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perf(main): write dshot NVIC priorities only on actual change #11

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perf(main): write dshot NVIC priorities only on actual change #11

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10 changes: 8 additions & 2 deletions Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2038,8 +2038,13 @@ if(zero_crosses < 5){
}

#if !defined(MCU_G031) && !defined(NEED_INPUT_READY)
// only touch the NVIC when the priority scheme actually changes
static uint8_t input_priority_is_high = 0xFF; // unknown at boot, first pass sets it
uint8_t want_input_priority = dshot_telemetry && (commutation_interval > DSHOT_PRIORITY_THRESHOLD);
if (want_input_priority != input_priority_is_high) {
input_priority_is_high = want_input_priority;
#ifdef NXP
if (dshot_telemetry && (commutation_interval > DSHOT_PRIORITY_THRESHOLD)) {
if (want_input_priority) {
NVIC_SetPriority(IC_DMA_IRQ_NAME, 0);
NVIC_SetPriority(COM_TIMER_IRQ, 1);
NVIC_SetPriority(COMP0_IRQ, 1);
Expand All @@ -2051,7 +2056,7 @@ if(zero_crosses < 5){
NVIC_SetPriority(COMP1_IRQ, 0);
}
#else
if (dshot_telemetry && (commutation_interval > DSHOT_PRIORITY_THRESHOLD)) {
if (want_input_priority) {
NVIC_SetPriority(IC_DMA_IRQ_NAME, 0);
NVIC_SetPriority(COM_TIMER_IRQ, 1);
NVIC_SetPriority(COMPARATOR_IRQ, 1);
Expand All @@ -2061,6 +2066,7 @@ if(zero_crosses < 5){
NVIC_SetPriority(COMPARATOR_IRQ, 0);
}
#endif
}
#endif
if (send_telemetry) {
#ifdef USE_SERIAL_TELEMETRY
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