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Code Issues Releases Activity

Improved AHRS_ADC_downsample_data() efficiency/speed.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2429 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-01-14 12:31:34 +00:00 committed by pip
parent ad7a4cded0
commit 403c9ea2da
1 changed files with 7 additions and 7 deletions
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14
flight/AHRS/ahrs_adc.c
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@ -257,15 +257,15 @@ void AHRS_ADC_downsample_data()
uint16_t chan;
uint16_t sample;
for (chan = 0; chan < PIOS_ADC_NUM_CHANNELS; chan++) {
downsampled_buffer[chan] = 0;
for (sample = 0; sample < adc_config.adc_oversample; sample++) {
downsampled_buffer[chan] += adc_config.valid_data_buffer[chan + sample * PIOS_ADC_NUM_CHANNELS] * adc_config.fir_coeffs[sample];
}
downsampled_buffer[chan] /= (float) adc_config.fir_coeffs[adc_config.adc_oversample];
for (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];
downsampled_buffer[chan] = (float)sum / adc_config.fir_coeffs[adc_config.adc_oversample];
}
if(callback_function != NULL)
if (callback_function)
callback_function(downsampled_buffer);
}