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OP-198 Flight/Libraries: Swap to using circular buffer code from Pip because it
supports thread safe write/read simultaneously git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2027 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
0bdaf4d0df
commit
b9f74a86c3
261
flight/Libraries/fifo_buffer.c
Normal file
261
flight/Libraries/fifo_buffer.c
Normal file
@ -0,0 +1,261 @@
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/**
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******************************************************************************
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*
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* @file fifo_buffer.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPIO input functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <string.h>
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#include "fifo_buffer.h"
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// *****************************************************************************
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// circular buffer functions
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uint16_t fifoBuf_getUsed(t_fifo_buffer *buf)
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{ // return the number of bytes available in the rx buffer
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uint16_t rd = buf->rd;
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uint16_t wr = buf->wr;
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uint16_t buf_size = buf->buf_size;
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uint16_t num_bytes = wr - rd;
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if (wr < rd)
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num_bytes = (buf_size - rd) + wr;
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return num_bytes;
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}
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uint16_t fifoBuf_getFree(t_fifo_buffer *buf)
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{ // return the free space size in the buffer
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uint16_t buf_size = buf->buf_size;
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uint16_t num_bytes = fifoBuf_getUsed(buf);
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return ((buf_size - num_bytes) - 1);
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}
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void fifoBuf_clearData(t_fifo_buffer *buf)
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{ // remove all data from the buffer
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buf->rd = buf->wr = 0;
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}
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void fifoBuf_removeData(t_fifo_buffer *buf, uint16_t len)
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{ // remove a number of bytes from the buffer
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uint16_t rd = buf->rd;
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uint16_t buf_size = buf->buf_size;
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// get number of bytes available
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uint16_t num_bytes = fifoBuf_getUsed(buf);
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if (num_bytes > len)
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num_bytes = len;
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if (num_bytes < 1)
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return;
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rd += num_bytes;
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if (rd >= buf_size)
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rd -= buf_size;
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buf->rd = rd;
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}
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int16_t fifoBuf_getBytePeek(t_fifo_buffer *buf)
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{ // get a data byte from the buffer without removing it
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uint16_t rd = buf->rd;
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// get number of bytes available
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uint16_t num_bytes = fifoBuf_getUsed(buf);
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if (num_bytes < 1)
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return -1;
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return buf->buffer[rd];
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}
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int16_t fifoBuf_getByte(t_fifo_buffer *buf)
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{ // get a data byte from the buffer
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uint16_t rd = buf->rd;
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uint16_t buf_size = buf->buf_size;
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// get number of bytes available
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uint16_t num_bytes = fifoBuf_getUsed(buf);
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if (num_bytes < 1)
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return -1;
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uint8_t b = buf->buffer[rd];
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if (++rd >= buf_size)
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rd = 0;
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buf->rd = rd;
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return b;
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}
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uint16_t fifoBuf_getDataPeek(t_fifo_buffer *buf, void *data, uint16_t len)
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{ // get data from the buffer without removing it
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uint16_t rd = buf->rd;
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uint16_t wr = buf->wr;
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uint16_t buf_size = buf->buf_size;
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// get number of bytes available
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uint16_t num_bytes = fifoBuf_getUsed(buf);
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if (num_bytes > len)
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num_bytes = len;
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if (num_bytes < 1)
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return 0; // return number of bytes copied
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uint8_t *p = (uint8_t *)data;
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uint16_t i = num_bytes;
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if (wr < rd)
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{ // we're going to do a rap-around
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uint16_t j = buf_size - rd;
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if (j > num_bytes)
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j = num_bytes;
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memcpy(p, (void *)&buf->buffer[rd], j);
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p += j;
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i -= j;
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rd = 0;
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}
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if (i > 0)
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{
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memcpy(p, (void *)&buf->buffer[rd], i);
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rd += i;
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if (rd >= buf_size)
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rd = 0;
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}
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return num_bytes; // return number of bytes copied
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}
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uint16_t fifoBuf_getData(t_fifo_buffer *buf, void *data, uint16_t len)
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{ // get data from our rx buffer
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uint16_t rd = buf->rd;
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uint16_t wr = buf->wr;
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uint16_t buf_size = buf->buf_size;
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// get number of bytes available
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uint16_t num_bytes = fifoBuf_getUsed(buf);
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if (num_bytes > len)
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num_bytes = len;
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if (num_bytes < 1)
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return 0; // return number of bytes copied
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uint8_t *p = (uint8_t *)data;
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uint16_t i = num_bytes;
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if (wr < rd)
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{ // we're going to do a rap-around
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uint16_t j = buf_size - rd;
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if (j > num_bytes)
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j = num_bytes;
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memcpy(p, (void *)&buf->buffer[rd], j);
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p += j;
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i -= j;
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rd = 0;
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}
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if (i > 0)
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{
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memcpy(p, (void *)&buf->buffer[rd], i);
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rd += i;
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if (rd >= buf_size)
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rd = 0;
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}
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buf->rd = rd;
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return num_bytes; // return number of bytes copied
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}
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uint16_t fifoBuf_putByte(t_fifo_buffer *buf, const uint8_t b)
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{ // add a data byte to the buffer
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uint16_t wr = buf->wr;
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uint16_t buf_size = buf->buf_size;
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uint16_t num_bytes = fifoBuf_getFree(buf);
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if (num_bytes < 1)
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return 0;
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buf->buffer[wr] = b;
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if (++wr >= buf_size)
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wr = 0;
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buf->wr = wr;
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return 1;
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}
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uint16_t fifoBuf_putData(t_fifo_buffer *buf, const void *data, uint16_t len)
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{ // add data to the buffer
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uint16_t wr = buf->wr;
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uint16_t buf_size = buf->buf_size;
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uint16_t num_bytes = fifoBuf_getFree(buf);
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if (num_bytes > len)
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num_bytes = len;
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if (num_bytes < 1)
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return 0; // return number of bytes copied
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uint8_t *p = (uint8_t *)data;
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uint16_t i = 0;
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while (num_bytes > 0)
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{
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uint16_t j = buf_size - wr;
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if (j > num_bytes)
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j = num_bytes;
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memcpy((void *)&buf->buffer[wr], p + i, j);
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i += j;
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num_bytes -= j;
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wr += j;
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if (wr >= buf_size)
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wr = 0;
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}
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buf->wr = wr;
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return i;
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}
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void fifoBuf_init(t_fifo_buffer *buf)
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{
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buf->rd = 0;
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buf->wr = 0;
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buf->buf_size = FIFO_BUFFER_SIZE;
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}
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// *****************************************************************************
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66
flight/Libraries/inc/fifo_buffer.h
Normal file
66
flight/Libraries/inc/fifo_buffer.h
Normal file
@ -0,0 +1,66 @@
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/**
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******************************************************************************
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*
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* @file fifo_buffer.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GPIO functions header.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef _FIFO_BUFFER_H_
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#define _FIFO_BUFFER_H_
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#include "stm32f10x.h"
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#define FIFO_BUFFER_SIZE 512
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// *********************
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typedef struct
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{
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uint8_t buffer[FIFO_BUFFER_SIZE] __attribute__ ((aligned(4)));
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// uint8_t buffer[FIFO_BUFFER_SIZE];
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volatile uint16_t rd;
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volatile uint16_t wr;
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uint16_t buf_size;
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} t_fifo_buffer;
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// *********************
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uint16_t fifoBuf_getUsed(t_fifo_buffer *buf);
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uint16_t fifoBuf_getFree(t_fifo_buffer *buf);
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void fifoBuf_clearData(t_fifo_buffer *buf);
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void fifoBuf_removeData(t_fifo_buffer *buf, uint16_t len);
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int16_t fifoBuf_getBytePeek(t_fifo_buffer *buf);
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int16_t fifoBuf_getByte(t_fifo_buffer *buf);
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uint16_t fifoBuf_getDataPeek(t_fifo_buffer *buf, void *data, uint16_t len);
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uint16_t fifoBuf_getData(t_fifo_buffer *buf, void *data, uint16_t len);
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uint16_t fifoBuf_putByte(t_fifo_buffer *buf, const uint8_t b);
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uint16_t fifoBuf_putData(t_fifo_buffer *buf, const void *data, uint16_t len);
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void fifoBuf_init(t_fifo_buffer *buf);
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// *********************
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#endif
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@ -223,6 +223,7 @@ SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
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SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/buffer.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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@ -36,7 +36,7 @@
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#include "usb_lib.h"
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#include "pios_usb_hid_desc.h"
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#include "stm32f10x.h"
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#include "buffer.h"
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#include "fifo_buffer.h"
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#if defined(PIOS_INCLUDE_USB_HID)
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@ -51,20 +51,12 @@ const struct pios_com_driver pios_usb_com_driver = {
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// so there isn't hte 64 byte cap in place by the USB interrupt packet definition
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/* Rx/Tx status */
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static volatile uint8_t rx_buffer_new_data_ctr = 0;
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static volatile uint8_t rx_buffer_ix;
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static uint8_t transfer_possible = 0;
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static uint8_t rx_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
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static uint8_t tx_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
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static uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
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static uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
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#define TX_BUFFER_SIZE 512
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#define RX_BUFFER_SIZE 512
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cBuffer rxBuffer;
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cBuffer txBuffer;
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static uint8_t rxBufferSpace[TX_BUFFER_SIZE];
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static uint8_t txBufferSpace[RX_BUFFER_SIZE];
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volatile uint8_t in_irq = 0;
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t_fifo_buffer rx_pios_fifo_buffer;
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t_fifo_buffer tx_pios_fifo_buffer;
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/**
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* Initialises USB COM layer
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* \param[in] mode currently only mode 0 supported
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@ -79,8 +71,8 @@ int32_t PIOS_USB_HID_Init(uint32_t mode)
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return -1;
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}
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bufferInit(&rxBuffer, &rxBufferSpace[0], RX_BUFFER_SIZE);
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bufferInit(&txBuffer, &txBufferSpace[0], TX_BUFFER_SIZE);
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fifoBuf_init(&rx_pios_fifo_buffer);
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fifoBuf_init(&tx_pios_fifo_buffer);
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PIOS_USB_HID_Reenumerate();
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@ -191,17 +183,17 @@ int32_t PIOS_USB_HID_CheckAvailable(uint8_t id)
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void sendChunk()
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{
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uint32_t size = bufferBufferedData(&txBuffer);
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uint32_t size = fifoBuf_getUsed(&tx_pios_fifo_buffer);
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if (size > 0) {
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if (size > PIOS_USB_HID_DATA_LENGTH)
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size = PIOS_USB_HID_DATA_LENGTH;
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#ifdef USB_HID
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bufferGetChunkFromFront(&txBuffer, &tx_buffer[1], size + 1);
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tx_buffer[0] = 1; /* report ID */
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fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[1], size + 1);
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tx_packet_buffer[0] = 1; /* report ID */
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#else
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bufferGetChunkFromFront(&txBuffer, &tx_buffer[2], size);
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tx_buffer[0] = 1; /* report ID */
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tx_buffer[1] = size; /* valid data length */
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fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[2], size);
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tx_packet_buffer[0] = 1; /* report ID */
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tx_packet_buffer[1] = size; /* valid data length */
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#endif
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/* Wait for any pending transmissions to complete */
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@ -211,7 +203,7 @@ void sendChunk()
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#endif
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}
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UserToPMABufferCopy((uint8_t *) tx_buffer, GetEPTxAddr(EP1_IN & 0x7F), size + 2);
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UserToPMABufferCopy((uint8_t *) tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), size + 2);
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SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH + 2);
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/* Send Buffer */
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@ -236,20 +228,15 @@ int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t * buff
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if(!transfer_possible)
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return -1;
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uint8_t previous_data = bufferBufferedData(&txBuffer);
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uint8_t previous_data = fifoBuf_getUsed(&tx_pios_fifo_buffer);
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if (len > bufferRemainingSpace(&txBuffer))
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if (len > fifoBuf_getFree(&tx_pios_fifo_buffer))
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return -2; /* Cannot send all requested bytes */
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while(in_irq);
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PIOS_IRQ_Disable();
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if(!in_irq)
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ret = bufferAddChunkToEnd(&txBuffer, buffer, len);
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else
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ret = 0;
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PIOS_IRQ_Enable();
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if (ret == 0)
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return -2;
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/* don't check returned bytes because it should always succeed */
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/* after previous thread and no meaningful way to deal with the */
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/* case it only buffers half the bytes */
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ret = fifoBuf_putData(&tx_pios_fifo_buffer, buffer, len);
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/* If no previous data queued and not sending, then TX complete interrupt not likely so send manually */
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if (previous_data == 0 && GetEPTxStatus(ENDP1) != EP_TX_VALID)
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@ -269,7 +256,7 @@ int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t * buff
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*/
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int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t * buffer, uint16_t len)
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{
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if(len > TX_BUFFER_SIZE)
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if(len > (fifoBuf_getUsed(&tx_pios_fifo_buffer) + fifoBuf_getFree(&tx_pios_fifo_buffer)))
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return -1;
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uint32_t error;
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@ -279,7 +266,7 @@ int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t * buffer, uint16_
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#endif
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}
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return 0;
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return error;
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}
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/**
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@ -292,16 +279,13 @@ int32_t PIOS_USB_HID_RxBufferGet(uint8_t id)
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{
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uint8_t read;
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while(in_irq);
|
||||
PIOS_IRQ_Disable();
|
||||
if(!in_irq)
|
||||
read = bufferGetFromFront(&rxBuffer);
|
||||
else
|
||||
read = -1;
|
||||
PIOS_IRQ_Enable();
|
||||
if(fifoBuf_getUsed(&rx_pios_fifo_buffer) == 0)
|
||||
return -1;
|
||||
|
||||
read = fifoBuf_getByte(&rx_pios_fifo_buffer);
|
||||
|
||||
// If endpoint was stalled and there is now space make it valid
|
||||
if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && (bufferRemainingSpace(&rxBuffer) > 62)) {
|
||||
if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62)) {
|
||||
SetEPRxStatus(ENDP1, EP_RX_VALID);
|
||||
}
|
||||
return read;
|
||||
@ -315,7 +299,7 @@ int32_t PIOS_USB_HID_RxBufferGet(uint8_t id)
|
||||
*/
|
||||
int32_t PIOS_USB_HID_RxBufferUsed(uint8_t id)
|
||||
{
|
||||
return bufferBufferedData(&rxBuffer);
|
||||
return fifoBuf_getUsed(&rx_pios_fifo_buffer);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -324,18 +308,14 @@ int32_t PIOS_USB_HID_RxBufferUsed(uint8_t id)
|
||||
*/
|
||||
void PIOS_USB_HID_EP1_IN_Callback(void)
|
||||
{
|
||||
in_irq = 1;
|
||||
sendChunk();
|
||||
in_irq = 0;
|
||||
}
|
||||
|
||||
int hid_rec = 0;
|
||||
/**
|
||||
* EP1 OUT Callback Routine
|
||||
*/
|
||||
void PIOS_USB_HID_EP1_OUT_Callback(void)
|
||||
{
|
||||
in_irq = 1;
|
||||
uint32_t DataLength = 0;
|
||||
|
||||
/* Read received data (63 bytes) */
|
||||
@ -343,23 +323,21 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
|
||||
DataLength = GetEPRxCount(ENDP1 & 0x7F);
|
||||
|
||||
/* Use the memory interface function to write to the selected endpoint */
|
||||
PMAToUserBufferCopy((uint8_t *) rx_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
|
||||
PMAToUserBufferCopy((uint8_t *) &rx_packet_buffer[0], GetEPRxAddr(ENDP1 & 0x7F), DataLength);
|
||||
|
||||
/* The first byte is report ID (not checked), the second byte is the valid data length */
|
||||
#ifdef USB_HID
|
||||
bufferAddChunkToEnd(&rxBuffer, &rx_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1);
|
||||
fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1);
|
||||
#else
|
||||
hid_rec += rx_buffer[1];
|
||||
bufferAddChunkToEnd(&rxBuffer, &rx_buffer[2], rx_buffer[1]);
|
||||
fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[2], rx_packet_buffer[1]);
|
||||
#endif
|
||||
|
||||
// Only reactivate endpoint if available space in buffer
|
||||
if (bufferRemainingSpace(&rxBuffer) > 62) {
|
||||
if (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62) {
|
||||
SetEPRxStatus(ENDP1, EP_RX_VALID);
|
||||
} else {
|
||||
SetEPRxStatus(ENDP1, EP_RX_NAK);
|
||||
}
|
||||
in_irq = 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@ -38,6 +38,8 @@
|
||||
65322D77122897210046CD7C /* MagOrAccelSensorCal.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = MagOrAccelSensorCal.c; path = ../../AHRS/MagOrAccelSensorCal.c; sourceTree = SOURCE_ROOT; };
|
||||
654330231218E9780063F913 /* insgps.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps.c; path = ../../AHRS/insgps.c; sourceTree = SOURCE_ROOT; };
|
||||
6543304F121980300063F913 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
|
||||
6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; };
|
||||
6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = "<group>"; };
|
||||
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
|
||||
65632CBF124E09D900469B77 /* guidance.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = guidance.c; sourceTree = "<group>"; };
|
||||
65632CC1124E09D900469B77 /* guidance.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = guidance.h; sourceTree = "<group>"; };
|
||||
@ -2984,6 +2986,7 @@
|
||||
657CEEB6121DBC63007A1FBE /* Libraries */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6549E0D21279B3C800C5476F /* fifo_buffer.c */,
|
||||
651913371256C5240039C0A3 /* ahrs_comm_objects.c */,
|
||||
651913381256C5240039C0A3 /* ahrs_spi_comm.c */,
|
||||
651913391256C5240039C0A3 /* ahrs_spi_program_slave.c */,
|
||||
@ -2999,6 +3002,7 @@
|
||||
657CEEB8121DBC63007A1FBE /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6549E0D31279B3CF00C5476F /* fifo_buffer.h */,
|
||||
6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */,
|
||||
6519133B1256C52B0039C0A3 /* ahrs_spi_comm.h */,
|
||||
6519133C1256C52B0039C0A3 /* ahrs_spi_program_master.h */,
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user