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Code Issues Wiki Activity

Performance improvement based on feedback from @martinbudden

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This commit is contained in:
blckmn 2017-01-30 22:17:01 +11:00 • committed by borisbstyle
parent a7f50ad30a
commit 3c20108a99
3 changed files with 37 additions and 30 deletions
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62
src/main/drivers/pwm_output.c
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@ -108,6 +108,12 @@ static void pwmOutConfig(pwmOutputPort_t *port, const timerHardware_t *timerHard
*port->ccr = 0;
}
static void pwmWriteUnused(uint8_t index, uint16_t value)
{
UNUSED(index);
UNUSED(value);
}
static void pwmWriteBrushed(uint8_t index, uint16_t value)
{
*motors[index].ccr = (value - 1000) * motors[index].period / 1000;
@ -135,9 +141,7 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
void pwmWriteMotor(uint8_t index, uint16_t value)
{
if (motors[index].enabled) {
pwmWritePtr(index, value);
}
pwmWritePtr(index, value);
}
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@ -158,7 +162,8 @@ void pwmDisableMotors(void)
void pwmEnableMotors(void)
{
pwmMotorsEnabled = true;
/* check motors can be enabled */
pwmMotorsEnabled = (pwmWritePtr != pwmWriteUnused);
}
bool pwmAreMotorsEnabled(void)
@ -166,23 +171,15 @@ bool pwmAreMotorsEnabled(void)
return pwmMotorsEnabled;
}
static void pwmCompleteWriteUnused(uint8_t motorCount)
{
UNUSED(motorCount);
}
static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
{
for (int index = 0; index < motorCount; index++) {
if (!motors[index].enabled) {
continue;
}
bool overflowed = false;
// If we have not already overflowed this timer
for (int j = 0; j < index; j++) {
if (motors[j].tim == motors[index].tim) {
overflowed = true;
break;
}
}
if (!overflowed) {
if (motors[index].forceOverflow) {
timerForceOverflow(motors[index].tim);
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
@ -193,9 +190,7 @@ static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
void pwmCompleteMotorUpdate(uint8_t motorCount)
{
if (pwmCompleteWritePtr) {
pwmCompleteWritePtr(motorCount);
}
pwmCompleteWritePtr(motorCount);
}
void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
@ -244,22 +239,20 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
#endif
}
if (!useUnsyncedPwm && !isDigital) {
pwmCompleteWritePtr = pwmCompleteOneshotMotorUpdate;
if (!isDigital) {
pwmCompleteWritePtr = useUnsyncedPwm ? pwmCompleteWriteUnused : pwmCompleteOneshotMotorUpdate;
}
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
const ioTag_t tag = motorConfig->ioTags[motorIndex];
if (!tag) {
break;
}
const timerHardware_t *timerHardware = timerGetByTag(tag, TIM_USE_ANY);
if (timerHardware == NULL) {
/* flag failure and disable ability to arm */
break;
/* not enough motors initialised for the mixer or a break in the motors */
pwmWritePtr = pwmWriteUnused;
pwmCompleteWritePtr = pwmCompleteWriteUnused;
/* TODO: block arming and add reason system cannot arm */
return;
}
motors[motorIndex].io = IOGetByTag(tag);
@ -285,6 +278,15 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
} else {
pwmOutConfig(&motors[motorIndex], timerHardware, timerMhzCounter, 0xFFFF, 0);
}
bool timerAlreadyUsed = false;
for (int i = 0; i < motorIndex; i++) {
if (motors[i].tim == motors[motorIndex].tim) {
timerAlreadyUsed = true;
break;
}
}
motors[motorIndex].forceOverflow = !timerAlreadyUsed;
motors[motorIndex].enabled = true;
}