mb12xx: convert to using RingBuffer class

This commit is contained in:
Andrew Tridgell 2013-09-09 16:36:22 +10:00 committed by Lorenz Meier
parent 96b4729b37
commit 4918148aa3
1 changed files with 39 additions and 63 deletions

View File

@ -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))
if ((arg < 1) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct range_finder_report *buf = new struct range_finder_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:
/* 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");
}
/**