From cefc7ac00e55ade983562a081c3ccda8030e95ce Mon Sep 17 00:00:00 2001 From: px4dev Date: Mon, 9 Sep 2013 22:23:48 -0700 Subject: Rework the ringbuffer class so that it's not templated, and refactor its clients so they aren't dancing around the linker anymore. --- src/drivers/mpu6000/mpu6000.cpp | 94 ++++++++++++++++++----------------------- 1 file changed, 41 insertions(+), 53 deletions(-) (limited to 'src/drivers/mpu6000/mpu6000.cpp') diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 66d36826a..14a3571de 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -194,26 +194,14 @@ private: struct hrt_call _call; unsigned _call_interval; - /* - these wrapper types are needed to avoid a linker error for - RingBuffer instances which appear in two drivers. - */ - struct _accel_report { - struct accel_report r; - }; - typedef RingBuffer<_accel_report> AccelReportBuffer; - AccelReportBuffer *_accel_reports; + RingBuffer *_accel_reports; struct accel_scale _accel_scale; float _accel_range_scale; float _accel_range_m_s2; orb_advert_t _accel_topic; - struct _gyro_report { - struct gyro_report r; - }; - typedef RingBuffer<_gyro_report> GyroReportBuffer; - GyroReportBuffer *_gyro_reports; + RingBuffer *_gyro_reports; struct gyro_scale _gyro_scale; float _gyro_range_scale; @@ -441,11 +429,11 @@ MPU6000::init() } /* allocate basic report buffers */ - _accel_reports = new AccelReportBuffer(2); + _accel_reports = new RingBuffer(2, sizeof(accel_report)); if (_accel_reports == nullptr) goto out; - _gyro_reports = new GyroReportBuffer(2); + _gyro_reports = new RingBuffer(2, sizeof(gyro_report)); if (_gyro_reports == nullptr) goto out; @@ -475,16 +463,16 @@ MPU6000::init() if (gyro_ret != OK) { _gyro_topic = -1; } else { - _gyro_report gr; - _gyro_reports->get(gr); + gyro_report gr; + _gyro_reports->get(&gr); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr.r); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &gr); } /* advertise accel topic */ - _accel_report ar; - _accel_reports->get(ar); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar.r); + accel_report ar; + _accel_reports->get(&ar); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &ar); out: return ret; @@ -665,10 +653,10 @@ MPU6000::read(struct file *filp, char *buffer, size_t buflen) return -EAGAIN; /* copy reports out of our buffer to the caller */ - _accel_report *arp = reinterpret_cast<_accel_report *>(buffer); + accel_report *arp = reinterpret_cast(buffer); int transferred = 0; while (count--) { - if (!_accel_reports->get(*arp)) + if (!_accel_reports->get(arp)) break; transferred++; arp++; @@ -759,10 +747,10 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) return -EAGAIN; /* copy reports out of our buffer to the caller */ - _gyro_report *grp = reinterpret_cast<_gyro_report *>(buffer); + gyro_report *grp = reinterpret_cast(buffer); int transferred = 0; while (count--) { - if (!_gyro_reports->get(*grp)) + if (!_gyro_reports->get(grp)) break; transferred++; grp++; @@ -1191,13 +1179,13 @@ MPU6000::measure() /* * Report buffers. */ - _accel_report arb; - _gyro_report grb; + accel_report arb; + gyro_report grb; /* * Adjust and scale results to m/s^2. */ - grb.r.timestamp = arb.r.timestamp = hrt_absolute_time(); + grb.timestamp = arb.timestamp = hrt_absolute_time(); /* @@ -1218,53 +1206,53 @@ MPU6000::measure() /* NOTE: Axes have been swapped to match the board a few lines above. */ - arb.r.x_raw = report.accel_x; - arb.r.y_raw = report.accel_y; - arb.r.z_raw = report.accel_z; + arb.x_raw = report.accel_x; + arb.y_raw = report.accel_y; + arb.z_raw = report.accel_z; float x_in_new = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; float y_in_new = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; float z_in_new = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - arb.r.x = _accel_filter_x.apply(x_in_new); - arb.r.y = _accel_filter_y.apply(y_in_new); - arb.r.z = _accel_filter_z.apply(z_in_new); + arb.x = _accel_filter_x.apply(x_in_new); + arb.y = _accel_filter_y.apply(y_in_new); + arb.z = _accel_filter_z.apply(z_in_new); - arb.r.scaling = _accel_range_scale; - arb.r.range_m_s2 = _accel_range_m_s2; + arb.scaling = _accel_range_scale; + arb.range_m_s2 = _accel_range_m_s2; - arb.r.temperature_raw = report.temp; - arb.r.temperature = (report.temp) / 361.0f + 35.0f; + arb.temperature_raw = report.temp; + arb.temperature = (report.temp) / 361.0f + 35.0f; - grb.r.x_raw = report.gyro_x; - grb.r.y_raw = report.gyro_y; - grb.r.z_raw = report.gyro_z; + grb.x_raw = report.gyro_x; + grb.y_raw = report.gyro_y; + grb.z_raw = report.gyro_z; float x_gyro_in_new = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; float y_gyro_in_new = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; float z_gyro_in_new = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - grb.r.x = _gyro_filter_x.apply(x_gyro_in_new); - grb.r.y = _gyro_filter_y.apply(y_gyro_in_new); - grb.r.z = _gyro_filter_z.apply(z_gyro_in_new); + grb.x = _gyro_filter_x.apply(x_gyro_in_new); + grb.y = _gyro_filter_y.apply(y_gyro_in_new); + grb.z = _gyro_filter_z.apply(z_gyro_in_new); - grb.r.scaling = _gyro_range_scale; - grb.r.range_rad_s = _gyro_range_rad_s; + grb.scaling = _gyro_range_scale; + grb.range_rad_s = _gyro_range_rad_s; - grb.r.temperature_raw = report.temp; - grb.r.temperature = (report.temp) / 361.0f + 35.0f; + grb.temperature_raw = report.temp; + grb.temperature = (report.temp) / 361.0f + 35.0f; - _accel_reports->force(arb); - _gyro_reports->force(grb); + _accel_reports->force(&arb); + _gyro_reports->force(&grb); /* notify anyone waiting for data */ poll_notify(POLLIN); _gyro->parent_poll_notify(); /* and publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb.r); + orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb); if (_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb.r); + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb); } /* stop measuring */ -- cgit v1.2.3