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Small flash and data saving

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I need Bertrand for this change, but also testers.
I removed ex_chans[] array, because I am the opinion it can be easily replaced by chans[].
According history ex_chans was there first, after that chans[] are introduced. Now we can use chans instead of ex_chans and get rid of this part to have savings. I am incorrect?
My tests are all OK. The only area I can imagive this change is influenced are flight phases changes. And only if output channels are used as input. But I think this way is even better. Please test and report.
This commit is contained in:
open.20.fsguruh@xoxy.net
2013-03-02 08:35:55 +00:00
parent 82783013fd
commit 214bc9c4d4
2 changed files with 13 additions and 90 deletions
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src/open9x.cpp
+12 -89
View File
@@ -806,7 +806,7 @@ int16_t applyLimits(uint8_t channel, int32_t value)
int16_t calibratedStick[NUM_STICKS+NUM_POTS];
int16_t g_chans512[NUM_CHNOUT] = {0};
int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain
// int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain; @@@3 fsguruh
#ifdef HELI
int16_t cyc_anas[3] = {0};
#endif
@@ -842,7 +842,7 @@ int16_t getValue(uint8_t i)
#endif
else if(i<CSW_PPM_BASE+NUM_CAL_PPM) return (g_ppmIns[i-CSW_PPM_BASE] - g_eeGeneral.trainer.calib[i-CSW_PPM_BASE])*2;
else if(i<CSW_PPM_BASE+NUM_PPM) return g_ppmIns[i-CSW_PPM_BASE]*2;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT) return ex_chans[i-CSW_CHOUT_BASE];
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT) return (chans[i-CSW_CHOUT_BASE]>>8); //@@@3 fsguruh // return ex_chans[i-CSW_CHOUT_BASE];
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_TM2) return s_timerVal[i-CSW_CHOUT_BASE-NUM_CHNOUT];
#if defined(FRSKY)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_TX) return frskyData.rssi[1].value;
@@ -2630,8 +2630,9 @@ void perOut(uint8_t mode, uint8_t tick10ms)
if (k>=MIXSRC_CH1-1 && k<=MIXSRC_CHMAX-1 && md->destCh != k-MIXSRC_CH1+1) {
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before
// @@@3 fsguruh should not be necessary
/*if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before */
}
}
#else
@@ -2644,8 +2645,9 @@ void perOut(uint8_t mode, uint8_t tick10ms)
if (k>=MIXSRC_CH1-1 && k<=MIXSRC_CHMAX-1 && md->destCh != k-MIXSRC_CH1+1) {
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before
// @@@3 fsguruh should not be necessary
/* if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before */
}
}
#endif
@@ -2968,14 +2970,13 @@ void doMixerCalculations()
//========== LIMITS ===============
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
// chans[i] holds data from mixer. chans[i] = v*weight => 1024*100
// chans[i] holds data from mixer. chans[i] = v*weight => 1024*256
// later we multiply by the limit (up to 100) and then we need to normalize
// at the end chans[i] = chans[i]/100 => -1024..1024
// at the end chans[i] = chans[i]/256 => -1024..1024
// interpolate value with min/max so we get smooth motion from center to stop
// this limits based on v original values and min=-1024, max=1024 RESX=1024
int32_t q = (s_fade_flight_phases ? (sum_chans512[i] / weight) << 4 : chans[i]);
// @@@2 now remove the internal 256 100% basis by a simple shift operation
ex_chans[i] = q>>8; // for the next perMain
// ex_chans[i] = q>>8; // for the next perMain @@@3 fsguruh
int16_t value = applyLimits(i, q); // applyLimits will remove the 256 100% basis
@@ -3468,7 +3469,6 @@ uint16_t getTmr16KHz()
// because all critical pfathes are finished. It also would give us the chance to measure if we passed the next tick and count it.
// It's already implemented but commented out, because of code cost.
ISR(TIMER_10MS_VECT, ISR_NOBLOCK)
// 10ms timer
{
@@ -3526,6 +3526,7 @@ ISR(TIMER_10MS_VECT, ISR_NOBLOCK)
OCR0 += 2; // interrupt every 128us
/*
// needs to change cnt10ms to int instead uint to allow cnt10ms to be negative
// also remove cnt10ms-- in if statement above, because substraction is done here
// code oost: 34 bytes
// this solutions all missed ISRs are counted and next ISR is in about 128usec (exception is wrap around)
cli();
@@ -3547,84 +3548,6 @@ ISR(TIMER_10MS_VECT, ISR_NOBLOCK)
}
// #define OLD_VERSION
#ifdef OLD_VERSION
ISR(TIMER_10MS_VECT, ISR_NOBLOCK) // 10ms timer
{
cli();
PAUSE_10MS_INTERRUPT();
sei();
static uint8_t accuracyWarble; // because 16M / 1024 / 100 = 156.25. we need to correct the fault; no start value needed
// without correction we are 0,16% too fast; that mean in one hour we are 5,76Sek too fast; we do not like that
#if defined(PCBGRUVIN9X)
// static uint8_t accuracyWarble; // because 16M / 1024 / 100 = 156.25. we need to correct the fault; not start value needed
uint8_t bump = (!(++accuracyWarble & 0x03)) ? 157 : 156;
OCR2A += bump;
#elif defined(AUDIO) || defined(VOICE)
OCR0 += 2; // interrupt every 128us
// warble is done later for AUDIO or VOICE don't do it here because it will destroy audio
#else
// static uint8_t accuracyWarble; // because 16M / 1024 / 100 = 156.25. we need to correct the fault; not start value needed
// each tick we are 0,016msec too fast
// one tick more means 0,048 msec too slow = 3*0,016msec --> in sum we are correct!!!
// therefore every 4 round we need to slow down one tick
uint8_t bump = (!(++accuracyWarble & 0x03)) ? 157 : 156;
OCR0 += bump;
#endif
#if defined(PCBSTD) && (defined(AUDIO) || defined(VOICE))
#if defined(AUDIO)
AUDIO_DRIVER();
#endif
#if defined(VOICE)
VOICE_DRIVER();
#endif
static uint8_t cnt10ms; // no initialization needed here; execute 10ms code once every 78 ISRs; takes 16.38msec to overrun for first round --> no problem
#if defined(FRSKY) || defined(MAVLINK) || defined(JETI)
if (cnt10ms == 30) {
if (!IS_DSM2_SERIAL_PROTOCOL(s_current_protocol))
telemetryPoll10ms();
}
#endif
if (--cnt10ms == 0) { // BEGIN { ... every 10ms ... }
// Begin 10ms event
// cnt10ms = 78;
cnt10ms = (!(++accuracyWarble &0x07)) ? 79 : 78;
// each per10ms() we are 0,016msec too fast
// one tick more means 0,112 msec too slow = 7*0,016msec --> in sum we are correct!!!
// therefore every 8. round we need to slow down one tick
#endif
AUDIO_HEARTBEAT();
#if defined(HAPTIC)
HAPTIC_HEARTBEAT();
#endif
per10ms();
#if defined(PCBSTD) && (defined(AUDIO) || defined(VOICE))
} // end 10ms event
#endif
// cli();
RESUME_10MS_INTERRUPT();
// sei();
}
#endif
// Timer3 used for PPM_IN pulse width capture. Counter running at 16MHz / 8 = 2MHz
// equating to one count every half millisecond. (2 counts = 1ms). Control channel
// count delta values thus can range from about 1600 to 4400 counts (800us to 2200us),
src/open9x.h
+1 -1
View File
@@ -1063,7 +1063,7 @@ extern uint8_t g_beepVal[5];
extern uint8_t ppmInState; //0=unsync 1..8= wait for value i-1
extern int16_t g_ppmIns[8];
extern int32_t chans[NUM_CHNOUT];
extern int16_t ex_chans[NUM_CHNOUT]; // Outputs (before LIMITS) of the last perMain
// extern int16_t ex_chans[NUM_CHNOUT]; // Outputs (before LIMITS) of the last perMain @@@3 fsguruh
extern int16_t g_chans512[NUM_CHNOUT];
extern uint16_t BandGap;