forked from Archive/PX4-Autopilot
mb12xx: convert to using RingBuffer class
This commit is contained in:
Andrew Tridgell
Lorenz Meier
parent
96b4729b37
commit
4918148aa3
|
|
@ -64,6 +64,7 @@
|
|||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_range_finder.h>
|
||||
#include <drivers/device/ringbuffer.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/subsystem_info.h>
|
||||
|
|
@ -119,10 +120,7 @@ private:
|
|||
float _min_distance;
|
||||
float _max_distance;
|
||||
work_s _work;
|
||||
unsigned _num_reports;
|
||||
volatile unsigned _next_report;
|
||||
volatile unsigned _oldest_report;
|
||||
range_finder_report *_reports;
|
||||
RingBuffer<struct range_finder_report> *_reports;
|
||||
bool _sensor_ok;
|
||||
int _measure_ticks;
|
||||
bool _collect_phase;
|
||||
|
|
@ -183,9 +181,6 @@ 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.
|
||||
*/
|
||||
|
|
@ -195,9 +190,6 @@ MB12XX::MB12XX(int bus, int address) :
|
|||
I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000),
|
||||
_min_distance(MB12XX_MIN_DISTANCE),
|
||||
_max_distance(MB12XX_MAX_DISTANCE),
|
||||
_num_reports(0),
|
||||
_next_report(0),
|
||||
_oldest_report(0),
|
||||
_reports(nullptr),
|
||||
_sensor_ok(false),
|
||||
_measure_ticks(0),
|
||||
|
|
@ -221,7 +213,7 @@ MB12XX::~MB12XX()
|
|||
|
||||
/* free any existing reports */
|
||||
if (_reports != nullptr)
|
||||
delete[] _reports;
|
||||
delete _reports;
|
||||
}
|
||||
|
||||
int
|
||||
|
|
@ -234,17 +226,15 @@ MB12XX::init()
|
|||
goto out;
|
||||
|
||||
/* allocate basic report buffers */
|
||||
_num_reports = 2;
|
||||
_reports = new struct range_finder_report[_num_reports];
|
||||
_reports = new RingBuffer<struct range_finder_report>(2);
|
||||
|
||||
if (_reports == nullptr)
|
||||
goto out;
|
||||
|
||||
_oldest_report = _next_report = 0;
|
||||
|
||||
/* get a publish handle on the range finder topic */
|
||||
memset(&_reports[0], 0, sizeof(_reports[0]));
|
||||
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]);
|
||||
struct range_finder_report zero_report;
|
||||
memset(&zero_report, 0, sizeof(zero_report));
|
||||
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
|
||||
|
||||
if (_range_finder_topic < 0)
|
||||
debug("failed to create sensor_range_finder object. Did you start uOrb?");
|
||||
|
|
@ -354,31 +344,22 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return (1000 / _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))
|
||||
return -EINVAL;
|
||||
|
||||
/* allocate new buffer */
|
||||
struct range_finder_report *buf = new struct range_finder_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 < 1) || (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 this */
|
||||
|
|
@ -406,6 +387,7 @@ ssize_t
|
|||
MB12XX::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
unsigned count = buflen / sizeof(struct range_finder_report);
|
||||
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
|
||||
int ret = 0;
|
||||
|
||||
/* buffer must be large enough */
|
||||
|
|
@ -421,10 +403,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
|
|||
* 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(*rbuf)) {
|
||||
ret += sizeof(*rbuf);
|
||||
rbuf++;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -433,9 +414,8 @@ MB12XX::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()) {
|
||||
|
|
@ -453,8 +433,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
|
|||
}
|
||||
|
||||
/* state machine will have generated a report, copy it out */
|
||||
memcpy(buffer, _reports, sizeof(*_reports));
|
||||
ret = sizeof(*_reports);
|
||||
if (_reports->get(*rbuf)) {
|
||||
ret = sizeof(*rbuf);
|
||||
}
|
||||
|
||||
} while (0);
|
||||
|
||||
|
|
@ -498,26 +479,25 @@ MB12XX::collect()
|
|||
if (ret < 0)
|
||||
{
|
||||
log("error reading from sensor: %d", ret);
|
||||
perf_count(_comms_errors);
|
||||
perf_end(_sample_perf);
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint16_t distance = val[0] << 8 | val[1];
|
||||
float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */
|
||||
struct range_finder_report 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();
|
||||
_reports[_next_report].distance = si_units;
|
||||
_reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
|
||||
report.timestamp = hrt_absolute_time();
|
||||
report.distance = si_units;
|
||||
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
|
||||
|
||||
/* publish it */
|
||||
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]);
|
||||
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &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) {
|
||||
if (_reports->force(report)) {
|
||||
perf_count(_buffer_overflows);
|
||||
INCREMENT(_oldest_report, _num_reports);
|
||||
}
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
|
|
@ -525,11 +505,8 @@ MB12XX::collect()
|
|||
|
||||
ret = OK;
|
||||
|
||||
out:
|
||||
perf_end(_sample_perf);
|
||||
return ret;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -537,7 +514,7 @@ MB12XX::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)&MB12XX::cycle_trampoline, this, 1);
|
||||
|
|
@ -626,8 +603,7 @@ MB12XX::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");
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
|||
Loading…
Reference in New Issue