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Replace ABS(float) with fabsf(float)

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Disregarding loads and stores, fabfs() compiles to a single vabs.f32
instruction, which completes in 1 cycle. ABS(float), however, compiles
to vcmpe.f32, a branch and vneg.f32, which needs 2 cycles + branching.
The compiler is not able to perform this transformation because
(f < 0 ? -f : f) doesn't always yield the absolute value for
floats (e.g. ABS(-0) will yield -0).
This commit is contained in:
Alberto García Hierro 2019-01-19 17:10:14 +00:00
parent b0d285d66d
commit 0f4e74cd04
10 changed files with 14 additions and 14 deletions
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2
src/main/sensors/acceleration.c
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@ -532,7 +532,7 @@ void accUpdate(void)
}
// Before filtering check for clipping and vibration levels
if (ABS(acc.accADCf[X]) > ACC_CLIPPING_THRESHOLD_G || ABS(acc.accADCf[Y]) > ACC_CLIPPING_THRESHOLD_G || ABS(acc.accADCf[Z]) > ACC_CLIPPING_THRESHOLD_G) {
if (fabsf(acc.accADCf[X]) > ACC_CLIPPING_THRESHOLD_G || fabsf(acc.accADCf[Y]) > ACC_CLIPPING_THRESHOLD_G || fabsf(acc.accADCf[Z]) > ACC_CLIPPING_THRESHOLD_G) {
acc.accClipCount++;
}