restarting work on this since im using it in penguinator
parent
519c761f7a
commit
125e6f2b5e
@ -0,0 +1,178 @@
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---
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...
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@ -1,29 +1,29 @@
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@ -1,42 +1,42 @@
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/*
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(WORK IN PROGRESS)
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Penguin's Circular Buffer Example -- Turning a noisy bell curve into a less noisy bell curve
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Here's an example of using the circular buffer library for sensor data:
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Let's say I have a sensor that gives me temperature at 1khz (using ideals so it is exactly 1khz)
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If this sensor was only giving me raw analog data, I might want to do some processing on these values
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so that I can make sure the values are as clean as possible. The more samples we have, the closer we are to the actual value.
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The faster we gather samples, the closer we get to representing our data in realtime.
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Using the sample rate, I can decide on a sampling window (in seconds) and an OSR (Oversampling Rate). The larger the buffer size, the more memory I need, so
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it is useful to find a happy medium between a large buffer and clean values.
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A sampling window is the window of time in which we can accept values for an average value. Depending on your application,
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a sampling window may need to be extremely small or maybe not so small. A rocket going extremely fast using
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some sensor for real time controls will want an extremely small sampling window as well as a lot of measurements for
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both clean, near noiseless data and as close to realtime data as possible.
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The sampling windows is usually an engineering requirement given that can match the sampling rate of the sensor with the following:
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sampling window (in seconds) = 1 / frequency
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Here, the OSR is simply 1.
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So at 1khz sample rate, let's say I decide I only need a 0.125 second sample window and I want to clean up some noisy data.
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We can now use this equation:
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OSR = frequency * sample window (in seconds)
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All of these have ignored real world slowdowns like the time it takes to do math on lower end hardware, interrupts slightly delaying the math, etc
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Without wanting to do some hard analysis on whatever hardware we're using, I usually take my frequency and half it to ensure timing requirements are met, like so:
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OSR = frequency / 2 * sample window
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Please note: In applications that require real real-time data, this is not a good way of doing things.
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*/
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#include <stdio.h>
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int main()
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{
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return 0;
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/*
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(WORK IN PROGRESS)
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Penguin's Circular Buffer Example -- Turning a noisy bell curve into a less noisy bell curve
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Here's an example of using the circular buffer library for sensor data:
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Let's say I have a sensor that gives me temperature at 1khz (using ideals so it is exactly 1khz)
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If this sensor was only giving me raw analog data, I might want to do some processing on these values
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so that I can make sure the values are as clean as possible. The more samples we have, the closer we are to the actual value.
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The faster we gather samples, the closer we get to representing our data in realtime.
|
||||
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Using the sample rate, I can decide on a sampling window (in seconds) and an OSR (Oversampling Rate). The larger the buffer size, the more memory I need, so
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it is useful to find a happy medium between a large buffer and clean values.
|
||||
|
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A sampling window is the window of time in which we can accept values for an average value. Depending on your application,
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a sampling window may need to be extremely small or maybe not so small. A rocket going extremely fast using
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some sensor for real time controls will want an extremely small sampling window as well as a lot of measurements for
|
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both clean, near noiseless data and as close to realtime data as possible.
|
||||
|
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The sampling windows is usually an engineering requirement given that can match the sampling rate of the sensor with the following:
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sampling window (in seconds) = 1 / frequency
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Here, the OSR is simply 1.
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So at 1khz sample rate, let's say I decide I only need a 0.125 second sample window and I want to clean up some noisy data.
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We can now use this equation:
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OSR = frequency * sample window (in seconds)
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||||
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All of these have ignored real world slowdowns like the time it takes to do math on lower end hardware, interrupts slightly delaying the math, etc
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Without wanting to do some hard analysis on whatever hardware we're using, I usually take my frequency and half it to ensure timing requirements are met, like so:
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OSR = frequency / 2 * sample window
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Please note: In applications that require real real-time data, this is not a good way of doing things.
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*/
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#include <stdio.h>
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int main()
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{
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return 0;
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}
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@ -1,203 +1,198 @@
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// Resource/Inspiration: https://embedjournal.com/implementing-circular-buffer-embedded-c/
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/*
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Penguin's Circular Buffer -- a simple floating queue designed for low memory usage (mainly for embedded)
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This is a ring buffer with limited capabilities. It is meant as a container for moving data.
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Normally included features such as checks to see if the buffer is full or empty have been omitted
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because this type of buffer is being implemented mainly for sensor data usage. Data is almost never read individually,
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and even if it is, it isn't meant to be cleared on read. It is a simple moving buffer that automatically
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writes over old data for the purpose of keeping track of the most up to date data.
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Notes:
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- Initialization is mandatory using p_cb_<type>_init.
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- If a circular buffer is not initialized, you will run into a LOT of hard-to-debug problems. Just initialize it.
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- By default, all cb types should be defined as disabled. This is to save on size. Enable the ones you want to use.
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Behavior:
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- Oldest data is overwritten
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- popping of data isn't implemented. If this feature is required, use a ring buffer.
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Acronyms:
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- p: penguin
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- pb: penguin buffer
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- cb: circular buffer
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- uX, where X is bit size: unsigned X bit integer
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- iX, where X is bit size: signed X bit integer
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*/
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#ifndef _PCIRCULARBUFFER_H_
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#define _PCIRCULARBUFFER_H_
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#include <stdint.h>
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#include <stdbool.h>
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// comment this out for release builds
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//#define PB_CB_DEBUG
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// Making these PB_EN/DIS rather than just ENABLE/DISABLE because
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// some enable/disable definition might already exist that is
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// inversely active (enabled = 0, disable = 1)
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// this way our en/dis definitions are explicit
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#ifndef PB_ENABLE
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#define PB_ENABLE (1)
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#endif
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#ifndef PB_DISABLE
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#define PB_DISABLE (0)
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#endif
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// Max size is 65535 (2^16 - 1) so variables can be safely set 16 bits (unsigned)
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// If you want to change this, you'll need to change the sizes of all heads and max lengths
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#define PB_CB_MAX_BUFFER_SIZE (65535)
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// Config
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// Disable or Enable types needed here
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// We can save code size this way
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// While there are better ways to do this, this is the most accessible for anyone imo
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#define PB_CB_FLOAT PB_DISABLE
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#define PB_CB_DOUBLE PB_ENABLE
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#define PB_CB_U8 PB_DISABLE
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#define PB_CB_U16 PB_DISABLE
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#define PB_CB_U32 PB_DISABLE
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#define PB_CB_U64 PB_DISABLE
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#define PB_CB_I8 PB_DISABLE
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#define PB_CB_I16 PB_DISABLE
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#define PB_CB_I32 PB_DISABLE
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#define PB_CB_I64 PB_DISABLE
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typedef enum PB_CB_STATUS
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{
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PB_CB_GOOD = 0,
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PB_CB_BAD = 1,
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PB_CB_BAD_BUFFER_SIZE = 2,
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PB_CB_NULL_BUFFER = 3,
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PB_CB_NULL_CBUFFER = 4
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}PB_CB_STATUS;
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#if PB_CB_U8
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typedef struct p_cb_u8
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{
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uint8_t* buffer;
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uint16_t head;
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uint16_t max_len;
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// Signifies the buffer being filled at least once.
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// Useful for initializing sensor data
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bool b_filled;
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// Signifies the buffer being empty
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// Useful for knowing if data is being received
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bool b_empty;
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PB_CB_STATUS (*push)(struct p_cb_u8* cbuffer, uint8_t value);
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PB_CB_STATUS (*empty)(struct p_cb_u8* cbuffer);
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}p_cb_u8;
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PB_CB_STATUS p_cb_u8_init(p_cb_u8* circ_buffer, uint8_t* buff, uint32_t max_length);
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#endif
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#if PB_CB_U16
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typedef struct p_cb_u16
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{
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uint16_t* buffer;
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uint16_t head;
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uint16_t max_len;
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// Signifies the buffer being filled at least once.
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// Useful for initializing sensor data
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bool b_filled;
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// Signifies the buffer being empty
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// Useful for knowing if data is being received
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bool b_empty;
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PB_CB_STATUS (*push)(struct p_cb_u16* cbuffer, uint16_t value);
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PB_CB_STATUS (*empty)(struct p_cb_u16* cbuffer);
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}p_cb_u16;
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PB_CB_STATUS p_cb_u16_init(p_cb_u16* circ_buffer, uint16_t* buff, uint32_t max_length);
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#endif
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#if PB_CB_U32
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typedef struct p_cb_u32
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{
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uint32_t* buffer;
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uint16_t head;
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uint16_t max_len;
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// Signifies the buffer being filled at least once.
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// Useful for initializing sensor data
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bool b_filled;
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// Signifies the buffer being empty
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// Useful for knowing if data is being received
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bool b_empty;
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PB_CB_STATUS (*push)(struct p_cb_u32* cbuffer, uint32_t value);
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PB_CB_STATUS (*empty)(struct p_cb_u32* cbuffer);
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}p_cb_u32;
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PB_CB_STATUS p_cb_u32_init(p_cb_u32* circ_buffer, uint32_t* buff, uint32_t max_length);
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#endif
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#if PB_CB_U64
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typedef struct p_cb_u64
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{
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uint64_t* buffer;
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uint16_t head;
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uint16_t max_len;
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// Signifies the buffer being filled at least once.
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// Useful for initializing sensor data
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bool b_filled;
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// Signifies the buffer being empty
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// Useful for knowing if data is being received
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bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_u64* cbuffer, uint64_t value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_u64* cbuffer);
|
||||
}p_cb_u64;
|
||||
|
||||
PB_CB_STATUS p_cb_u64_init(p_cb_u64* circ_buffer, uint64_t* buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_FLOAT
|
||||
typedef struct p_cb_float
|
||||
{
|
||||
float* buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_float* cbuffer, float value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_float* cbuffer);
|
||||
}p_cb_float;
|
||||
|
||||
PB_CB_STATUS p_cb_float_init(p_cb_float* circ_buffer, float* buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_DOUBLE
|
||||
typedef struct p_cb_double
|
||||
{
|
||||
double* buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_double* cbuffer, double value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_double* cbuffer);
|
||||
}p_cb_double;
|
||||
|
||||
PB_CB_STATUS p_cb_double_init(p_cb_double* circ_buffer, double* buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
// Resource/Inspiration: https://embedjournal.com/implementing-circular-buffer-embedded-c/
|
||||
|
||||
/*
|
||||
Penguin's Circular Buffer -- a simple floating queue designed for low memory usage (mainly for embedded)
|
||||
|
||||
This is a ring buffer with limited capabilities. It is meant as a container for moving data.
|
||||
Normally included features such as checks to see if the buffer is full or empty have been omitted
|
||||
because this type of buffer is being implemented mainly for sensor data usage. Data is almost never read
|
||||
individually, and even if it is, it isn't meant to be cleared on read. It is a simple moving buffer that
|
||||
automatically writes over old data for the purpose of keeping track of the most up to date data.
|
||||
|
||||
Notes:
|
||||
- Initialization is mandatory using p_cb_<type>_init.
|
||||
- If a circular buffer is not initialized, you will run into a LOT of hard-to-debug problems. Just initialize it.
|
||||
- By default, all cb types should be defined as disabled. This is to save on size. Enable the ones you want to use.
|
||||
|
||||
Behavior:
|
||||
- Oldest data is overwritten
|
||||
- popping of data isn't implemented. If this feature is required, use a ring buffer.
|
||||
|
||||
Acronyms:
|
||||
- p: penguin
|
||||
- pb: penguin buffer
|
||||
- cb: circular buffer
|
||||
- uX, where X is bit size: unsigned X bit integer
|
||||
- iX, where X is bit size: signed X bit integer
|
||||
*/
|
||||
|
||||
#ifndef _PCIRCULARBUFFER_H_
|
||||
#define _PCIRCULARBUFFER_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
// comment this out for release builds
|
||||
//#define PB_CB_DEBUG
|
||||
|
||||
// Making these PB_EN/DIS rather than just ENABLE/DISABLE because
|
||||
// some enable/disable definition might already exist that is
|
||||
// inversely active (enabled = 0, disable = 1)
|
||||
// this way our en/dis definitions are explicit
|
||||
#ifndef PB_ENABLE
|
||||
#define PB_ENABLE (1)
|
||||
#endif
|
||||
|
||||
#ifndef PB_DISABLE
|
||||
#define PB_DISABLE (0)
|
||||
#endif
|
||||
|
||||
// Max size is 65535 (2^16 - 1) so variables can be safely set 16 bits (unsigned)
|
||||
// If you want to change this, you'll need to change the sizes of all heads and max lengths
|
||||
#define PB_CB_MAX_BUFFER_SIZE (65535)
|
||||
|
||||
// Config
|
||||
// Disable or Enable types needed here
|
||||
// We can save code size this way
|
||||
// While there are better ways to do this, this is the most accessible for anyone imo
|
||||
#define PB_CB_FLOAT PB_DISABLE
|
||||
#define PB_CB_DOUBLE PB_ENABLE
|
||||
#define PB_CB_U8 PB_DISABLE
|
||||
#define PB_CB_U16 PB_DISABLE
|
||||
#define PB_CB_U32 PB_DISABLE
|
||||
#define PB_CB_U64 PB_DISABLE
|
||||
#define PB_CB_I8 PB_DISABLE
|
||||
#define PB_CB_I16 PB_DISABLE
|
||||
#define PB_CB_I32 PB_DISABLE
|
||||
#define PB_CB_I64 PB_DISABLE
|
||||
|
||||
typedef enum PB_CB_STATUS
|
||||
{
|
||||
PB_CB_GOOD = 0,
|
||||
PB_CB_BAD = 1,
|
||||
PB_CB_BAD_BUFFER_SIZE = 2,
|
||||
PB_CB_NULL_BUFFER = 3,
|
||||
PB_CB_NULL_CBUFFER = 4
|
||||
} PB_CB_STATUS;
|
||||
|
||||
#if PB_CB_U8
|
||||
typedef struct p_cb_u8
|
||||
{
|
||||
uint8_t *buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_u8 *cbuffer, uint8_t value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_u8 *cbuffer);
|
||||
} p_cb_u8;
|
||||
|
||||
PB_CB_STATUS p_cb_u8_init(p_cb_u8 *circ_buffer, uint8_t *buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_U16
|
||||
typedef struct p_cb_u16
|
||||
{
|
||||
uint16_t *buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_u16 *cbuffer, uint16_t value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_u16 *cbuffer);
|
||||
} p_cb_u16;
|
||||
|
||||
PB_CB_STATUS p_cb_u16_init(p_cb_u16 *circ_buffer, uint16_t *buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_U32
|
||||
typedef struct p_cb_u32
|
||||
{
|
||||
uint32_t *buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_u32 *cbuffer, uint32_t value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_u32 *cbuffer);
|
||||
} p_cb_u32;
|
||||
|
||||
PB_CB_STATUS p_cb_u32_init(p_cb_u32 *circ_buffer, uint32_t *buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_U64
|
||||
typedef struct p_cb_u64
|
||||
{
|
||||
uint64_t *buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_u64 *cbuffer, uint64_t value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_u64 *cbuffer);
|
||||
} p_cb_u64;
|
||||
|
||||
PB_CB_STATUS p_cb_u64_init(p_cb_u64 *circ_buffer, uint64_t *buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_FLOAT
|
||||
typedef struct p_cb_float
|
||||
{
|
||||
float *buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_float *cbuffer, float value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_float *cbuffer);
|
||||
} p_cb_float;
|
||||
|
||||
PB_CB_STATUS p_cb_float_init(p_cb_float *circ_buffer, float *buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#if PB_CB_DOUBLE
|
||||
typedef struct p_cb_double
|
||||
{
|
||||
double *buffer;
|
||||
uint16_t head;
|
||||
uint16_t max_len;
|
||||
// Signifies the buffer being filled at least once.
|
||||
// Useful for initializing sensor data
|
||||
bool b_filled;
|
||||
// Signifies the buffer being empty
|
||||
// Useful for knowing if data is being received
|
||||
bool b_empty;
|
||||
|
||||
PB_CB_STATUS (*push)(struct p_cb_double *cbuffer, double value);
|
||||
PB_CB_STATUS (*empty)(struct p_cb_double *cbuffer);
|
||||
} p_cb_double;
|
||||
|
||||
PB_CB_STATUS p_cb_double_init(p_cb_double *circ_buffer, double *buff, uint32_t max_length);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
@ -1,26 +1,26 @@
|
||||
#include <stdio.h>
|
||||
#include <PCircularBuffer.h>
|
||||
int main()
|
||||
{
|
||||
const uint16_t maxlength = 16;
|
||||
double my_buffer[maxlength];
|
||||
p_cb_double data;
|
||||
p_cb_double_init(&data, my_buffer, 16);
|
||||
|
||||
for(int x = 0; x < 32; x++)
|
||||
{
|
||||
if( x < 16)
|
||||
{
|
||||
printf("[%02d] Before: %02lf\t", x, data.buffer[x]);
|
||||
data.push(&data, (double)x);
|
||||
printf("[%02d] After: %02lf\r\n", x, data.buffer[x]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("[%02d] Before: %02lf\t", x - 16, data.buffer[x - 16]);
|
||||
data.push(&data, (double)x);
|
||||
printf("[%02d] After: %02lf\r\n", x - 16, data.buffer[x - 16]);
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
#include <stdio.h>
|
||||
#include <PCircularBuffer.h>
|
||||
int main()
|
||||
{
|
||||
const uint16_t maxlength = 16;
|
||||
double my_buffer[maxlength];
|
||||
p_cb_double data;
|
||||
p_cb_double_init(&data, my_buffer, 16);
|
||||
|
||||
for(int x = 0; x < 32; x++)
|
||||
{
|
||||
if( x < 16)
|
||||
{
|
||||
printf("[%02d] Before: %02lf\t", x, data.buffer[x]);
|
||||
data.push(&data, (double)x);
|
||||
printf("[%02d] After: %02lf\r\n", x, data.buffer[x]);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("[%02d] Before: %02lf\t", x - 16, data.buffer[x - 16]);
|
||||
data.push(&data, (double)x);
|
||||
printf("[%02d] After: %02lf\r\n", x - 16, data.buffer[x - 16]);
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue