Merge branch 'master' into fmuv2_bringup

This commit is contained in:
px4dev 2013-08-04 10:45:07 -07:00
commit 1cc6235e77
2 changed files with 195 additions and 3 deletions

View File

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

View File

@ -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);
}