Merge branch 'master' into fmuv2_bringup

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -264,7 +264,7 @@ CONFIG_STM32_USART=y
 # U[S]ART Configuration
 #
 # CONFIG_USART1_RS485 is not set
-CONFIG_USART1_RXDMA=y
+# CONFIG_USART1_RXDMA is not set
 # CONFIG_USART2_RS485 is not set
 CONFIG_USART2_RXDMA=y
 # CONFIG_USART3_RXDMA is not set
@@ -559,8 +559,8 @@ CONFIG_CDCACM_EPBULKIN_FSSIZE=64
 CONFIG_CDCACM_EPBULKIN_HSSIZE=512
 CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
-CONFIG_CDCACM_RXBUFSIZE=512
+CONFIG_CDCACM_RXBUFSIZE=256
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=256
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0010
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

src/drivers/device/ringbuffer.h

@@ -0,0 +1,192 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ringbuffer.h
+ *
+ * A simple ringbuffer template.
+ */
+
+#pragma once
+
+template<typename T>
+class RingBuffer {
+public:
+	RingBuffer(unsigned size);
+	virtual ~RingBuffer();
+
+	/**
+	 * Put an item into the buffer.
+	 *
+	 * @param val		Item to put
+	 * @return		true if the item was put, false if the buffer is full
+	 */
+	bool			put(T &val);
+
+	/**
+	 * Put an item into the buffer.
+	 *
+	 * @param val		Item to put
+	 * @return		true if the item was put, false if the buffer is full
+	 */
+	bool			put(const T &val);
+
+	/**
+	 * Get an item from the buffer.
+	 *
+	 * @param val		Item that was gotten
+	 * @return		true if an item was got, false if the buffer was empty.
+	 */
+	bool			get(T &val);
+
+	/**
+	 * Get an item from the buffer (scalars only).
+	 *
+	 * @return		The value that was fetched, or zero if the buffer was
+	 *			empty.
+	 */
+	T			get(void);
+
+	/*
+	 * Get the number of slots free in the buffer.
+	 *
+	 * @return		The number of items that can be put into the buffer before
+	 *			it becomes full.
+	 */
+	unsigned		space(void);
+
+	/*
+	 * Get the number of items in the buffer.
+	 *
+	 * @return		The number of items that can be got from the buffer before
+	 *			it becomes empty.
+	 */
+	unsigned		count(void);
+
+	/*
+	 * Returns true if the buffer is empty.
+	 */
+	bool			empty() { return _tail == _head; }
+
+	/*
+	 * Returns true if the buffer is full.
+	 */
+	bool			full() { return _next(_head) == _tail; }
+
+private:
+	T			*const _buf;	
+	const unsigned		_size;
+	volatile unsigned	_head;	/**< insertion point */
+	volatile unsigned	_tail;	/**< removal point */
+
+	unsigned		_next(unsigned index);
+};
+
+template <typename T>
+RingBuffer<T>::RingBuffer(unsigned size) :
+	_buf(new T[size + 1]),
+	_size(size),
+ 	_head(size),
+ 	_tail(size)
+{}
+
+template <typename T>
+RingBuffer<T>::~RingBuffer()
+{
+	if (_buf != nullptr)
+		delete[] _buf;
+}
+
+template <typename T>
+bool RingBuffer<T>::put(T &val) 
+{
+	unsigned next = _next(_head);
+	if (next != _tail) {
+		_buf[_head] = val;
+		_head = next;
+		return true;
+	} else {
+		return false;
+	}
+}
+
+template <typename T>
+bool RingBuffer<T>::put(const T &val) 
+{
+	unsigned next = _next(_head);
+	if (next != _tail) {
+		_buf[_head] = val;
+		_head = next;
+		return true;
+	} else {
+		return false;
+	}
+}
+
+template <typename T>
+bool RingBuffer<T>::get(T &val) 
+{
+	if (_tail != _head) {
+		val = _buf[_tail];
+		_tail = _next(_tail);
+		return true;
+	} else {
+		return false;
+	}
+}
+
+template <typename T>
+T RingBuffer<T>::get(void) 
+{
+	T val;
+	return get(val) ? val : 0;
+}
+
+template <typename T>
+unsigned RingBuffer<T>::space(void) 
+{
+	return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1);
+}
+
+template <typename T>
+unsigned RingBuffer<T>::count(void) 
+{
+	return _size - space();
+}
+
+template <typename T>
+unsigned RingBuffer<T>::_next(unsigned index) 
+{
+	return (0 == index) ? _size : (index - 1);
+}