开源组件rt-robot，文件ano.c, 函数_get_pid_param优化 

 1 //优化前：
 2 static void _get_pid_param(uint8_t *buffer, float *kpid)
 3 {
 4     kpid[0] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 4) << 8) | *(buffer + 5)));
 5     kpid[1] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 6) << 8) | *(buffer + 7)));
 6     kpid[2] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 8) << 8) | *(buffer + 9)));
 7     kpid[3] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 10) << 8) | *(buffer + 11)));
 8     kpid[4] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 12) << 8) | *(buffer + 13)));
 9     kpid[5] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 14) << 8) | *(buffer + 15)));
10     kpid[6] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 16) << 8) | *(buffer + 17)));
11     kpid[7] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 18) << 8) | *(buffer + 19)));
12     kpid[8] = (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + 20) << 8) | *(buffer + 21)));
13 }
14 
15 //优化后：
16 #define GET_PID_PARAM(buffer, offset)    (float)((1/PID_PARAM_FACTOR) * ((int16_t)(*(buffer + offset) << 8) | *(buffer + (offset + 1))));
17 
18 static void _get_pid_param(uint8_t *buffer, float *kpid)
19 {
20     for(int i = 0; i < 9; i++)
21     {
22         kpid[i] = GET_PID_PARAM(buffer, (i + 2) * 2); 
23     }
24 }

 

posted @ 2020-01-15 11:07  DavidLin_1577  阅读(218)  评论(0)    收藏  举报