode(ControlMode mode);
 
 inline void controller_calibrate(void) {controller_set_state(STATE_CALIBRATE);}
 inline void controller_idle(void) {controller_set_state(STATE_IDLE);}
 inline void controller_position_mode(void) {controller_set_mode(CTRL_POSITION);controller_set_state(STATE_CL_CONTROL);}
 inline void controller_velocity_mode(void) {controller_set_mode(CTRL_VELOCITY);controller_set_state(STATE_CL_CONTROL);}
 inline void controller_current_mode(void) {controller_set_mode(CTRL_CURRENT);controller_set_state(STATE_CL_CONTROL);}
 
-PAC5XXX_RAMFUNC float controller_get_pos_setpoint_user_frame(void);
-PAC5XXX_RAMFUNC void controller_set_pos_setpoint_user_frame(float value);
-PAC5XXX_RAMFUNC float controller_get_vel_setpoint_user_frame(void);
-PAC5XXX_RAMFUNC void controller_set_vel_setpoint_user_frame(float value);
+float controller_get_pos_setpoint_user_frame(void);
+void controller_set_pos_setpoint_user_frame(float value);
+float controller_get_vel_setpoint_user_frame(void);
+void controller_set_vel_setpoint_user_frame(float value);
 
-PAC5XXX_RAMFUNC float controller_get_Iq_estimate(void);
-PAC5XXX_RAMFUNC float controller_get_Iq_setpoint(void);
-PAC5XXX_RAMFUNC void controller_set_Iq_setpoint(float value);
+float controller_get_Iq_estimate(void);
+float controller_get_Iq_setpoint(void);
+void controller_set_Iq_setpoint(float value);
 
-PAC5XXX_RAMFUNC float controller_get_Iq_estimate_user_frame(void);
-PAC5XXX_RAMFUNC float controller_get_Iq_setpoint_user_frame(void);
-PAC5XXX_RAMFUNC void controller_set_Iq_setpoint_user_frame(float value);
-PAC5XXX_RAMFUNC float controller_get_Id_setpoint_user_frame(void);
+float controller_get_Iq_estimate_user_frame(void);
+float controller_get_Iq_setpoint_user_frame(void);
+void controller_set_Iq_setpoint_user_frame(float value);
+float controller_get_Id_setpoint_user_frame(void);
 
-PAC5XXX_RAMFUNC float controller_get_Vq_setpoint_user_frame(void);
+float controller_get_Vq_setpoint_user_frame(void);
 
-PAC5XXX_RAMFUNC float controller_set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint);
+float controller_set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint);
 
 void controller_get_modulation_values(struct FloatTriplet *dc);
 
@@ -144,10 +144,10 @@ void controller_set_max_Ibrake(float value);
 
 void controller_set_motion_plan(MotionPlan mp);
 
-PAC5XXX_RAMFUNC void controller_update_I_gains(void);
+void controller_update_I_gains(void);
 
-PAC5XXX_RAMFUNC uint8_t controller_get_warnings(void);
-PAC5XXX_RAMFUNC uint8_t controller_get_errors(void);
+uint8_t controller_get_warnings(void);
+uint8_t controller_get_errors(void);
 
 ControllerConfig *Controller_GetConfig(void);
 void Controller_RestoreConfig(ControllerConfig *config_);

firmware/src/controller/trajectory_planner.c

@@ -1,4 +1,5 @@
 
+#include <src/common.h>
 #include <src/system/system.h>
 #include <src/controller/controller.h>
 #include <src/can/can_endpoints.h>
@@ -281,12 +282,12 @@ bool planner_set_deltat_dec(float deltat_dec)
 	return false;
 }
 
-PAC5XXX_RAMFUNC uint8_t planner_get_errors(void)
+TM_RAMFUNC uint8_t planner_get_errors(void)
 {
 	return state.errors;
 }
 
-PAC5XXX_RAMFUNC bool planner_evaluate(float t, MotionPlan *plan)
+TM_RAMFUNC bool planner_evaluate(float t, MotionPlan *plan)
 {
 	// We assume that t is zero at the start of trajectory
 	bool response = true;

firmware/src/controller/trajectory_planner.h

@@ -73,8 +73,8 @@ bool planner_set_deltat_tot(float deltat_tot);
 float planner_get_deltat_dec(void);
 bool planner_set_deltat_dec(float deltat_dec);
 
-PAC5XXX_RAMFUNC uint8_t planner_get_errors(void);
+uint8_t planner_get_errors(void);
 
-PAC5XXX_RAMFUNC bool planner_evaluate(float t, MotionPlan *plan);
+bool planner_evaluate(float t, MotionPlan *plan);
 
 #endif /* CONTROLLER_TRAJECTORY_PLANNER_H_ */