diff --git a/embedded/firmware/system/core.hpp b/embedded/firmware/system/core.hpp index 3192d34..5612d54 100644 --- a/embedded/firmware/system/core.hpp +++ b/embedded/firmware/system/core.hpp @@ -11,13 +11,14 @@ #include #include +#include namespace supreme { namespace defaults { const uint8_t pwm_limit = 32; /* 12,5% duty cycle */ - const int16_t lut_1byX[501] = { /* TODO: reduce memory footprint of this LUT */ + const int16_t lut_1byX[501] PROGMEM = { 0, 1000, 500, 333, 250, 200, 166, 142, 125, 111, 100, 90, 83, 76, 71, 66, 62, 58, 55, 52, 50, 47, 45, 43, 41, 40, 38, 37, 35, 34, 33, 32, 31, 30, 29, 28, 27, 27, 26, 25, 25, 24, 23, 23, 22, 22, 21, 21, 20, 20, 20, 19, 19, 18, 18, 18, 17, 17, 17, 16, 16, 16, 16, 15, 15, 15, 15, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 12, 12, 12, 12, 12, 12, 12, 11, 11, 11, 11, 11, 11, 11, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2 }; } @@ -66,7 +67,7 @@ class Sensors { if (dt == 1000) { dt = 0; return 0; } // return 0, if time delta is too long. - int16_t g = (dt < 500) ? defaults::lut_1byX[dt] : 1; + int16_t g = (dt < 500) ? pgm_read_word_near(defaults::lut_1byX + dt) : 1; /* Differentiation filter with noise reduction optimized for integer arithmetics: