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refactor I2CSPIInstance: store running instances in a global linked list

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instead of a static per-driver array.

Reduces BSS RAM usage by a couple of 100 Bytes (linear increase with num
drivers).

Downsides:
- a bit more runtime overhead
- less isolation, locking required
- a bit more complex
This commit is contained in:
Beat Küng
2020-03-17 23:31:17 -04:00
committed by Daniel Agar
parent e7f04109d9
commit 83b6f6456b
2 changed files with 90 additions and 61 deletions
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platforms/common/include/px4_platform_common/i2c_spi_buses.h
+17 -23
View File
@@ -38,6 +38,7 @@
#include <stdint.h>
#include <containers/List.hpp>
#include <lib/conversion/rotation.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -57,18 +58,19 @@ enum class I2CSPIBusOption : uint8_t {
* @class I2CSPIInstance
* I2C/SPI driver instance used by BusInstanceIterator to find running instances.
*/
class I2CSPIInstance
class I2CSPIInstance : public ListNode<I2CSPIInstance *>
{
public:
virtual ~I2CSPIInstance() = default;
private:
I2CSPIInstance(I2CSPIBusOption bus_option, int bus, uint8_t i2c_address, uint16_t type)
: _bus_option(bus_option), _bus(bus), _type(type), _i2c_address(i2c_address) {}
I2CSPIInstance(const char *module_name, I2CSPIBusOption bus_option, int bus, uint8_t i2c_address, uint16_t type)
: _module_name(module_name), _bus_option(bus_option), _bus(bus), _type(type), _i2c_address(i2c_address) {}
friend class BusInstanceIterator;
friend class I2CSPIDriverBase;
const char *_module_name;
const I2CSPIBusOption _bus_option;
const int _bus;
const int16_t _type; ///< device type (driver-specific)
@@ -131,35 +133,35 @@ private:
class BusInstanceIterator
{
public:
BusInstanceIterator(I2CSPIInstance **instances, int max_num_instances,
const BusCLIArguments &cli_arguments, uint16_t devid_driver_index);
~BusInstanceIterator() = default;
BusInstanceIterator(const char *module_name, const BusCLIArguments &cli_arguments, uint16_t devid_driver_index);
~BusInstanceIterator();
I2CSPIBusOption configuredBusOption() const { return _bus_option; }
int nextFreeInstance() const;
int runningInstancesCount() const;
bool next();
I2CSPIInstance *instance() const;
void resetInstance();
void removeInstance();
board_bus_types busType() const;
int bus() const;
uint32_t devid() const;
spi_drdy_gpio_t DRDYGPIO() const;
bool external() const;
void addInstance(I2CSPIInstance *instance);
static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
static SPIBusIterator::FilterType spiFilter(I2CSPIBusOption bus_option);
private:
I2CSPIInstance **_instances;
const int _max_num_instances;
const char *_module_name;
const I2CSPIBusOption _bus_option;
const uint16_t _type;
const uint8_t _i2c_address;
SPIBusIterator _spi_bus_iterator;
I2CBusIterator _i2c_bus_iterator;
int _current_instance{-1};
List<I2CSPIInstance *>::Iterator _current_instance;
};
/**
@@ -172,7 +174,7 @@ public:
I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address, uint16_t type)
: ScheduledWorkItem(module_name, config),
I2CSPIInstance(bus_option, bus, i2c_address, type) {}
I2CSPIInstance(module_name, bus_option, bus, i2c_address, type) {}
static int module_stop(BusInstanceIterator &iterator);
static int module_status(BusInstanceIterator &iterator);
@@ -198,7 +200,7 @@ protected:
bool should_exit() const { return _task_should_exit.load(); }
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator, void(*print_usage)(),
instantiate_method instantiate, I2CSPIInstance **instances);
instantiate_method instantiate);
private:
static void custom_method_trampoline(void *argument);
@@ -213,19 +215,15 @@ private:
* @class I2CSPIDriver
* Base class for I2C/SPI driver modules
*/
template<class T, int MAX_NUM = 3>
template<class T>
class I2CSPIDriver : public I2CSPIDriverBase
{
public:
static constexpr int max_num_instances = MAX_NUM;
static int module_start(const BusCLIArguments &cli, BusInstanceIterator &iterator)
{
return I2CSPIDriverBase::module_start(cli, iterator, &T::print_usage, &T::instantiate, _instances);
return I2CSPIDriverBase::module_start(cli, iterator, &T::print_usage, &T::instantiate);
}
static I2CSPIInstance **instances() { return _instances; }
protected:
I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus,
uint8_t i2c_address = 0, uint16_t type = 0)
@@ -242,10 +240,6 @@ protected:
}
}
private:
static I2CSPIInstance *_instances[MAX_NUM];
};
template<class T, int MAX_NUM>
I2CSPIInstance *I2CSPIDriver<T, MAX_NUM>::_instances[MAX_NUM] {};