Improved floating point functions performance.

doc/TroubleShooting.md

@@ -49,7 +49,7 @@ example there was no speed maneuver during the moment of inertia probing.
 `PM_ERROR_INVALID_OPERATION` - Numerical instability inside PMC control code or
 deliberately invalid operation was requested.
 
-`PM_ERROR_SENSOR_HALL_FAULT` - Forbidden value of Hall code was detected. Or
+`PM_ERROR_SENSOR_HALL_FAULT` - Forbidden value of Hall code was detected or
 result of Hall self-adjustment shows an inadequacy of sensor measurements.
 
 `PM_ERROR_SENSOR_EABI_FAULT` - Result of EABI self-adjustment shows an
@@ -82,7 +82,7 @@ computationally expensive features.
 `PM_ERROR_HW_OVERCURRENT` - Overcurrent accident detected by hardware.
 
 `PM_ERROR_HW_OVERTEMPERATURE` - PCB overheat condition has been reached.
-Apparently temperature regulation by current derate is not functional.
+Apparently temperature regulation by current limiting is not functional.
 
 `PM_ERROR_HW_EMERGENCY_STOP` - Emergency situation detected by emergency
 endstop signal.

phobia/gp/lse.c

@@ -174,7 +174,7 @@ lse_qrupdate(lse_t *ls, lse_upper_t *rm, lse_float_t *xz, int nz)
 			}
 #else /* LSE_FAST_TRANSFORM */
 
-			/* WARNING: We use NAIVE hypot implementation as it is
+			/* WARNING: We use naive hypot implementation as it is
 			 * the fastest one and quite ulp-accurate.
 			 */
 			alpa = lse_sqrtf(x0 * x0 + xi * xi);

phobia/gp/read.c

@@ -1597,23 +1597,18 @@ configParseFSM(read_t *rd, parse_t *pa)
 	do {
 		r = configToken(rd, pa);
 
-		if (r < 0) break;
-		else if (r == 1) {
-
-			failed = 0;
-			continue;
-		}
-		else if (r == 0 && pa->newline != 0) {
+		if (r == 0 && pa->newline != 0) {
 
 			sprintf(msg_tbuf, "unable to parse \"%.80s\"", tbuf);
 
 			if (tbuf[0] == '#') {
 
 				failed = 0;
-				while (configToken(rd, pa) == 0) ;
 			}
 			else if (strcmp(tbuf, "include") == 0) {
 
+				failed = 1;
+
 				r = configToken(rd, pa);
 
 				if (r == 0) {
@@ -1631,9 +1626,10 @@ configParseFSM(read_t *rd, parse_t *pa)
 					if (fd == NULL) {
 
 						ERROR("fopen(\"%s\"): %s\n", tbuf, strerror(errno));
-						failed = 1;
 					}
 					else {
+						failed = 0;
+
 						strcpy(rpa.file, tbuf);
 
 						rpa.path = pa->path;
@@ -1650,9 +1646,6 @@ configParseFSM(read_t *rd, parse_t *pa)
 						fclose(fd);
 					}
 				}
-				else {
-					failed = 1;
-				}
 			}
 			else if (strcmp(tbuf, "gpconfig") == 0) {
 
@@ -3162,6 +3155,8 @@ configParseFSM(read_t *rd, parse_t *pa)
 
 			pa->newline = 0;
 		}
+		else if (r < 0)
+			break;
 	}
 	while (1);
 }

phobia/phobia.c

@@ -2777,9 +2777,9 @@ page_diagnose(struct public *pub)
 		reg->update = 1000;
 	}
 
-	reg_float_prog_um(pub, "hal.CNT_diag0", "IRQ diagnostic 0", 0.f, maximal[0], 1);
-	reg_float_prog_um(pub, "hal.CNT_diag1", "IRQ diagnostic 1", 0.f, maximal[1], 1);
-	reg_float_prog_um(pub, "hal.CNT_diag2", "IRQ diagnostic 2", 0.f, maximal[2], 1);
+	reg_float_prog_um(pub, "hal.CNT_diag0", "IRQ entry time", 0.f, maximal[0], 1);
+	reg_float_prog_um(pub, "hal.CNT_diag1", "IRQ priority load", 0.f, maximal[1], 1);
+	reg_float_prog_um(pub, "hal.CNT_diag2", "IRQ total load", 0.f, maximal[2], 1);
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3696,22 +3696,9 @@ page_thermal(struct public *pub)
 
 	reg_enum_combo(pub, "ap.ntc_EXT.type", "NTC type on EXT", 1);
 	reg_float(pub, "ap.ntc_EXT.balance", "NTC balance");
-
-	reg = link_reg_lookup(lp, "ap.ntc_EXT.type");
-
-	if (		reg != NULL
-			&& (reg->lval >= 1 || reg->lval <= 2)) {
-
-		reg_float(pub, "ap.ntc_EXT.ntc0", "NTC resistance at Ta");
-		reg_float(pub, "ap.ntc_EXT.ta0", "NTC Ta");
-		reg_float(pub, "ap.ntc_EXT.betta", "NTC betta");
-	}
-	else {
-		nk_layout_row_dynamic(ctx, 0, 1);
-		nk_spacer(ctx);
-		nk_spacer(ctx);
-		nk_spacer(ctx);
-	}
+	reg_float(pub, "ap.ntc_EXT.ntc0", "NTC resistance at Ta");
+	reg_float(pub, "ap.ntc_EXT.ta0", "NTC Ta");
+	reg_float(pub, "ap.ntc_EXT.betta", "NTC betta");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3732,13 +3719,13 @@ page_thermal(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "ap.heat_PCB_temp_halt", "PCB halt threshold");
-	reg_float(pub, "ap.heat_PCB_temp_derate", "PCB derate threshold");
-	reg_float(pub, "ap.heat_PCB_temp_FAN", "PCB fan ON threshold");
-	reg_float(pub, "ap.heat_EXT_temp_derate", "EXT derate threshold");
-	reg_float(pub, "ap.heat_maximal_PCB", "PCB maximal current");
-	reg_float(pub, "ap.heat_maximal_EXT", "EXT maximal current");
-	reg_float(pub, "ap.heat_temp_recovery", "Recovery hysteresis");
+	reg_float(pub, "ap.otp_PCB_halt", "PCB halt threshold");
+	reg_float(pub, "ap.otp_PCB_derate", "PCB derate threshold");
+	reg_float(pub, "ap.otp_PCB_fan", "PCB fan ON threshold");
+	reg_float(pub, "ap.otp_EXT_derate", "EXT derate threshold");
+	reg_float(pub, "ap.otp_maximal_PCB", "PCB maximal current");
+	reg_float(pub, "ap.otp_maximal_EXT", "EXT maximal current");
+	reg_float(pub, "ap.otp_recovery", "Recovery hysteresis");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -4007,14 +3994,14 @@ page_lu_flux(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "pm.detach_threshold", "Detached threshold");
-	reg_float(pub, "pm.detach_trip_AP", "Detached trip point");
+	reg_float(pub, "pm.detach_threshold", "Detached voltage threshold");
+	reg_float(pub, "pm.detach_trip_tol", "Detached trip tolerance");
 	reg_float(pub, "pm.detach_gain_SF", "Detached speed loop gain");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "pm.flux_trip_AP", "Ortega speed trip point");
+	reg_float(pub, "pm.flux_trip_tol", "Ortega trip tolerance");
 	reg_float(pub, "pm.flux_gain_IN", "Ortega initial gain");
 	reg_float(pub, "pm.flux_gain_LO", "Ortega flux gain LO");
 	reg_float(pub, "pm.flux_gain_HI", "Ortega flux gain HI");
@@ -4241,7 +4228,7 @@ page_lu_hall(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "pm.hall_trip_AP", "Hall speed trip point");
+	reg_float(pub, "pm.hall_trip_tol", "Hall trip tolerance");
 	reg_float(pub, "pm.hall_gain_LO", "Hall speed gain LO");
 	reg_float(pub, "pm.hall_gain_SF", "Hall speed loop gain");
 	reg_float(pub, "pm.hall_gain_IF", "Torque acceleration");
@@ -4382,7 +4369,7 @@ page_lu_eabi(struct public *pub)
 	reg_float(pub, "pm.eabi_const_EP", "EABI pulse resolution");
 	reg_float(pub, "pm.eabi_const_Zs", "Gear teeth number S");
 	reg_float(pub, "pm.eabi_const_Zq", "Gear teeth number Q");
-	reg_float(pub, "pm.eabi_trip_AP", "EABI speed trip point");
+	reg_float(pub, "pm.eabi_trip_tol", "EABI trip tolerance");
 	reg_float(pub, "pm.eabi_gain_LO", "EABI speed gain LO");
 	reg_float(pub, "pm.eabi_gain_SF", "EABI speed loop gain");
 	reg_float(pub, "pm.eabi_gain_IF", "Torque acceleration");
@@ -4740,8 +4727,8 @@ page_lp_location(struct public *pub)
 
 	reg_float_um(pub, "pm.x_maximal", "Maximal location limit", um_def);
 	reg_float_um(pub, "pm.x_minimal", "Minimal location limit", um_def);
-	reg_float_um(pub, "pm.x_damping", "Damping distance", 0);
-	reg_float_um(pub, "pm.x_residual_tol", "Residual tolerance", 0);
+	reg_float_um(pub, "pm.x_boost_tol", "Regulation tolerance", 0);
+	reg_float_um(pub, "pm.x_track_tol", "Tracking tolerance", 0);
 	reg_float_um(pub, "pm.x_gain_P", "Proportional gain", 0);
 	reg_float(pub, "pm.x_gain_D", "Damped gain");
 

src/hal/adc.c

@@ -251,7 +251,12 @@ void ADC_startup()
 float ADC_get_sample(int xGPIO)
 {
 	int			xCH, xADC;
-	float			um = 0.f;
+
+	union {
+		uint32_t	l;
+		float		f;
+	}
+	um = { 0xFFF80000U };
 
 	if (xSemaphoreTake(priv_ADC.mutex_sem, (TickType_t) 10) == pdTRUE) {
 
@@ -268,19 +273,20 @@ float ADC_get_sample(int xGPIO)
 		}
 
 		ADC1->SR = ~ADC_SR_EOC;
+
 		xADC = ADC1->DR;
 
 		if (xCH == XGPIO_GET_CH(GPIO_ADC_TEMPINT)) {
 
-			um = (float) (xADC) * hal.const_ADC.TS[1] + hal.const_ADC.TS[0];
+			um.f = (float) (xADC) * hal.const_ADC.TS[1] + hal.const_ADC.TS[0];
 		}
 		else {
-			um = (float) (xADC) * hal.const_ADC.GS;
+			um.f = (float) (xADC) * hal.const_ADC.GS;
 		}
 
 		xSemaphoreGive(priv_ADC.mutex_sem);
 	}
 
-	return um;
+	return um.f;
 }
 

src/hal/hal.c

@@ -14,8 +14,8 @@ LOG_t				log		LD_NOINIT;
 
 typedef struct {
 
-	uint32_t bootload;
-	uint32_t crystal;
+	uint32_t bootload_flag;
+	uint32_t crystal_disabled;
 }
 priv_HAL_t;
 
@@ -27,7 +27,7 @@ void irq_NMI()
 
 	if (RCC->CIR & RCC_CIR_CSSF) {
 
-		noinit_HAL.crystal = HAL_FLAG_SIGNATURE;
+		noinit_HAL.crystal_disabled = HAL_FLAG_SIGNATURE;
 
 		RCC->CIR |= RCC_CIR_CSSC;
 
@@ -103,7 +103,7 @@ core_startup()
 	RCC->DCKCFGR2 = 0;
 #endif /* STM32F7 */
 
-	if (noinit_HAL.crystal != HAL_FLAG_SIGNATURE) {
+	if (noinit_HAL.crystal_disabled != HAL_FLAG_SIGNATURE) {
 
 		int		N = 0;
 
@@ -124,12 +124,12 @@ core_startup()
 
 				log_TRACE("HSE not ready" EOL);
 
-				noinit_HAL.crystal = HAL_FLAG_SIGNATURE;
+				noinit_HAL.crystal_disabled = HAL_FLAG_SIGNATURE;
 
 #ifdef STM32F7
 				/* D-Cache Clean and Invalidate.
 				 * */
-				SCB->DCCIMVAC = (uint32_t) &noinit_HAL.crystal;
+				SCB->DCCIMVAC = (uint32_t) &noinit_HAL.crystal_disabled;
 
 				__DSB();
 				__ISB();
@@ -159,7 +159,7 @@ core_startup()
 	 * */
 	RCC->CFGR |= RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE1_DIV4 | RCC_CFGR_PPRE2_DIV2;
 
-	if (noinit_HAL.crystal != HAL_FLAG_SIGNATURE) {
+	if (noinit_HAL.crystal_disabled != HAL_FLAG_SIGNATURE) {
 
 		CLOCK = HW_CLOCK_CRYSTAL_HZ;
 
@@ -299,9 +299,9 @@ void hal_bootload()
 {
 	const uint32_t		*sysmem;
 
-	if (noinit_HAL.bootload == HAL_FLAG_SIGNATURE) {
+	if (noinit_HAL.bootload_flag == HAL_FLAG_SIGNATURE) {
 
-		noinit_HAL.bootload = 0U;
+		noinit_HAL.bootload_flag = 0U;
 
 #if defined(STM32F4)
 		sysmem = (const uint32_t *) 0x1FFF0000U;
@@ -362,7 +362,7 @@ void hal_system_reset()
 
 void hal_bootload_jump()
 {
-	noinit_HAL.bootload = HAL_FLAG_SIGNATURE;
+	noinit_HAL.bootload_flag = HAL_FLAG_SIGNATURE;
 
 	hal_system_reset();
 }

src/libc.c

@@ -820,7 +820,7 @@ const char *stof(float *x, const char *s)
 	return s;
 }
 
-uint32_t crc32b(const void *s, int n)
+uint32_t crc32b(const void *s, size_t n)
 {
 	const uint32_t		*ls = (const uint32_t *) s;
 	uint32_t		crc, buf;
@@ -835,10 +835,10 @@ uint32_t crc32b(const void *s, int n)
 
 	crc = 0xFFFFFFFFU;
 
-	while (n >= 4) {
+	while (n >= 4U) {
 
 		buf = *ls++;
-		n += - 4;
+		n += - 4U;
 
 		crc = crc ^ buf;
 
@@ -857,11 +857,8 @@ uint32_t crc32b(const void *s, int n)
 
 uint32_t urand()
 {
-	uint32_t	rval;
-
 	rseed = rseed * 17317U + 1U;
-	rval = rseed >> 16;
 
-	return rval;
+	return rseed >> 16;
 }
 

src/libc.h

@@ -71,7 +71,7 @@ const char *stoi(int *x, const char *s);
 const char *htoi(int *x, const char *s);
 const char *stof(float *x, const char *s);
 
-uint32_t crc32b(const void *s, int n);
+uint32_t crc32b(const void *s, size_t n);
 uint32_t urand();
 
 #endif /* _H_LIBC_ */