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

1 files changed, 24 insertions, 31 deletions

diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index f14c008ce..f0044d36f 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -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);