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bma180: convert to using RingBuffer

This commit is contained in:
Andrew Tridgell 2013-09-09 17:15:19 +10:00 committed by Lorenz Meier
parent b8ffb574ca
commit 274e3aa2ca
1 changed files with 55 additions and 73 deletions
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128
src/drivers/bma180/bma180.cpp
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@ -63,6 +63,7 @@
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/device/ringbuffer.h>
/* oddly, ERROR is not defined for c++ */
@ -146,10 +147,14 @@ private:
struct hrt_call _call;
unsigned _call_interval;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
struct accel_report *_reports;
/*
this wrapper type is needed to avoid a linker error for
RingBuffer instances which appear in two drivers.
*/
struct _accel_report {
accel_report r;
};
RingBuffer<struct _accel_report> *_reports;
struct accel_scale _accel_scale;
float _accel_range_scale;
@ -233,16 +238,9 @@ private:
int set_lowpass(unsigned frequency);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
BMA180::BMA180(int bus, spi_dev_e device) :
SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
_call_interval(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
@ -270,7 +268,7 @@ BMA180::~BMA180()
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
/* delete the perf counter */
perf_free(_sample_perf);
@ -286,16 +284,15 @@ BMA180::init()
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct accel_report[_num_reports];
_reports = new RingBuffer<_accel_report>(2);
if (_reports == nullptr)
goto out;
/* advertise sensor topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]);
struct accel_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
/* perform soft reset (p48) */
write_reg(ADDR_RESET, SOFT_RESET);
@ -352,6 +349,7 @@ ssize_t
BMA180::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
struct _accel_report *arp = reinterpret_cast<struct _accel_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@ -367,10 +365,9 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
* we are careful to avoid racing with it.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
if (_reports->get(*arp)) {
ret += sizeof(*arp);
arp++;
}
}
@ -379,12 +376,12 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
}
/* manual measurement */
_oldest_report = _next_report = 0;
_reports->flush();
measure();
/* measurement will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(*arp))
ret = sizeof(*arp);
return ret;
}
@ -449,31 +446,22 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
/* account for sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct accel_report *buf = new struct accel_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
return OK;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
/* XXX implement */
@ -654,7 +642,7 @@ BMA180::start()
stop();
/* reset the report ring */
_oldest_report = _next_report = 0;
_reports->flush();
/* start polling at the specified rate */
hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&BMA180::measure_trampoline, this);
@ -688,7 +676,7 @@ BMA180::measure()
// } raw_report;
// #pragma pack(pop)
accel_report *report = &_reports[_next_report];
struct _accel_report report;
/* start the performance counter */
perf_begin(_sample_perf);
@ -708,45 +696,40 @@ BMA180::measure()
* them before. There is no good way to synchronise with the internal
* measurement flow without using the external interrupt.
*/
_reports[_next_report].timestamp = hrt_absolute_time();
report.r.timestamp = hrt_absolute_time();
/*
* y of board is x of sensor and x of board is -y of sensor
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
report->y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report->y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report->x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report->x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report->z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report->z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
report.r.y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report.r.y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report.r.x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report.r.x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report.r.z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report.r.z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
/* discard two non-value bits in the 16 bit measurement */
report->x_raw = (report->x_raw / 4);
report->y_raw = (report->y_raw / 4);
report->z_raw = (report->z_raw / 4);
report.r.x_raw = (report.r.x_raw / 4);
report.r.y_raw = (report.r.y_raw / 4);
report.r.z_raw = (report.r.z_raw / 4);
/* invert y axis, due to 14 bit data no overflow can occur in the negation */
report->y_raw = -report->y_raw;
report.r.y_raw = -report.r.y_raw;
report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report->z = ((report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report->scaling = _accel_range_scale;
report->range_m_s2 = _accel_range_m_s2;
report.r.x = ((report.r.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report.r.y = ((report.r.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report.r.z = ((report.r.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report.r.scaling = _accel_range_scale;
report.r.range_m_s2 = _accel_range_m_s2;
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, fix it */
if (_next_report == _oldest_report)
INCREMENT(_oldest_report, _num_reports);
_reports->force(report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, report);
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report.r);
/* stop the perf counter */
perf_end(_sample_perf);
@ -756,8 +739,7 @@ void
BMA180::print_info()
{
perf_print_counter(_sample_perf);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
_reports->print_info("report queue");
}
/**