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Rework the ringbuffer class so that it's not templated, and refactor its clients so they aren't dancing around the linker anymore.

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This commit is contained in:
px4dev
2013-09-09 22:23:48 -07:00
committed by Lorenz Meier
parent a5821d2928
commit cefc7ac00e
10 changed files with 396 additions and 266 deletions
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src/drivers/bma180/bma180.cpp
+24 -31
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@@ -147,14 +147,7 @@ private:
struct hrt_call _call;
unsigned _call_interval;
/*
this wrapper type is needed to avoid a linker error for
RingBuffer instances which appear in two drivers.
*/
struct _accel_report {
accel_report r;
};
RingBuffer<struct _accel_report> *_reports;
RingBuffer *_reports;
struct accel_scale _accel_scale;
float _accel_range_scale;
@@ -284,7 +277,7 @@ BMA180::init()
goto out;
/* allocate basic report buffers */
_reports = new RingBuffer<_accel_report>(2);
_reports = new RingBuffer(2, sizeof(accel_report));
if (_reports == nullptr)
goto out;
@@ -349,7 +342,7 @@ ssize_t
BMA180::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct accel_report);
struct _accel_report *arp = reinterpret_cast<struct _accel_report *>(buffer);
struct accel_report *arp = reinterpret_cast<struct accel_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
@@ -365,7 +358,7 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
* we are careful to avoid racing with it.
*/
while (count--) {
if (_reports->get(*arp)) {
if (_reports->get(arp)) {
ret += sizeof(*arp);
arp++;
}
@@ -380,7 +373,7 @@ BMA180::read(struct file *filp, char *buffer, size_t buflen)
measure();
/* measurement will have generated a report, copy it out */
if (_reports->get(*arp))
if (_reports->get(arp))
ret = sizeof(*arp);
return ret;
@@ -676,7 +669,7 @@ BMA180::measure()
// } raw_report;
// #pragma pack(pop)
struct _accel_report report;
struct accel_report report;
/* start the performance counter */
perf_begin(_sample_perf);
@@ -696,40 +689,40 @@ BMA180::measure()
* them before. There is no good way to synchronise with the internal
* measurement flow without using the external interrupt.
*/
report.r.timestamp = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
/*
* y of board is x of sensor and x of board is -y of sensor
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
report.r.y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report.r.y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report.r.x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report.r.x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report.r.z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report.r.z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
report.y_raw = read_reg(ADDR_ACC_X_LSB + 0);
report.y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8;
report.x_raw = read_reg(ADDR_ACC_X_LSB + 2);
report.x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8;
report.z_raw = read_reg(ADDR_ACC_X_LSB + 4);
report.z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8;
/* discard two non-value bits in the 16 bit measurement */
report.r.x_raw = (report.r.x_raw / 4);
report.r.y_raw = (report.r.y_raw / 4);
report.r.z_raw = (report.r.z_raw / 4);
report.x_raw = (report.x_raw / 4);
report.y_raw = (report.y_raw / 4);
report.z_raw = (report.z_raw / 4);
/* invert y axis, due to 14 bit data no overflow can occur in the negation */
report.r.y_raw = -report.r.y_raw;
report.y_raw = -report.y_raw;
report.r.x = ((report.r.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report.r.y = ((report.r.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report.r.z = ((report.r.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report.r.scaling = _accel_range_scale;
report.r.range_m_s2 = _accel_range_m_s2;
report.x = ((report.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
report.y = ((report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
report.z = ((report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
report.scaling = _accel_range_scale;
report.range_m_s2 = _accel_range_m_s2;
_reports->force(report);
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
/* publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report.r);
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
/* stop the perf counter */
perf_end(_sample_perf);