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Code Issues Releases Activity

More speed improvement to the AHRS_ADC_downsample_data() function. Removed a bypassable multiple inside the inner loop.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2430 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-01-14 12:40:29 +00:00 committed by pip
parent 403c9ea2da
commit 3d8edce5ee
1 changed files with 7 additions and 6 deletions
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13
flight/AHRS/ahrs_adc.c
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@ -254,14 +254,15 @@ void AHRS_ADC_SetFIRCoefficients(float * new_filter)
*/
void AHRS_ADC_downsample_data()
{
uint16_t chan;
uint16_t sample;
for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++)
for (int chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++)
{
register int32_t sum = 0;
for (sample = 0; sample < adc_config.adc_oversample; sample++)
sum += (int32_t)adc_config.valid_data_buffer[chan + sample * PIOS_ADC_NUM_CHANNELS] * adc_config.fir_coeffs[sample];
for (int sample = 0, k = chan; sample < adc_config.adc_oversample; sample++)
{
// sum += (int32_t)adc_config.valid_data_buffer[chan + sample * PIOS_ADC_NUM_CHANNELS] * adc_config.fir_coeffs[sample];
sum += (int32_t)adc_config.valid_data_buffer[k] * adc_config.fir_coeffs[sample];
k += PIOS_ADC_NUM_CHANNELS;
}
downsampled_buffer[chan] = (float)sum / adc_config.fir_coeffs[adc_config.adc_oversample];
}