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Optimize can_setSignal

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This commit is contained in:
Paul Guenette
2021-02-17 20:35:36 -05:00
parent cb2f3b25c8
commit 96277fee5c
1 changed files with 21 additions and 14 deletions
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Firmware/interfaces/can_helpers.hpp
+21 -14
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@@ -54,6 +54,8 @@ struct can_Cyclic_t {
uint32_t lastTime_ms;
};
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wstrict-aliasing" // Make sure to check these functions on your system
template <typename T>
constexpr T can_getSignal(const can_Message_t& msg, const uint8_t startBit, const uint8_t length, const bool isIntel) {
uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL;
@@ -71,31 +73,36 @@ constexpr T can_getSignal(const can_Message_t& msg, const uint8_t startBit, cons
template <typename T>
constexpr void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel) {
uint64_t valAsBits = 0;
std::memcpy(&valAsBits, &val, sizeof(val));
union aliastype {
aliastype() : valAsBits(0){}
T tempVal;
uint64_t valAsBits;
};
uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL;
const uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL;
uint64_t data = *(reinterpret_cast<const uint64_t*>(msg.buf));
aliastype valAlias;
valAlias.tempVal = val;
valAlias.valAsBits &= mask;
if (isIntel) {
uint64_t data = 0;
std::memcpy(&data, msg.buf, sizeof(data));
data &= ~(mask << startBit);
data |= valAsBits << startBit;
data |= valAlias.valAsBits << startBit;
std::memcpy(msg.buf, &data, sizeof(data));
*(reinterpret_cast<uint64_t*>(msg.buf)) = data;
} else {
uint64_t data = 0;
std::reverse(std::begin(msg.buf), std::end(msg.buf));
std::memcpy(&data, msg.buf, sizeof(data));
data = __builtin_bswap64 (data);
data &= ~(mask << (64 - startBit - length));
data |= valAsBits << (64 - startBit - length);
data |= valAlias.valAsBits << (64 - startBit - length);
data = __builtin_bswap64 (data);
*(reinterpret_cast<uint64_t*>(msg.buf)) = data;
std::memcpy(msg.buf, &data, sizeof(data));
std::reverse(std::begin(msg.buf), std::end(msg.buf));
}
}
#pragma GCC diagnostic pop
template<typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {