removed code and memory optimization, because it breaks output as input
This version reverts r2029. It also activates CORRECT_NEGATIVE_SHIFTS by default and activates ARITHMETIC_OVERFLOW halfway. Unfortunately this removes a lot of flash optimization but is necessary to work properly. Maybe we find later a better solution.
This commit is contained in:
open.20.fsguruh@xoxy.net
+25
-16
@@ -658,13 +658,15 @@ void applyExpos(int16_t *anas)
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#if !defined(CPUARM)
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// #define CORRECT_NEGATIVE_SHIFTS
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#define CORRECT_NEGATIVE_SHIFTS
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// open.20.fsguruh; shift right operations do the rounding different for negative values compared to positive values
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// so all negative divisions round always further down, which give absolute values bigger compared to a usual division
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// this is noticable on the display, because instead of -100.0 -99.9 is shown; While in praxis I doublt somebody will notice a
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// difference this is more a mental thing. Maybe people are distracted, because the easy calculations are obviously wrong
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// this define would correct this, but costs 34 bytes code for stock version
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// currently we set this to active always, because it might cause a fault about 1% compared positive and negative values
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int16_t calc100to256_16Bits(int16_t x) // return x*2.56
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{
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// y = 2*x + x/2 +x/16-x/512-x/2048
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@@ -730,13 +732,19 @@ int16_t calcRESXto1000(int16_t x) // return x/1.024
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#endif
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#define PREVENT_ARITHMETIC_OVERFLOW
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// #define PREVENT_ARITHMETIC_OVERFLOW
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// because of optimizations the reserves before overruns occurs is only the half
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// this defines enables some checks the greatly improves this situation
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// It should nearly prevent all overruns (is still a chance for it, but quite low)
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// negative side is code cost 124 bytes flash
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// negative side is code cost 96 bytes flash
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// we do it now half way, only in applyLimits, which costs currently 50bytes
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// according opinion poll this topic is currently not very important
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// the change below improves already the situation
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// the check inside mixer would slow down mix a little bit and costs additionally flash
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// also the check inside mixer still is not bulletproof, there may be still situations a overflow could occur
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// a bulletproof implementation would take about additional 100bytes flash
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// therefore with go with this compromize, interested people could activate this define
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// @@@2 open.20.fsguruh ;
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// channel = channelnumber -1;
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@@ -753,12 +761,15 @@ int16_t applyLimits(uint8_t channel, int32_t value)
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if (ofs > lim_p) ofs = lim_p;
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if (ofs < lim_n) ofs = lim_n;
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#ifdef PREVENT_ARITHMETIC_OVERFLOW
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// because the recaling optimization would reduce the calculation reserve we activate this for all builds
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// it increases the caculation reserve from factor 20,25x to 32x, which it slightly better as original
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// without it we would only have 16x which is slightly worse as original, we should not do this
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// #ifdef PREVENT_ARITHMETIC_OVERFLOW
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// thanks to gbirkus, he motivated this change, which greatly reduces overruns
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// unfortunately the constants and 32bit compares generates about 50 bytes codes; didn't find a way to get it down.
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// But I think it is worth
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value = limit(int32_t(-RESXl*256),value,int32_t(RESXl*256)); // saves 2 bytes compared to other solutions up to now
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#endif
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// #endif
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#if defined(PPM_LIMITS_SYMETRICAL)
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if (value) {
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@@ -801,7 +812,7 @@ int16_t applyLimits(uint8_t channel, int32_t value)
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int16_t calibratedStick[NUM_STICKS+NUM_POTS];
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int16_t g_chans512[NUM_CHNOUT] = {0};
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// int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain; @@@3 fsguruh
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int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain;
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#ifdef HELI
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int16_t cyc_anas[3] = {0};
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#endif
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@@ -837,7 +848,7 @@ int16_t getValue(uint8_t i)
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#endif
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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;
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else if(i<CSW_PPM_BASE+NUM_PPM) return g_ppmIns[i-CSW_PPM_BASE]*2;
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else if(i<CSW_CHOUT_BASE+NUM_CHNOUT) return (chans[i-CSW_CHOUT_BASE]>>8); //@@@3 fsguruh // return ex_chans[i-CSW_CHOUT_BASE];
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else if(i<CSW_CHOUT_BASE+NUM_CHNOUT) return ex_chans[i-CSW_CHOUT_BASE];
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else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_TM2) return s_timerVal[i-CSW_CHOUT_BASE-NUM_CHNOUT];
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#if defined(FRSKY)
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else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_TX) return frskyData.rssi[1].value;
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@@ -2625,9 +2636,8 @@ void perOut(uint8_t mode, uint8_t tick10ms)
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if (k>=MIXSRC_CH1-1 && k<=MIXSRC_CHMAX-1 && md->destCh != k-MIXSRC_CH1+1) {
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if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
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passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
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// @@@3 fsguruh should not be necessary
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/*if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
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v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before */
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if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
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v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before
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}
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}
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#else
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@@ -2640,9 +2650,8 @@ void perOut(uint8_t mode, uint8_t tick10ms)
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if (k>=MIXSRC_CH1-1 && k<=MIXSRC_CHMAX-1 && md->destCh != k-MIXSRC_CH1+1) {
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if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
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passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
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// @@@3 fsguruh should not be necessary
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/* if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
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v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before */
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if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
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v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before
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}
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}
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#endif
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@@ -2975,7 +2984,7 @@ void doMixerCalculations()
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// interpolate value with min/max so we get smooth motion from center to stop
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// this limits based on v original values and min=-1024, max=1024 RESX=1024
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int32_t q = (s_fade_flight_phases ? (sum_chans512[i] / weight) << 4 : chans[i]);
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// ex_chans[i] = q>>8; // for the next perMain @@@3 fsguruh
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ex_chans[i] = q>>8; // for the next perMain
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int16_t value = applyLimits(i, q); // applyLimits will remove the 256 100% basis
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