fix msgbroker

Author: qqqlab

platformio.ini

@@ -17,7 +17,7 @@
 ;default_envs = ESP32-S3
 ;default_envs = RP2040
 ;default_envs = RP2350A
-;default_envs = RP2350B
+default_envs = RP2350B
 ;default_envs = STM32F411
 
 [env]
@@ -63,15 +63,14 @@ build_flags =
 platform = https://github.com/maxgerhardt/platform-raspberrypi.git
 framework = arduino
 board_build.core = earlephilhower
-; Enable FreeRTOS & TinyUSB
 build_flags =
-    -D PIO_FRAMEWORK_ARDUINO_ENABLE_FREERTOS
-    -D USE_TINYUSB
-; Use a recent arduino-pico version (the version included in maxgerhardt/platform-raspberrypi is lagging behind arduino-pico releases)
-; Note: a fixed version is used here, not #master, to prevent long downloads each time the source repository is updated
+    -D PIO_FRAMEWORK_ARDUINO_ENABLE_FREERTOS ; Required: Enable FreeRTOS
+;    -D USE_TINYUSB                          ; Optional but not recommended: It adds USB SDCARD mass storage, but USB Serial does not work nicely with USE_TINYUSB
+
+; Use arduino-pico version 5 or later. A fixed version is used here, not #master, to prevent long downloads each time the source repository is updated
 platform_packages = framework-arduinopico@https://github.com/earlephilhower/arduino-pico.git#5.5.0
 
-;optional Debugprobe debugger - see Appendix A "Getting started with Raspberry Pi Pico-series"
+; Optional: Debugprobe debugger - see Appendix A "Getting started with Raspberry Pi Pico-series"
 ;debug_tool = cmsis-dap
 ;upload_protocol = cmsis-dap
 ;debug_speed = 30000

src/cli/msp/private/MspProcessor.cpp

@@ -468,9 +468,9 @@ void MspProcessor::processCommand(MspMessage& m, MspResponse& r)
       r.writeU16(lrintf(imu.gx * 4));  //deg/s / 4
       r.writeU16(lrintf(imu.gy * 4));
       r.writeU16(lrintf(imu.gz * 4));
-      r.writeU16(lrintf(mag.mx * 100)); //dimensionless in BF with scale options 100 to 10000
-      r.writeU16(lrintf(mag.my * 100));
-      r.writeU16(lrintf(mag.mz * 100));
+      r.writeU16(lrintf(mag.mx * 10)); //dimensionless in BF with scale options 100 to 10000
+      r.writeU16(lrintf(mag.my * 10));
+      r.writeU16(lrintf(mag.mz * 10));
       break;
     }
 

src/gps/gps.h

@@ -70,8 +70,6 @@ struct GpsState {
     bool have_undulation = false;   // do we have a value for the undulation
 };
 
-extern MsgTopic<GpsState> gps_topic;
-
 struct GpsConfig {
   public:
     Cfg::gps_gizmo_enum gizmo = Cfg::gps_gizmo_enum::mf_NONE; //the gizmo to use

src/tbx/MsgBroker.cpp

@@ -55,10 +55,10 @@ void MsgBroker::top() {
   for(int i = 0; i < MF_MSGTOPIC_LIST_SIZE; i++) {
     MsgTopicBase *t = topic_list[i];
     if(t) {
-      Serial.printf("topic:%-12s freq:%4.0fHz  gen:%8d  subscribers:%d\n", t->name.c_str(), t->generation / dt, (int)t->generation, t->subscriber_count());
+      Serial.printf("topic:%-12s freq:%4.0fHz  gen:%8d  subscribers:%d\n", t->name, t->generation / dt, (int)t->generation, t->subscriber_count());
       for(int j = 0; j < MF_MSGSUB_LIST_SIZE; j++) {
         MsgSubscriptionBase *s = t->sub_list[j];
-        if(s) Serial.printf("  sub:%-10s freq:%4.0fHz  gen:%8d  pulls:%8d  missed:%8d\n", s->name.c_str(), s->pull_cnt / dt, (int)s->generation, (int)s->pull_cnt, (int)(t->generation - s->pull_cnt));
+        if(s) Serial.printf("  sub:%-10s freq:%4.0fHz  gen:%8d  pulls:%8d  missed:%8d\n", s->name, s->pull_cnt / dt, (int)s->generation, (int)s->pull_cnt, (int)(t->generation - s->pull_cnt));
       } 
     }
   }
@@ -76,9 +76,9 @@ void MsgBroker::reset_stats() {
 //=============================================================================
 // MsgTopicBase
 //=============================================================================
-MsgTopicBase::MsgTopicBase(String name, int len) {
-  Serial.printf("cr topic %s %d\n",name.c_str(),len);Serial.flush();
-    this->name = name;
+MsgTopicBase::MsgTopicBase(const char *name, int len) {
+    strncpy(this->name, name, sizeof(this->name) - 1);
+    this->name[sizeof(this->name) - 1] = 0;
     queue = xQueueCreate(1, len);
     MsgBroker::add_topic(this);
 }
@@ -95,7 +95,6 @@ void MsgTopicBase::publishFromISR(void *msg) {
     generation++;
 }
 
-
 bool MsgTopicBase::pull(void *msg) {
     return (xQueuePeek(queue, msg, 0) == pdPASS);
 }
@@ -135,8 +134,9 @@ bool MsgSubscriptionBase::updated() {
     return (generation != topic->generation);
 }
 
-MsgSubscriptionBase::MsgSubscriptionBase(String name, MsgTopicBase *topic) : topic{topic} {
-    this->name = name;
+MsgSubscriptionBase::MsgSubscriptionBase(const char *name, MsgTopicBase *topic) : topic{topic} {
+    strncpy(this->name, name, sizeof(this->name) - 1);
+    this->name[sizeof(this->name) - 1] = 0;
     topic->add_subscription(this);
 }
 

src/tbx/MsgBroker.h

@@ -31,7 +31,6 @@ SOFTWARE.
   #define MF_MSGSUB_LIST_SIZE 8 //max number of subscribers per topic. Used only for top() statistics
 #endif
 
-#include <Arduino.h> //String
 #include "../hal/hal.h" //STM32 FreeRTOS
 
 class MsgBroker;
@@ -65,11 +64,11 @@ class MsgTopicBase {
     friend class MsgBroker;
     friend class MsgSubscriptionBase;
 
-    String name;
+    char name[9] = {};
     uint32_t generation = 0; //counts messages published to this topic
     MsgSubscriptionBase* sub_list[MF_MSGSUB_LIST_SIZE] = {};
 
-    MsgTopicBase(String name, int len);
+    MsgTopicBase(const char* name, int len);
     void publish(void *msg);
     void publishFromISR(void *msg);
     bool pull(void *msg);
@@ -90,11 +89,11 @@ class MsgSubscriptionBase {
     friend class MsgBroker;
     template <class T> friend class MsgSubscription;
 
-    String name;
+    char name[9] = {};
     uint32_t generation = 0; //last pulled topic generation 
     uint32_t pull_cnt = 0; //pull counter
 
-    MsgSubscriptionBase(String name, MsgTopicBase *topic); //start a new subscription
+    MsgSubscriptionBase(const char* name, MsgTopicBase *topic); //start a new subscription
     virtual ~MsgSubscriptionBase();
     bool pull(void *msg); //pull message: returns true if msg was pulled, returns false if no msg available
     bool pull_updated(void *msg); //pull updated message: returns true when updated msg available, else returns false and does not update msg
@@ -107,7 +106,7 @@ class MsgSubscriptionBase {
 template <class T>
 class MsgTopic : public MsgTopicBase {
   public:
-    MsgTopic(String name) : MsgTopicBase(name, sizeof(T)) {}
+    MsgTopic(const char* name) : MsgTopicBase(name, sizeof(T)) {}
     void publish(T *msg) { MsgTopicBase::publish(msg); }
     void publishFromISR(T *msg) { MsgTopicBase::publishFromISR(msg); }
   protected:
@@ -118,7 +117,7 @@ class MsgTopic : public MsgTopicBase {
 template <class T>
 class MsgSubscription : public MsgSubscriptionBase {
   public:
-    MsgSubscription(String name, MsgTopic<T> *topic) : MsgSubscriptionBase(name, topic) {}
+    MsgSubscription(const char* name, MsgTopic<T> *topic) : MsgSubscriptionBase(name, topic) {}
     bool pull(T *msg) { return MsgSubscriptionBase::pull(msg); }
     bool pull_updated(T *msg) { return MsgSubscriptionBase::pull_updated(msg); }
 };

src/veh/veh.cpp

@@ -29,15 +29,14 @@ SOFTWARE.
 #include "veh.h"
 #include "../bbx/bbx.h"
 
-//global module class instance and topic
+//global module class instance
 Veh veh;
-MsgTopic<VehState> veh_topic = MsgTopic<VehState>("veh");
 
 //returns true if flightmode changed
 bool Veh::setFlightmode(uint8_t flightmode) {
   if(_flightmode == flightmode) return false;
   _flightmode = flightmode;
-  veh_topic.publish(this);
+  topic.publish(this);
   bbx.log_mode();
   return true;
 }

src/veh/veh.h

@@ -138,10 +138,10 @@ struct VehState {
     uint8_t _flightmode = 0; //current flight mode index
 };
 
-extern MsgTopic<VehState> veh_topic;
-
 class Veh : public VehState {
   public:
+    MsgTopic<VehState> topic = MsgTopic<VehState>("veh");
+
     static const uint8_t mav_type; //mavlink vehicle type
     static const uint8_t flightmode_ap_ids[6]; //mapping from flightmode to ArduPilot flight mode id
     static const char* flightmode_names[6]; //define flightmode name strings for telemetry