Repository navigation
use native float instead of mp obj floats - #11
Draft
christopherwun wants to merge 2 commits into
Draft
christopherwun wants to merge 2 commits into
christopherwun wants to merge 2 commits into
Conversation
There was a problem hiding this comment.
Pull Request Overview
This PR converts MicroPython object floats (mp_obj_t) to native C floats in the BNO080 sensor driver's internal data structures, reducing garbage collection overhead while maintaining functionality at the Python API level.
- Converts internal data storage from
mp_obj_tto nativefloatfor sensor arrays (fquat, accel, gyro, mag, grav) - Updates data parsing functions to use
powf()instead ofpow()for better float performance - Modifies the read function to convert native floats to MicroPython objects only when accessed from Python
Reviewed Changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| shared-module/bno080/BNO080.h | Changes struct member types from mp_obj_t to float for five sensor data arrays |
| shared-module/bno080/BNO080.c | Updates data assignment, initialization, and reading logic to work with native floats; converts pow() to powf() in most places; changes return value from NULL to mp_const_none |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
In response to Jocelyn's comment in #10. Tested and it still streams data the same way. All this does is changes the struct to use
float's instead of themp_obj_ttype. This makes them mutable and prevents us from generating new pointers to new float objects on each call to report. Should reduce garbage collection requirements but means that these fields will not be accessible from Python layer (they are not currently used there anyways).Checked for performance improvements and didn't see anything significant (in the short-term at least):
With MicroPython objs (immutable floats) for data:
With C floats for data:
