diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 14f8f44b82..81612aee79 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -194,7 +194,14 @@ private: struct hrt_call _call; unsigned _call_interval; - typedef RingBuffer AccelReportBuffer; + /* + these wrapper types are needed to avoid a linker error for + RingBuffer instances which appear in two drivers. + */ + struct _accel_report { + struct accel_report r; + }; + typedef RingBuffer<_accel_report> AccelReportBuffer; AccelReportBuffer *_accel_reports; struct accel_scale _accel_scale; @@ -202,7 +209,10 @@ private: float _accel_range_m_s2; orb_advert_t _accel_topic; - typedef RingBuffer GyroReportBuffer; + struct _gyro_report { + struct gyro_report r; + }; + typedef RingBuffer<_gyro_report> GyroReportBuffer; GyroReportBuffer *_gyro_reports; struct gyro_scale _gyro_scale; @@ -465,16 +475,16 @@ MPU6000::init() if (gyro_ret != OK) { _gyro_topic = -1; } else { - gyro_report gr; + _gyro_report gr; _gyro_reports->get(gr); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr.r); } /* advertise accel topic */ - accel_report ar; + _accel_report ar; _accel_reports->get(ar); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar.r); out: return ret; @@ -655,7 +665,7 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen) return -EAGAIN; /* copy reports out of our buffer to the caller */ - accel_report *arp = reinterpret_cast(buffer); + _accel_report *arp = reinterpret_cast<_accel_report *>(buffer); int transferred = 0; while (count--) { if (!_accel_reports->get(*arp++)) @@ -748,7 +758,7 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) return -EAGAIN; /* copy reports out of our buffer to the caller */ - gyro_report *arp = reinterpret_cast(buffer); + _gyro_report *arp = reinterpret_cast<_gyro_report *>(buffer); int transferred = 0; while (count--) { if (!_gyro_reports->get(*arp++)) @@ -837,28 +847,19 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) return 1000000 / _call_interval; case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - AccelReportBuffer *buf = new AccelReportBuffer(arg); - - if (nullptr == buf) - return -ENOMEM; - if (buf->size() == 0) { - delete buf; - return -ENOMEM; - } - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete _accel_reports; - _accel_reports = buf; - start(); - - return OK; + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) + return -EINVAL; + + irqstate_t flags = irqsave(); + if (!_accel_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; } + irqrestore(flags); + + return OK; + } case SENSORIOCGQUEUEDEPTH: return _accel_reports->size(); @@ -935,21 +936,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) if ((arg < 1) || (arg > 100)) return -EINVAL; - /* allocate new buffer */ - GyroReportBuffer *buf = new GyroReportBuffer(arg); - - if (nullptr == buf) - return -ENOMEM; - if (buf->size() == 0) { - delete buf; + irqstate_t flags = irqsave(); + if (!_gyro_reports->resize(arg)) { + irqrestore(flags); return -ENOMEM; } - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete _gyro_reports; - _gyro_reports = buf; - start(); + irqrestore(flags); return OK; } @@ -1197,13 +1189,13 @@ MPU6000::measure() /* * Report buffers. */ - accel_report arb; - gyro_report grb; + _accel_report arb; + _gyro_report grb; /* * Adjust and scale results to m/s^2. */ - grb.timestamp = arb.timestamp = hrt_absolute_time(); + grb.r.timestamp = arb.r.timestamp = hrt_absolute_time(); /* @@ -1224,53 +1216,53 @@ MPU6000::measure() /* NOTE: Axes have been swapped to match the board a few lines above. */ - arb.x_raw = report.accel_x; - arb.y_raw = report.accel_y; - arb.z_raw = report.accel_z; + arb.r.x_raw = report.accel_x; + arb.r.y_raw = report.accel_y; + arb.r.z_raw = report.accel_z; float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - arb.x = _accel_filter_x.apply(x_in_new); - arb.y = _accel_filter_y.apply(y_in_new); - arb.z = _accel_filter_z.apply(z_in_new); + arb.r.x = _accel_filter_x.apply(x_in_new); + arb.r.y = _accel_filter_y.apply(y_in_new); + arb.r.z = _accel_filter_z.apply(z_in_new); - arb.scaling = _accel_range_scale; - arb.range_m_s2 = _accel_range_m_s2; + arb.r.scaling = _accel_range_scale; + arb.r.range_m_s2 = _accel_range_m_s2; - arb.temperature_raw = report.temp; - arb.temperature = (report.temp) / 361.0f + 35.0f; + arb.r.temperature_raw = report.temp; + arb.r.temperature = (report.temp) / 361.0f + 35.0f; - grb.x_raw = report.gyro_x; - grb.y_raw = report.gyro_y; - grb.z_raw = report.gyro_z; + grb.r.x_raw = report.gyro_x; + grb.r.y_raw = report.gyro_y; + grb.r.z_raw = report.gyro_z; float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - grb.x = _gyro_filter_x.apply(x_gyro_in_new); - grb.y = _gyro_filter_y.apply(y_gyro_in_new); - grb.z = _gyro_filter_z.apply(z_gyro_in_new); + grb.r.x = _gyro_filter_x.apply(x_gyro_in_new); + grb.r.y = _gyro_filter_y.apply(y_gyro_in_new); + grb.r.z = _gyro_filter_z.apply(z_gyro_in_new); - grb.scaling = _gyro_range_scale; - grb.range_rad_s = _gyro_range_rad_s; + grb.r.scaling = _gyro_range_scale; + grb.r.range_rad_s = _gyro_range_rad_s; - grb.temperature_raw = report.temp; - grb.temperature = (report.temp) / 361.0f + 35.0f; + grb.r.temperature_raw = report.temp; + grb.r.temperature = (report.temp) / 361.0f + 35.0f; - _accel_reports->put(arb); - _gyro_reports->put(grb); + _accel_reports->force(arb); + _gyro_reports->force(grb); /* notify anyone waiting for data */ poll_notify(POLLIN); _gyro->parent_poll_notify(); /* and publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb.r); if (_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb); + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb.r); } /* stop measuring */ @@ -1280,7 +1272,10 @@ MPU6000::measure() void MPU6000::print_info() { + perf_print_counter(_sample_perf); printf("reads: %u\n", _reads); + _accel_reports->print_info("accel queue"); + _gyro_reports->print_info("gyro queue"); } MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :