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 }
