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dshot: inline up_dshot_motor_data_set and up_dshot_motor_command

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Slight performance improvement (~0.1% @1khz on F4)
This commit is contained in:
Beat Küng
2021-08-16 11:05:39 -04:00
committed by Daniel Agar
parent 8aecc64a73
commit afed10618b
2 changed files with 15 additions and 13 deletions
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platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+1 -11
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@@ -200,7 +200,7 @@ void up_dshot_trigger(void)
* bit 12 - dshot telemetry enable/disable
* bits 13-16 - XOR checksum
**/
static void dshot_motor_data_set(uint32_t motor_number, uint16_t throttle, bool telemetry)
void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
{
uint16_t packet = 0;
uint16_t checksum = 0;
@@ -234,16 +234,6 @@ static void dshot_motor_data_set(uint32_t motor_number, uint16_t throttle, bool
motor_buffer[motor_number * ONE_MOTOR_BUFF_SIZE + DSHOT_END_OF_STREAM] = 0;
}
void up_dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
{
dshot_motor_data_set(motor_number, throttle + DShot_cmd_MIN_throttle, telemetry);
}
void up_dshot_motor_command(unsigned channel, uint16_t command, bool telemetry)
{
dshot_motor_data_set(channel, command, telemetry);
}
void dshot_dmar_data_prepare(uint8_t timer, uint8_t first_motor, uint8_t motors_number)
{
uint32_t *buffer = dshot_burst_buffer[timer];