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Optimize rc modes activation conditions processing

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Analyze the rc modes activation conditions and only process configured entries. Previously the entire possible list was processed even though typically only a handful are configured.

Reduces the RX task processing time by about 25% (~44us to ~33us) with an average setup of 3 modes configured (F405, SBUS). Processing time savings will diminish as the user configures more modes. But typically far fewer than the maximum of 20 will be configured.
This commit is contained in:
Bruce Luckcuck 2019-02-04 21:07:56 -05:00
parent 8c78ac507b
commit 42af168854
11 changed files with 65 additions and 14 deletions
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51
src/main/fc/rc_modes.c
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@ -47,6 +47,11 @@ static boxBitmask_t stickyModesEverDisabled;
static bool airmodeEnabled;
static int activeMacCount = 0;
static uint8_t activeMacArray[MAX_MODE_ACTIVATION_CONDITION_COUNT];
static int activeLinkedMacCount = 0;
static uint8_t activeLinkedMacArray[MAX_MODE_ACTIVATION_CONDITION_COUNT];
PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 2);
bool IS_RC_MODE_ACTIVE(boxId_e boxId)
@ -108,13 +113,8 @@ void updateActivatedModes(void)
bitArraySet(&stickyModes, BOXPARALYZE);
// determine which conditions set/clear the mode
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
// Skip linked macs for now to fully determine target states
if (mac->linkedTo) {
continue;
}
for (int i = 0; i < activeMacCount; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(activeMacArray[i]);
if (bitArrayGet(&stickyModes, mac->modeId)) {
updateMasksForStickyModes(mac, &andMask, &newMask);
@ -126,12 +126,8 @@ void updateActivatedModes(void)
bitArrayXor(&newMask, sizeof(&newMask), &newMask, &andMask);
// Update linked modes
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
if (!mac->linkedTo) {
continue;
}
for (int i = 0; i < activeLinkedMacCount; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(activeLinkedMacArray[i]);
bitArrayCopy(&newMask, mac->linkedTo, mac->modeId);
}
@ -177,3 +173,32 @@ void removeModeActivationCondition(const boxId_e modeId)
}
}
}
bool isModeActivationConditionConfigured(const modeActivationCondition_t *mac, const modeActivationCondition_t *emptyMac)
{
if (memcmp(mac, emptyMac, sizeof(*emptyMac))) {
return true;
} else {
return false;
}
}
// Build the list of used modeActivationConditions indices
// We can then use this to speed up processing by only evaluating used conditions
void analyzeModeActivationConditions(void)
{
modeActivationCondition_t emptyMac;
memset(&emptyMac, 0, sizeof(emptyMac));
activeMacCount = 0;
activeLinkedMacCount = 0;
for (uint8_t i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
if (mac->linkedTo) {
activeLinkedMacArray[activeLinkedMacCount++] = i;
} else if (isModeActivationConditionConfigured(mac, &emptyMac)) {
activeMacArray[activeMacCount++] = i;
}
}
}