From 234ad240818e6486d39a3149597956a534d59ea0 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sun, 21 Jul 2013 23:46:37 -0700 Subject: Simple ring-buffer template class, because re-implementing the wheel in every driver is silly. --- src/drivers/device/ringbuffer.h | 192 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 192 insertions(+) create mode 100644 src/drivers/device/ringbuffer.h (limited to 'src') diff --git a/src/drivers/device/ringbuffer.h b/src/drivers/device/ringbuffer.h new file mode 100644 index 000000000..37686fdbe --- /dev/null +++ b/src/drivers/device/ringbuffer.h @@ -0,0 +1,192 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ringbuffer.h + * + * A simple ringbuffer template. + */ + +#pragma once + +template +class RingBuffer { +public: + RingBuffer(unsigned size); + virtual ~RingBuffer(); + + /** + * Put an item into the buffer. + * + * @param val Item to put + * @return true if the item was put, false if the buffer is full + */ + bool put(T &val); + + /** + * Put an item into the buffer. + * + * @param val Item to put + * @return true if the item was put, false if the buffer is full + */ + bool put(const T &val); + + /** + * Get an item from the buffer. + * + * @param val Item that was gotten + * @return true if an item was got, false if the buffer was empty. + */ + bool get(T &val); + + /** + * Get an item from the buffer (scalars only). + * + * @return The value that was fetched, or zero if the buffer was + * empty. + */ + T get(void); + + /* + * Get the number of slots free in the buffer. + * + * @return The number of items that can be put into the buffer before + * it becomes full. + */ + unsigned space(void); + + /* + * Get the number of items in the buffer. + * + * @return The number of items that can be got from the buffer before + * it becomes empty. + */ + unsigned count(void); + + /* + * Returns true if the buffer is empty. + */ + bool empty() { return _tail == _head; } + + /* + * Returns true if the buffer is full. + */ + bool full() { return _next(_head) == _tail; } + +private: + T *const _buf; + const unsigned _size; + volatile unsigned _head; /**< insertion point */ + volatile unsigned _tail; /**< removal point */ + + unsigned _next(unsigned index); +}; + +template +RingBuffer::RingBuffer(unsigned size) : + _buf(new T[size + 1]), + _size(size), + _head(size), + _tail(size) +{} + +template +RingBuffer::~RingBuffer() +{ + if (_buf != nullptr) + delete[] _buf; +} + +template +bool RingBuffer::put(T &val) +{ + unsigned next = _next(_head); + if (next != _tail) { + _buf[_head] = val; + _head = next; + return true; + } else { + return false; + } +} + +template +bool RingBuffer::put(const T &val) +{ + unsigned next = _next(_head); + if (next != _tail) { + _buf[_head] = val; + _head = next; + return true; + } else { + return false; + } +} + +template +bool RingBuffer::get(T &val) +{ + if (_tail != _head) { + val = _buf[_tail]; + _tail = _next(_tail); + return true; + } else { + return false; + } +} + +template +T RingBuffer::get(void) +{ + T val; + return get(val) ? val : 0; +} + +template +unsigned RingBuffer::space(void) +{ + return (_tail >= _head) ? (_size - (_tail - _head)) : (_head - _tail - 1); +} + +template +unsigned RingBuffer::count(void) +{ + return _size - space(); +} + +template +unsigned RingBuffer::_next(unsigned index) +{ + return (0 == index) ? _size : (index - 1); +} -- cgit v1.2.3 From 9bcabc5ba90d225f63e16f00595682fd4a4b857a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 4 Aug 2013 19:09:10 +0200 Subject: Hotfix for attitude estimator EKF init --- .../attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'src') diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 1eff60e88..9e533ccdf 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -224,8 +224,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* subscribe to raw data */ int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); - /* rate-limit raw data updates to 200Hz */ - orb_set_interval(sub_raw, 4); + /* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */ + orb_set_interval(sub_raw, 3); /* subscribe to param changes */ int sub_params = orb_subscribe(ORB_ID(parameter_update)); @@ -236,7 +236,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* advertise attitude */ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); - int loopcounter = 0; int printcounter = 0; @@ -384,7 +383,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds static bool const_initialized = false; /* initialize with good values once we have a reasonable dt estimate */ - if (!const_initialized && dt < 0.05f && dt > 0.005f) { + if (!const_initialized && dt < 0.05f && dt > 0.001f) { dt = 0.005f; parameters_update(&ekf_param_handles, &ekf_params); @@ -424,7 +423,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds continue; } - if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); + if (last_data > 0 && raw.timestamp - last_data > 12000) + printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); last_data = raw.timestamp; -- cgit v1.2.3