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Merge pull request #10178 from iNavFlight/dzikuvx-lulu-optimization

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Remove of register optimization in favor or relying on GCC optimization.
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Paweł Spychalski 2024-06-26 08:19:49 +02:00 • committed by GitHub
commit 41c89a7784
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GPG key ID: B5690EEEBB952194
1 changed files with 21 additions and 20 deletions
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41
src/main/common/lulu.c
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@ -28,16 +28,17 @@ void luluFilterInit(luluFilter_t *filter, int N)
FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize) FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize)
{ {
register float curVal = 0; float curVal = 0;
register float curValB = 0; float curValB = 0;
for (int N = 1; N <= filterN; N++) for (int N = 1; N <= filterN; N++)
{ {
int indexNeg = (index + windowSize - 2 * N) % windowSize; int indexNeg = (index + windowSize - 2 * N) % windowSize;
register int curIndex = (indexNeg + 1) % windowSize; int curIndex = (indexNeg + 1) % windowSize;
register float prevVal = series[indexNeg]; float prevVal = series[indexNeg];
register float prevValB = seriesB[indexNeg]; float prevValB = seriesB[indexNeg];
register int indexPos = (curIndex + N) % windowSize; int indexPos = (curIndex + N) % windowSize;
for (int i = windowSize - 2 * N; i < windowSize - N; i++)
for (int i = windowSize - 2 * N; i < windowSize - N; i++)
{ {
if (indexPos >= windowSize) if (indexPos >= windowSize)
{ {
@ -50,8 +51,8 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
// curIndex = (2 - 1) % 3 = 1 // curIndex = (2 - 1) % 3 = 1
curVal = series[curIndex]; curVal = series[curIndex];
curValB = seriesB[curIndex]; curValB = seriesB[curIndex];
register float nextVal = series[indexPos]; float nextVal = series[indexPos];
register float nextValB = seriesB[indexPos]; float nextValB = seriesB[indexPos];
// onbump (s, 1, 1, 3) // onbump (s, 1, 1, 3)
// if(onBump(series, curIndex, N, windowSize)) // if(onBump(series, curIndex, N, windowSize))
if (prevVal < curVal && curVal > nextVal) if (prevVal < curVal && curVal > nextVal)
@ -59,7 +60,7 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
float maxValue = MAX(prevVal, nextVal); float maxValue = MAX(prevVal, nextVal);
series[curIndex] = maxValue; series[curIndex] = maxValue;
register int k = curIndex; int k = curIndex;
for (int j = 1; j < N; j++) for (int j = 1; j < N; j++)
{ {
if (++k >= windowSize) if (++k >= windowSize)
@ -76,7 +77,7 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
curVal = maxValue; curVal = maxValue;
seriesB[curIndex] = maxValue; seriesB[curIndex] = maxValue;
register int k = curIndex; int k = curIndex;
for (int j = 1; j < N; j++) for (int j = 1; j < N; j++)
{ {
if (++k >= windowSize) if (++k >= windowSize)
@ -109,8 +110,8 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
// curIndex = (2 - 1) % 3 = 1 // curIndex = (2 - 1) % 3 = 1
curVal = series[curIndex]; curVal = series[curIndex];
curValB = seriesB[curIndex]; curValB = seriesB[curIndex];
register float nextVal = series[indexPos]; float nextVal = series[indexPos];
register float nextValB = seriesB[indexPos]; float nextValB = seriesB[indexPos];
if (prevVal > curVal && curVal < nextVal) if (prevVal > curVal && curVal < nextVal)
{ {
@ -118,7 +119,7 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
curVal = minValue; curVal = minValue;
series[curIndex] = minValue; series[curIndex] = minValue;
register int k = curIndex; int k = curIndex;
for (int j = 1; j < N; j++) for (int j = 1; j < N; j++)
{ {
if (++k >= windowSize) if (++k >= windowSize)
@ -134,7 +135,7 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
float minValue = MIN(prevValB, nextValB); float minValue = MIN(prevValB, nextValB);
curValB = minValue; curValB = minValue;
seriesB[curIndex] = minValue; seriesB[curIndex] = minValue;
register int k = curIndex; int k = curIndex;
for (int j = 1; j < N; j++) for (int j = 1; j < N; j++)
{ {
if (++k >= windowSize) if (++k >= windowSize)
@ -156,13 +157,13 @@ FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, i
FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input) FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input)
{ {
// This is the value N of the LULU filter. // This is the value N of the LULU filter.
register int filterN = filter->N; int filterN = filter->N;
// This is the total window size for the rolling buffer // This is the total window size for the rolling buffer
register int filterWindow = filter->windowSize; int filterWindow = filter->windowSize;
register int windowIndex = filter->windowBufIndex; int windowIndex = filter->windowBufIndex;
register float inputVal = input; float inputVal = input;
register int newIndex = (windowIndex + 1) % filterWindow; int newIndex = (windowIndex + 1) % filterWindow;
filter->windowBufIndex = newIndex; filter->windowBufIndex = newIndex;
filter->luluInterim[windowIndex] = inputVal; filter->luluInterim[windowIndex] = inputVal;
filter->luluInterimB[windowIndex] = -inputVal; filter->luluInterimB[windowIndex] = -inputVal;