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Optimise DSHOT cache management loops (#12672)

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Steve Evans 2023-04-14 20:00:06 +01:00 • committed by GitHub
parent a0d009c4df
commit 20747ec3e3
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 28 deletions
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36
src/main/drivers/stm32/dshot_bitbang.c
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@ -533,21 +533,13 @@ static bool bbUpdateStart(void)
if (telemetryWait) {
DEBUG_SET(DEBUG_DSHOT_TELEMETRY_COUNTS, 2, debug[2] + 1);
} else {
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
#ifdef USE_DSHOT_CACHE_MGMT
// Only invalidate the buffer once. If all motors are on a common port they'll share a buffer.
bool invalidated = false;
for (int i = 0; i < motorIndex; i++) {
if (bbMotors[motorIndex].bbPort->portInputBuffer == bbMotors[i].bbPort->portInputBuffer) {
invalidated = true;
}
}
if (!invalidated) {
SCB_InvalidateDCache_by_Addr((uint32_t *)bbMotors[motorIndex].bbPort->portInputBuffer,
DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_BYTES);
}
for (int i = 0; i < usedMotorPorts; i++) {
bbPort_t *bbPort = &bbPorts[i];
SCB_InvalidateDCache_by_Addr((uint32_t *)bbPort->portInputBuffer, DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_BYTES);
}
#endif
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
#ifdef STM32F4
uint32_t rawValue = decode_bb_bitband(
bbMotors[motorIndex].bbPort->portInputBuffer,
@ -646,23 +638,11 @@ static void bbUpdateComplete(void)
}
}
#ifdef USE_DSHOT_CACHE_MGMT
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
// Only clean each buffer once. If all motors are on a common port they'll share a buffer.
bool clean = false;
for (int i = 0; i < motorIndex; i++) {
if (bbMotors[motorIndex].bbPort->portOutputBuffer == bbMotors[i].bbPort->portOutputBuffer) {
clean = true;
}
}
if (!clean) {
SCB_CleanDCache_by_Addr(bbMotors[motorIndex].bbPort->portOutputBuffer, MOTOR_DSHOT_BUF_CACHE_ALIGN_BYTES);
}
}
#endif
for (int i = 0; i < usedMotorPorts; i++) {
bbPort_t *bbPort = &bbPorts[i];
#ifdef USE_DSHOT_CACHE_MGMT
SCB_CleanDCache_by_Addr(bbPort->portOutputBuffer, MOTOR_DSHOT_BUF_CACHE_ALIGN_BYTES);
#endif
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {