init
This commit is contained in:
178
.clang-format
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178
.clang-format
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---
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Language: Cpp
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# BasedOnStyle: Microsoft
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AccessModifierOffset: -2
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||||
AlignAfterOpenBracket: Align
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AlignArrayOfStructures: None
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AlignConsecutiveMacros: None
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AlignConsecutiveAssignments: None
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AlignConsecutiveBitFields: None
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AlignConsecutiveDeclarations: None
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||||
AlignEscapedNewlines: Right
|
||||
AlignOperands: Align
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||||
AlignTrailingComments: true
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||||
AllowAllArgumentsOnNextLine: true
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||||
AllowAllConstructorInitializersOnNextLine: true
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||||
AllowAllParametersOfDeclarationOnNextLine: true
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||||
AllowShortEnumsOnASingleLine: false
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||||
AllowShortBlocksOnASingleLine: Never
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||||
AllowShortCaseLabelsOnASingleLine: false
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||||
AllowShortFunctionsOnASingleLine: None
|
||||
AllowShortLambdasOnASingleLine: All
|
||||
AllowShortIfStatementsOnASingleLine: Never
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||||
AllowShortLoopsOnASingleLine: true
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||||
AlwaysBreakAfterDefinitionReturnType: None
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||||
AlwaysBreakAfterReturnType: None
|
||||
AlwaysBreakBeforeMultilineStrings: false
|
||||
AlwaysBreakTemplateDeclarations: MultiLine
|
||||
AttributeMacros:
|
||||
- __capability
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||||
BinPackArguments: true
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BinPackParameters: true
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||||
BraceWrapping:
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||||
AfterCaseLabel: true
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AfterClass: true
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AfterControlStatement: Always
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AfterNamespace: true
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AfterUnion: true
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AfterExternBlock: true
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BeforeCatch: true
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BeforeElse: true
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BeforeLambdaBody: false
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BeforeWhile: false
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IndentBraces: false
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SplitEmptyFunction: false
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SplitEmptyRecord: true
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||||
SplitEmptyNamespace: true
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||||
BreakBeforeBinaryOperators: None
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||||
BreakBeforeConceptDeclarations: true
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||||
BreakBeforeBraces: Custom
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||||
BreakBeforeInheritanceComma: false
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||||
BreakInheritanceList: BeforeColon
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||||
BreakBeforeTernaryOperators: true
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||||
BreakConstructorInitializersBeforeComma: false
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||||
BreakConstructorInitializers: BeforeColon
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||||
BreakAfterJavaFieldAnnotations: false
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||||
BreakStringLiterals: true
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||||
ColumnLimit: 80
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||||
CommentPragmas: '^ IWYU pragma:'
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||||
CompactNamespaces: false
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||||
ConstructorInitializerAllOnOneLineOrOnePerLine: false
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||||
ConstructorInitializerIndentWidth: 4
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||||
ContinuationIndentWidth: 4
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||||
Cpp11BracedListStyle: true
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||||
#DeriveLineEnding: true
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DerivePointerAlignment: false
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||||
DisableFormat: false
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||||
EmptyLineAfterAccessModifier: Never
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EmptyLineBeforeAccessModifier: LogicalBlock
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||||
ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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||||
ForEachMacros:
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- foreach
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- Q_FOREACH
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||||
- BOOST_FOREACH
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||||
IfMacros:
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||||
- KJ_IF_MAYBE
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IncludeBlocks: Preserve
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||||
IncludeCategories:
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- Regex: '^"(llvm|llvm-c|clang|clang-c)/'
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Priority: 2
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SortPriority: 0
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||||
CaseSensitive: false
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- Regex: '^(<|"(gtest|gmock|isl|json)/)'
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Priority: 3
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SortPriority: 0
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CaseSensitive: false
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- Regex: '.*'
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Priority: 1
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SortPriority: 0
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CaseSensitive: false
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IncludeIsMainRegex: '(Test)?$'
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IncludeIsMainSourceRegex: ''
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IndentAccessModifiers: false
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IndentCaseLabels: true
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IndentCaseBlocks: false
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IndentGotoLabels: true
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IndentPPDirectives: None
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||||
IndentExternBlock: AfterExternBlock
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||||
IndentRequires: false
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||||
IndentWidth: 4
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||||
IndentWrappedFunctionNames: false
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||||
InsertTrailingCommas: None
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||||
JavaScriptQuotes: Leave
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||||
JavaScriptWrapImports: true
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||||
KeepEmptyLinesAtTheStartOfBlocks: true
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||||
LambdaBodyIndentation: Signature
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||||
MacroBlockBegin: ''
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MacroBlockEnd: ''
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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||||
ObjCBinPackProtocolList: Auto
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ObjCBlockIndentWidth: 2
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ObjCBreakBeforeNestedBlockParam: true
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 19
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PenaltyBreakComment: 300
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PenaltyBreakFirstLessLess: 120
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PenaltyBreakString: 1000
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PPIndentWidth: -1
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ReferenceAlignment: Pointer
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ReflowComments: true
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ShortNamespaceLines: 1
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SortIncludes: CaseSensitive
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SortJavaStaticImport: Before
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SortUsingDeclarations: true
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SpaceAfterCStyleCast: false
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SpaceAfterLogicalNot: false
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SpaceAfterTemplateKeyword: true
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeCaseColon: false
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SpaceBeforeCpp11BracedList: false
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SpaceBeforeCtorInitializerColon: true
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SpaceBeforeInheritanceColon: true
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SpaceBeforeParens: ControlStatements
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SpaceAroundPointerQualifiers: Default
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SpaceBeforeRangeBasedForLoopColon: true
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SpaceInEmptyBlock: false
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 1
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SpacesInAngles: Never
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SpacesInConditionalStatement: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInLineCommentPrefix:
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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SpaceBeforeSquareBrackets: false
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BitFieldColonSpacing: Both
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Standard: Latest
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StatementAttributeLikeMacros:
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- Q_EMIT
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StatementMacros:
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- Q_UNUSED
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TabWidth: 4
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UseCRLF: false
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UseTab: Always
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WhitespaceSensitiveMacros:
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- NS_SWIFT_NAME
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- CF_SWIFT_NAME
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...
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2
.gitignore
vendored
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2
.gitignore
vendored
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@@ -0,0 +1,2 @@
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bin/
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**/.cache/
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32
Makefile
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32
Makefile
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CC=gcc
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CFLAGS=\
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-Wall \
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-std=gnu11 \
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ifdef $(DEBUG)
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CFLAGS+=\
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-DDEBUG\
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-ffunctions-sections\
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-O3\
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-g3
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endif
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MK_DIR=mkdir -p
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.PHONY: clean examples tests
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all: examples
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clean:
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rm -rf bin
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examples: clean
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$(MK_DIR) bin/
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$(CC) $(CFLAGS) -I. ./examples/p_queue_example.c -o ./bin/p_queue_example
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$(CC) $(CFLAGS) -I. ./examples/p_cbuffer_example.c -o ./bin/p_cbuffer_example
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89
examples/p_cbuffer_example.c
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89
examples/p_cbuffer_example.c
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@@ -0,0 +1,89 @@
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/*
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Penguin's Circular Buffer Example -- Turning a noisy bell curve into a less
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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
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it is exactly 1khz) If this sensor was only giving me raw analog data, I
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might want to do some processing on these values so that I can make sure the
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values are as clean as possible. The more samples we have, the closer we are
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||||
to the actual value. The faster we gather samples, the closer we get to
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||||
representing our data in realtime.
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||||
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Using the sample rate, I can decide on a sampling window (in seconds) and an
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||||
OSR (Oversampling Rate). The larger the buffer size, the more memory I need,
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so it is useful to find a happy medium between a large buffer and clean
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values.
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||||
A sampling window is the window of time in which we can accept values for an
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average value. Depending on your application, a sampling window may need to
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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
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||||
window as well as a lot of measurements for both clean, near noiseless data
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and as close to realtime data as possible.
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||||
The sampling window is usually an engineering requirement given that can
|
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match the sampling rate of the sensor with the following: sampling window (in
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seconds) = 1 / frequency 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
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window and I want to clean up some noisy data. 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
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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
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usually take my frequency and half it to ensure timing requirements are met,
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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
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good way of doing things.
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*/
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#include "p_cbuffer.h"
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DEFINE_CBUFFER(int);
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#define CBUFFER_SIZE (6)
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void display(cbuffer_int_t* cbuffer)
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||||
{
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||||
printf("Cbuffer:\n");
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||||
for (int ind = 0; ind < cbuffer->msize; ind++)
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||||
{
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||||
printf("[%d]: %d\n", ind, cbuffer->buffer[ind]);
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||||
}
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||||
printf("\n");
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||||
}
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||||
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||||
int main(int argc, char** argv)
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||||
{
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||||
cbuffer_int_t cbuffer;
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||||
int data[CBUFFER_SIZE];
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||||
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||||
cbuffer_int_init(&cbuffer, data, CBUFFER_SIZE);
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cbuffer.push(&cbuffer, 1);
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cbuffer.push(&cbuffer, 2);
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cbuffer.push(&cbuffer, 3);
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||||
cbuffer.push(&cbuffer, 4);
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||||
cbuffer.push(&cbuffer, 5);
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printf("Is cbuffer filled? %s\n",
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cbuffer.is_filled(&cbuffer) ? "Yes" : "No");
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||||
cbuffer.push(&cbuffer, 6);
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||||
printf("Is cbuffer filled? %s\n",
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||||
cbuffer.is_filled(&cbuffer) ? "Yes" : "No");
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||||
display(&cbuffer);
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||||
cbuffer.push(&cbuffer, 7);
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||||
display(&cbuffer);
|
||||
printf("Emptying cbuffer...\n");
|
||||
printf("Is cbuffer filled? %s\n",
|
||||
cbuffer.is_filled(&cbuffer) ? "Yes" : "No");
|
||||
cbuffer.empty(&cbuffer);
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||||
cbuffer.push(&cbuffer, 8);
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||||
display(&cbuffer);
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||||
printf("Is cbuffer filled? %s\n",
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||||
cbuffer.is_filled(&cbuffer) ? "Yes" : "No");
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||||
}
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||||
50
examples/p_queue_example.c
Normal file
50
examples/p_queue_example.c
Normal file
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||||
#include "p_queue.h"
|
||||
|
||||
DEFINE_QUEUE(int);
|
||||
|
||||
#define SIZE_QUEUE (256)
|
||||
|
||||
queue_int_t queue;
|
||||
int buffer[SIZE_QUEUE];
|
||||
|
||||
void display(queue_int_t* queue)
|
||||
{
|
||||
if (queue->csize == 0)
|
||||
{
|
||||
printf("queue is empty\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Queue:\n");
|
||||
int i = queue->head;
|
||||
for (int j = 0; j < queue->csize; j++)
|
||||
{
|
||||
printf("[%d]: %d ", i + j, queue->data[(i + j) % queue->msize]);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argv, char** argc)
|
||||
{
|
||||
queue_int_init(&queue, buffer, SIZE_QUEUE);
|
||||
|
||||
// queue.enqueue(&queue, 10);
|
||||
queue.empty(&queue);
|
||||
printf("csize: %d\n", queue.csize);
|
||||
queue.enqueue(&queue, 20);
|
||||
queue.enqueue(&queue, 30);
|
||||
queue.enqueue(&queue, 40);
|
||||
display(&queue);
|
||||
queue.enqueue(&queue, 10);
|
||||
|
||||
int val = 0;
|
||||
queue.dequeue(&queue, &val);
|
||||
queue.dequeue(&queue, &val);
|
||||
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||||
display(&queue);
|
||||
|
||||
queue.empty(&queue);
|
||||
|
||||
display(&queue);
|
||||
}
|
||||
22
p_buffer.h
Normal file
22
p_buffer.h
Normal file
@@ -0,0 +1,22 @@
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#ifndef __PBUFFER_H__
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||||
#define __PBUFFER_H__
|
||||
|
||||
#define MAX_QUEUE_SIZE (512)
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||||
#define MAX_CBUFFER_SIZE (512)
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
typedef enum PB_STATUS
|
||||
{
|
||||
PB_GOOD = 0,
|
||||
PB_BAD = 1,
|
||||
PB_BAD_BUFFER_SIZE = 2,
|
||||
PB_NULL_BUFFER = 3,
|
||||
PB_NULL_DATA = 4,
|
||||
PB_EMPTY_QUEUE = 5,
|
||||
PB_FULL_QUEUE = 6
|
||||
} PB_STATUS;
|
||||
|
||||
#endif
|
||||
133
p_cbuffer.h
Normal file
133
p_cbuffer.h
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@@ -0,0 +1,133 @@
|
||||
// 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 "p_buffer.h"
|
||||
|
||||
#define DEFINE_CBUFFER(type) \
|
||||
typedef struct cbuffer_##type##_t \
|
||||
{ \
|
||||
type* buffer; \
|
||||
int head; \
|
||||
int csize; \
|
||||
int msize; \
|
||||
\
|
||||
PB_STATUS (*push)(struct cbuffer_##type##_t * cbuffer, type value); \
|
||||
PB_STATUS (*empty)(struct cbuffer_##type##_t * cbuffer); \
|
||||
PB_STATUS (*is_filled)(struct cbuffer_##type##_t * cbuffer); \
|
||||
} cbuffer_##type##_t; \
|
||||
\
|
||||
PB_STATUS cbuffer_##type##_is_filled(cbuffer_##type##_t* cbuffer) \
|
||||
{ \
|
||||
return (cbuffer->csize == cbuffer->msize); \
|
||||
} \
|
||||
\
|
||||
PB_STATUS cbuffer_##type##_push(cbuffer_##type##_t* cbuffer, type value) \
|
||||
{ \
|
||||
PB_STATUS ret = PB_GOOD; \
|
||||
\
|
||||
if (!cbuffer) \
|
||||
{ \
|
||||
ret = PB_NULL_BUFFER; \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
cbuffer->csize = \
|
||||
(cbuffer->csize >= cbuffer->msize ? cbuffer->msize \
|
||||
: cbuffer->csize + 1); \
|
||||
cbuffer->buffer[cbuffer->head] = value; \
|
||||
cbuffer->head = (cbuffer->head + 1) % cbuffer->msize; \
|
||||
} \
|
||||
\
|
||||
return ret; \
|
||||
} \
|
||||
PB_STATUS cbuffer_##type##_empty(cbuffer_##type##_t* cbuffer) \
|
||||
{ \
|
||||
PB_STATUS ret = PB_GOOD; \
|
||||
do \
|
||||
{ \
|
||||
if (!cbuffer) \
|
||||
{ \
|
||||
ret = PB_NULL_BUFFER; \
|
||||
break; \
|
||||
} \
|
||||
\
|
||||
if (!cbuffer->buffer) \
|
||||
{ \
|
||||
ret = PB_NULL_DATA; \
|
||||
break; \
|
||||
} \
|
||||
memset(cbuffer->buffer, 0, sizeof(type) * cbuffer->msize); \
|
||||
cbuffer->head = 0; \
|
||||
cbuffer->csize = 0; \
|
||||
} while (0); \
|
||||
return ret; \
|
||||
} \
|
||||
\
|
||||
PB_STATUS cbuffer_##type##_init(cbuffer_##type##_t* circ_buffer, \
|
||||
type* buff, int total_length) \
|
||||
{ \
|
||||
PB_STATUS ret = PB_GOOD; \
|
||||
do \
|
||||
{ \
|
||||
if (!buff) \
|
||||
{ \
|
||||
ret = PB_NULL_DATA; \
|
||||
break; \
|
||||
} \
|
||||
\
|
||||
if (total_length > MAX_CBUFFER_SIZE || total_length <= 0) \
|
||||
{ \
|
||||
ret = PB_BAD_BUFFER_SIZE; \
|
||||
break; \
|
||||
} \
|
||||
memset(circ_buffer, 0, sizeof(cbuffer_##type##_t)); \
|
||||
memset(buff, 0, sizeof(type) * total_length); \
|
||||
circ_buffer->buffer = buff; \
|
||||
circ_buffer->msize = total_length; \
|
||||
circ_buffer->csize = 0; \
|
||||
circ_buffer->head = 0; \
|
||||
circ_buffer->push = cbuffer_##type##_push; \
|
||||
circ_buffer->empty = cbuffer_##type##_empty; \
|
||||
circ_buffer->is_filled = cbuffer_##type##_is_filled; \
|
||||
circ_buffer->empty(circ_buffer); \
|
||||
} while (0); \
|
||||
\
|
||||
return ret; \
|
||||
}
|
||||
|
||||
#endif
|
||||
119
p_queue.h
Normal file
119
p_queue.h
Normal file
@@ -0,0 +1,119 @@
|
||||
#ifndef __QUEUE_H__
|
||||
#define __QUEUE_H__
|
||||
|
||||
#include "p_buffer.h"
|
||||
|
||||
// This macro defines a queue type. It doesn't make a queue for you.
|
||||
// See below for an example on how to make a queue.
|
||||
// Creates a type of queue_${type}_t of size ${size}.
|
||||
// the size will be fixed for all instances of that type unfortunately.
|
||||
#define DEFINE_QUEUE(type) \
|
||||
typedef struct queue_##type##_t \
|
||||
{ \
|
||||
type* data; \
|
||||
int head; \
|
||||
int tail; \
|
||||
int msize; \
|
||||
int csize; \
|
||||
\
|
||||
PB_STATUS (*enqueue)(struct queue_##type##_t * queue, type val); \
|
||||
PB_STATUS (*dequeue)(struct queue_##type##_t * queue, type* val); \
|
||||
void (*empty)(struct queue_##type##_t * queue); \
|
||||
bool (*is_full)(struct queue_##type##_t * queue); \
|
||||
\
|
||||
} queue_##type##_t; \
|
||||
\
|
||||
bool queue_##type##_is_full(queue_##type##_t* queue) \
|
||||
{ \
|
||||
return (queue->csize == queue->msize); \
|
||||
} \
|
||||
\
|
||||
void queue_##type##_empty(queue_##type##_t* queue) \
|
||||
{ \
|
||||
memset(queue->data, 0, sizeof(type) * queue->msize); \
|
||||
queue->head = -1; \
|
||||
queue->tail = -1; \
|
||||
queue->csize = 0; \
|
||||
} \
|
||||
\
|
||||
PB_STATUS queue_##type##_enqueue(queue_##type##_t* queue, type val) \
|
||||
{ \
|
||||
PB_STATUS ret = PB_GOOD; \
|
||||
if (queue->is_full(queue)) \
|
||||
{ \
|
||||
ret = PB_FULL_QUEUE; \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
if (queue->head == -1) \
|
||||
{ \
|
||||
queue->head = 0; \
|
||||
queue->csize = 0; \
|
||||
queue->tail = queue->msize - 1; \
|
||||
} \
|
||||
queue->tail = (queue->tail + 1) % queue->msize; \
|
||||
queue->data[queue->tail] = val; \
|
||||
queue->csize++; \
|
||||
} \
|
||||
return ret; \
|
||||
} \
|
||||
\
|
||||
PB_STATUS queue_##type##_dequeue(queue_##type##_t* queue, type* val) \
|
||||
{ \
|
||||
PB_STATUS ret = PB_GOOD; \
|
||||
if (queue->csize == 0) \
|
||||
{ \
|
||||
ret = PB_EMPTY_QUEUE; \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
*val = queue->data[queue->head]; \
|
||||
queue->head = (queue->head + 1) % queue->csize; \
|
||||
queue->csize -= 1; \
|
||||
} \
|
||||
return ret; \
|
||||
} \
|
||||
PB_STATUS queue_##type##_init(queue_##type##_t* queue, type* buffer, \
|
||||
int total_length) \
|
||||
{ \
|
||||
PB_STATUS ret = PB_GOOD; \
|
||||
do \
|
||||
{ \
|
||||
if (!queue) \
|
||||
{ \
|
||||
ret = PB_NULL_BUFFER; \
|
||||
break; \
|
||||
} \
|
||||
\
|
||||
if (total_length > MAX_QUEUE_SIZE || total_length <= 0) \
|
||||
{ \
|
||||
ret = PB_BAD_BUFFER_SIZE; \
|
||||
break; \
|
||||
} \
|
||||
} while (0); \
|
||||
memset(queue, 0, sizeof(queue_##type##_t)); \
|
||||
memset(buffer, 0, sizeof(type) * total_length); \
|
||||
queue->data = buffer; \
|
||||
queue->msize = total_length; \
|
||||
queue->head = -1; \
|
||||
queue->tail = -1; \
|
||||
queue->csize = 0; \
|
||||
queue->enqueue = queue_##type##_enqueue; \
|
||||
queue->dequeue = queue_##type##_dequeue; \
|
||||
queue->empty = queue_##type##_empty; \
|
||||
queue->is_full = queue_##type##_is_full; \
|
||||
return ret; \
|
||||
}
|
||||
|
||||
/*
|
||||
Example:
|
||||
|
||||
DEFINE_QUEUE(int);
|
||||
// in .c
|
||||
queue_int_t queue;
|
||||
const int SIZE_QUEUE = 256;
|
||||
int buffer[SIZE_QUEUE];
|
||||
queue_int_init(&queue, buffer, SIZE_QUEUE);
|
||||
queue_int_enqueue(&queue, 12);
|
||||
*/
|
||||
#endif
|
||||
Reference in New Issue
Block a user