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updated planner buffer initialization to work from detached buffer pools

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This commit is contained in:
Alden Hart
2016-12-05 13:38:49 -05:00
parent ba8a139e6a
commit 0d0fdd9ddb
2 changed files with 6 additions and 69 deletions
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g2core/planner.cpp
+6 -58
View File
@@ -701,12 +701,12 @@ static inline void _clear_buffer(mpBuf_t *bf)
bf->clear();
}
void _init_buffers(mpBuf_t *base, uint8_t size)
void _init_buffer_pool(mpBuf_t *base, uint8_t size)
{
mpBuf_t *pv, *nx;
uint8_t i, nx_i;
// memset(base, 0, sizeof(mpBuf_t * size)); // clear all buffers in pool
memset(base, 0, sizeof(mpBuf_t)*size); // clear all buffers in pool
mb.bf = base; // link the buffer pool first
mb.w = mb.bf; // init all buffer pointers
mb.r = mb.bf;
@@ -715,8 +715,7 @@ void _init_buffers(mpBuf_t *base, uint8_t size)
pv = &mb.bf[size-1];
for (i=0; i < size-1; i++) {
mb.bf[i].buffer_number = i; //+++++ number it for diagnostics only (otherwise not used)
mb.bf[i].buffer_number = i; // number is for diagnostics only (otherwise not used)
nx_i = ((i<size-1) ? (i+1) : 0); // buffer increment & wrap
nx = &mb.bf[nx_i];
mb.bf[i].nx = nx; // setup circular list pointers
@@ -727,34 +726,12 @@ void _init_buffers(mpBuf_t *base, uint8_t size)
void mp_init_buffers(void)
{
// mpBuf_t *pv, *nx;
// uint8_t i, nx_i;
// memset(&mb_pool0, 0, sizeof(mb_pool0)); // clear all buffers in pool
memset(&mb, 0, sizeof(mb)); // clear values, pointers and status
mb.magic_start = MAGICNUM;
mb.magic_end = MAGICNUM;
_init_buffers(mb_pool0, PLANNER_BUFFER_POOL_SIZE);
/*
mb.bf = mb_pool0; // link the buffer pool first
mb.w = mb.bf; // init all buffer pointers
mb.r = mb.bf;
mb.buffers_total = PLANNER_BUFFER_POOL_SIZE-1;
pv = &mb.bf[PLANNER_BUFFER_POOL_SIZE-1];
for (i=0; i < mb.buffers_total; i++) {
mb.bf[i].buffer_number = i; //+++++ number it for diagnostics only (otherwise not used)
_init_buffer_pool(mb_pool0, PLANNER_BUFFER_POOL_SIZE);
nx_i = ((i<mb.buffers_total) ? (i+1) : 0); // buffer increment & wrap
nx = &mb.bf[nx_i];
mb.bf[i].nx = nx; // setup ring pointers
mb.bf[i].pv = pv;
pv = &mb.bf[i];
}
mb.buffers_available = PLANNER_BUFFER_POOL_SIZE;
*/
// Now handle the two "stub buffers" in the runtime structure.
mr.bf[0].nx = &mr.bf[1];
mr.bf[1].nx = &mr.bf[0];
@@ -762,40 +739,11 @@ void mp_init_buffers(void)
mr.p = &mr.bf[1];
}
/*
mb.w = &mb.bf[0]; // init all buffer pointers
mb.r = &mb.bf[0];
pv = &mb.bf[PLANNER_BUFFER_POOL_SIZE-1];
for (i=0; i < PLANNER_BUFFER_POOL_SIZE; i++) {
mb.bf[i].buffer_number = i; //+++++ number it for diagnostics only (otherwise not used)
nx_i = ((i<PLANNER_BUFFER_POOL_SIZE-1)?(i+1):0); // buffer incr & wrap
nx = &mb.bf[nx_i];
mb.bf[i].nx = nx; // setup ring pointers
mb.bf[i].pv = pv;
pv = &mb.bf[i];
}
mb.buffers_available = PLANNER_BUFFER_POOL_SIZE;
// Now handle the two "stub buffers" in the runtime structure.
mr.bf[0].nx = &mr.bf[1];
mr.bf[1].nx = &mr.bf[0];
mr.r = &mr.bf[0];
mr.p = &mr.bf[1];
}
*/
/*
* These GET functions are defined here but we use the macros in planner.h instead
*
mpBuf_t * mp_get_prev_buffer(const mpBuf_t *bf)
{
return (bf->pv);
}
mpBuf_t * mp_get_next_buffer(const mpBuf_t *bf)
{
return (bf->nx);
}
mpBuf_t * mp_get_prev_buffer(const mpBuf_t *bf) { return (bf->pv); }
mpBuf_t * mp_get_next_buffer(const mpBuf_t *bf) { return (bf->nx); }
*/
mpBuf_t * mp_get_write_buffer() // get & clear a buffer
g2core/planner.h
-11
View File
@@ -242,18 +242,7 @@ typedef struct mpBuffer : mpBuffer_to_clear { // See Planning Velocity Notes for
struct mpBuffer *nx; // static pointer to next buffer
uint8_t buffer_number; //+++++ DIAGNOSTIC for easier debugging
} mpBuf_t;
/*
typedef struct mpBufferPool { // ring buffer for sub-moves
magic_t magic_start; // magic number to test memory integrity
mpBuf_t *r; // run buffer pointer
mpBuf_t *w; // write buffer pointer
uint8_t buffers_available; // running count of available buffers
mpBuf_t bf[PLANNER_BUFFER_POOL_SIZE];// buffer storage
magic_t magic_end;
} mpBufferPool_t;
*/
typedef struct mpBufferPool { // one or more planner buffer queues
magic_t magic_start; // magic number to test memory integrity