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Code Issues Wiki Activity

2khz Performance Enhancements // More processing time

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borisbstyle 2015-12-30 00:03:33 +01:00
parent dd5f6cc997
commit 47c493b34a
4 changed files with 26 additions and 8 deletions
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4
src/main/common/maths.c
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@ -111,7 +111,7 @@ int32_t applyDeadband(int32_t value, int32_t deadband)
return value;
}
int constrain(int amt, int low, int high)
inline int constrain(int amt, int low, int high)
{
if (amt < low)
return low;
@ -121,7 +121,7 @@ int constrain(int amt, int low, int high)
return amt;
}
float constrainf(float amt, float low, float high)
inline float constrainf(float amt, float low, float high)
{
if (amt < low)
return low;

2
src/main/drivers/gyro_sync.h
View file

@ -5,7 +5,7 @@
* Author: borisb
*/
#define INTERRUPT_WAIT_TIME 10
#define INTERRUPT_WAIT_TIME 12
extern uint32_t targetLooptime;

25
src/main/rx/rx.c
View file

@ -41,6 +41,7 @@
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/system.h"
#include "drivers/gyro_sync.h"
#include "rx/pwm.h"
#include "rx/sbus.h"
#include "rx/spektrum.h"
@ -91,6 +92,11 @@ uint32_t rcInvalidPulsPeriod[MAX_SUPPORTED_RC_CHANNEL_COUNT];
#define DELAY_5_HZ (1000000 / 5)
#define SKIP_RC_ON_SUSPEND_PERIOD 1500000 // 1.5 second period in usec (call frequency independent)
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements (timing independent)
#ifdef STM32F303xC
#define MAX_RC_CHANNELS_HIGH_PERFORMANCE 10 // Maximum channels allowed during fast refresh rates for more performance
#else
#define MAX_RC_CHANNELS_HIGH_PERFORMANCE 8 // Maximum channels allowed during fast refresh rates for more performance
#endif
rxRuntimeConfig_t rxRuntimeConfig;
static rxConfig_t *rxConfig;
@ -439,11 +445,24 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChanne
return sample;
}
static uint8_t getRxChannelCount(void) {
static uint8_t maxChannelsAllowed;
if (!maxChannelsAllowed) {
if (targetLooptime < 1000) {
maxChannelsAllowed = MAX_RC_CHANNELS_HIGH_PERFORMANCE;
} else {
maxChannelsAllowed = rxRuntimeConfig.channelCount;
}
}
return maxChannelsAllowed;
}
static void readRxChannelsApplyRanges(void)
{
uint8_t channel;
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
for (channel = 0; channel < getRxChannelCount(); channel++) {
uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, channel);
@ -484,7 +503,7 @@ static void detectAndApplySignalLossBehaviour(void)
rxResetFlightChannelStatus();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
for (channel = 0; channel < getRxChannelCount(); channel++) {
sample = (useValueFromRx) ? rcRaw[channel] : PPM_RCVR_TIMEOUT;
@ -516,7 +535,7 @@ static void detectAndApplySignalLossBehaviour(void)
rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven = true;
failsafeOnValidDataFailed();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
for (channel = 0; channel < getRxChannelCount(); channel++) {
rcData[channel] = getRxfailValue(channel);
}
}

3
src/main/scheduler.c
View file

@ -206,7 +206,6 @@ static cfTask_t cfTasks[TASK_COUNT] = {
#define REALTIME_GUARD_INTERVAL_MIN 10
#define REALTIME_GUARD_INTERVAL_MAX 300
#define REALTIME_GUARD_INTERVAL_MARGIN 25
void taskSystem(void)
{
@ -227,7 +226,7 @@ void taskSystem(void)
}
}
realtimeGuardInterval = constrain(maxNonRealtimeTaskTime, REALTIME_GUARD_INTERVAL_MIN, REALTIME_GUARD_INTERVAL_MAX) + REALTIME_GUARD_INTERVAL_MARGIN;
realtimeGuardInterval = constrain(maxNonRealtimeTaskTime, REALTIME_GUARD_INTERVAL_MIN, REALTIME_GUARD_INTERVAL_MAX);
#if defined SCHEDULER_DEBUG
debug[2] = realtimeGuardInterval;
#endif