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hmc5883: use a RingBuffer to hold report queue 

this simplifies the queue handling, and avoids the need for a
start()/stop() on queue resize
This commit is contained in:
Andrew Tridgell 2013-09-08 21:43:24 +10:00 committed by Lorenz Meier
parent 3329e3c38c
commit 3c45261117
1 changed files with 40 additions and 67 deletions
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107
src/drivers/hmc5883/hmc5883.cpp
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@ -65,6 +65,7 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
@ -148,10 +149,7 @@ private:
work_s _work;
unsigned _measure_ticks;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
mag_report *_reports;
RingBuffer<struct mag_report> *_reports;
mag_scale _scale;
float _range_scale;
float _range_ga;
@ -310,9 +308,6 @@ private:
};
/* 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)
/*
* Driver 'main' command.
*/
@ -322,9 +317,6 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
HMC5883::HMC5883(int bus) :
I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
_measure_ticks(0),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
@ -356,9 +348,8 @@ HMC5883::~HMC5883()
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
delete _reports;
// free perf counters
perf_free(_sample_perf);
@ -375,21 +366,18 @@ HMC5883::init()
if (I2C::init() != OK)
goto out;
/* reset the device configuration */
reset();
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
_reports = new RingBuffer<struct mag_report>(2);
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* reset the device configuration */
reset();
/* get a publish handle on the mag topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
@ -493,6 +481,7 @@ ssize_t
HMC5883::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct mag_report);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@ -501,17 +490,15 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
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(*mag_buf)) {
ret += sizeof(struct mag_report);
mag_buf++;
}
}
@ -522,7 +509,7 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
@ -539,10 +526,9 @@ HMC5883::read(struct file *filp, char *buffer, size_t buflen)
break;
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
if (_reports->get(*mag_buf)) {
ret = sizeof(struct mag_report);
}
} while (0);
return ret;
@ -615,31 +601,22 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return 1000000/TICK2USEC(_measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* add one to account for the sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct mag_report *buf = new struct mag_report[arg];
if (nullptr == buf)
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
return _reports->size();
case SENSORIOCRESET:
return reset();
@ -701,7 +678,7 @@ HMC5883::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&HMC5883::cycle_trampoline, this, 1);
@ -810,9 +787,10 @@ HMC5883::collect()
perf_begin(_sample_perf);
struct mag_report new_report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
new_report.timestamp = hrt_absolute_time();
/*
* @note We could read the status register here, which could tell us that
@ -853,10 +831,10 @@ HMC5883::collect()
* to align the sensor axes with the board, x and y need to be flipped
* and y needs to be negated
*/
_reports[_next_report].x_raw = report.y;
_reports[_next_report].y_raw = -report.x;
new_report.x_raw = report.y;
new_report.y_raw = -report.x;
/* z remains z */
_reports[_next_report].z_raw = report.z;
new_report.z_raw = report.z;
/* scale values for output */
@ -878,34 +856,30 @@ HMC5883::collect()
#ifdef PX4_I2C_BUS_ONBOARD
if (_bus == PX4_I2C_BUS_ONBOARD) {
/* to align the sensor axes with the board, x and y need to be flipped */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
new_report.x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((-report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
new_report.y = ((-report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
#endif
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down,
* therefore switch x and y and invert y */
_reports[_next_report].x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD
}
#endif
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, toss it */
if (_next_report == _oldest_report) {
/* post a report to the ring */
if (_reports->force(new_report)) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
@ -1224,8 +1198,7 @@ HMC5883::print_info()
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
_reports->print_info("report queue");
}
/**