From c373a3557886edba0e9c5b6ef7735ca03a1453ba Mon Sep 17 00:00:00 2001
From: Andrea Milluzzo <andrea.milluzzo@skywarder.eu>
Date: Wed, 1 Apr 2020 21:42:29 +0200
Subject: [PATCH] [IMU] lsm9ds1 added logger at "test-lsm9ds1-fifo" due to lack
of RAM: reduced stack dimension - SkywardStack.h reduced logger buffers
dimension - logger.h
---
sbs.conf | 4 +-
src/shared/diagnostic/SkywardStack.h | 2 +-
src/shared/logger/Logger.h | 11 +++--
src/tests/drivers/test-lsm9ds1-fifo.cpp | 59 ++++++++-----------------
4 files changed, 26 insertions(+), 50 deletions(-)
diff --git a/sbs.conf b/sbs.conf
index dda21f77f..6fb11ea4a 100644
--- a/sbs.conf
+++ b/sbs.conf
@@ -517,7 +517,7 @@ Main: test-rls
Type: test
BoardId: stm32f407vg_skyward_tortellino
BinName: test-lsm9ds1-fifo
-Include: %shared %spi
+Include: %shared %spi %logger
Defines: -DDEBUG
Main: drivers/test-lsm9ds1-fifo
@@ -525,6 +525,6 @@ Main: drivers/test-lsm9ds1-fifo
Type: test
BoardId: stm32f407vg_skyward_tortellino
BinName: test-lis3dsh
-Include: %shared %spi
+Include: %shared %spi
Defines:
Main: drivers/test-lis3dsh
diff --git a/src/shared/diagnostic/SkywardStack.h b/src/shared/diagnostic/SkywardStack.h
index 11134a161..fa6205dc8 100644
--- a/src/shared/diagnostic/SkywardStack.h
+++ b/src/shared/diagnostic/SkywardStack.h
@@ -25,7 +25,7 @@
#include <algorithm>
-static const unsigned int STACK_MIN_FOR_SKYWARD = 16*1024;
+static const unsigned int STACK_MIN_FOR_SKYWARD = 4*1024;
inline unsigned int skywardStack(unsigned int stack)
{
diff --git a/src/shared/logger/Logger.h b/src/shared/logger/Logger.h
index 0794e0fa6..cfbcea6ed 100644
--- a/src/shared/logger/Logger.h
+++ b/src/shared/logger/Logger.h
@@ -174,12 +174,11 @@ private:
log(s);
}
- static const unsigned int filenameMaxRetry =
- 100; ///< Limit on new filename
- static const unsigned int maxRecordSize = 256; ///< Limit on logged data
- static const unsigned int numRecords = 1024; ///< Size of record queues
- static const unsigned int bufferSize = 64 * 1024; ///< Size of each buffer
- static const unsigned int numBuffers = 8; ///< Number of buffers
+ static const unsigned int filenameMaxRetry = 100; ///< Limit on new filename
+ static const unsigned int maxRecordSize = 64; ///< Limit on logged data
+ static const unsigned int numRecords = 256; ///< Size of record queues
+ static const unsigned int bufferSize = 16 * 256; ///< Size of each buffer
+ static const unsigned int numBuffers = 4; ///< Number of buffers
/**
* A record is a single serialized logged class. Records are used to
diff --git a/src/tests/drivers/test-lsm9ds1-fifo.cpp b/src/tests/drivers/test-lsm9ds1-fifo.cpp
index 48c1e4e71..96b420f88 100644
--- a/src/tests/drivers/test-lsm9ds1-fifo.cpp
+++ b/src/tests/drivers/test-lsm9ds1-fifo.cpp
@@ -26,6 +26,7 @@
#include "drivers/HardwareTimer.h"
#include "drivers/spi/SPIDriver.h"
#include "sensors/LSM9DS1/LSM9DS1_AxelGyro.h"
+#include "diagnostic/CpuMeter.h"
#include "logger/Logger.h"
using namespace miosix;
@@ -64,6 +65,13 @@ volatile uint32_t delta;
// LSM9DS1 obj
LSM9DS1_XLG* lsm9ds1 = nullptr;
+//struct for the logger
+struct IMUSample
+{
+ lsm9ds1XLGSample sample;
+ int avgCPU;
+};
+
// Interrupt handlers
void __attribute__((naked)) EXTI13_IRQHandler()
{
@@ -92,8 +100,6 @@ void __attribute__((used)) EXTI13_IRQHandlerImpl()
void gpioConfig();
void timer5Config();
void EXTI1Config();
-void fakeLogger(lsm9ds1XLGSample sample);
-void printLogger();
int main()
{
@@ -102,9 +108,10 @@ int main()
uint32_t dt;
uint64_t timestamp = 0;
+ Logger& logger = Logger::instance();
+ logger.start();
+
gpioConfig();
- Thread::sleep(5000);
- return 0;
timer5Config();
EXTI1Config();
@@ -120,7 +127,6 @@ int main()
//start sampling
for (;;)
{
- //printf("%d\n", GpioINT1::value());
if (flagSPIReadRequest && fifo_counter < FIFO_SAMPLES)
{
flagSPIReadRequest = false;
@@ -128,10 +134,12 @@ int main()
lsm9ds1->onSimpleUpdate();
for(int i=0 ; i < FIFO_WATERMARK; i++)
{
- lsm9ds1XLGSample sample = lsm9ds1->getLsm9ds1FIFO()[i];
+ IMUSample s;
+ s.sample = lsm9ds1->getLsm9ds1FIFO()[i];
timestamp += dt;
- sample.timestamp = timestamp;
- fakeLogger(sample);
+ s.sample.timestamp = timestamp;
+ s.avgCPU = averageCpuUtilization();
+ logger.log(s);
}
LED1.low();
fifo_counter++;
@@ -143,7 +151,8 @@ int main()
}
}
- printLogger();
+ logger.stop();
+
LED1.low();
LED2.low();
@@ -222,36 +231,4 @@ void EXTI1Config() // PC13
// Enable the interrupt in the interrupt controller
NVIC_EnableIRQ(IRQn_Type::EXTI15_10_IRQn);
NVIC_SetPriority(IRQn_Type::EXTI15_10_IRQn, 47);
-}
-
-uint16_t counter = 0;
-float ax[FIFO_WATERMARK*FIFO_SAMPLES],
- ay[FIFO_WATERMARK*FIFO_SAMPLES],
- az[FIFO_WATERMARK*FIFO_SAMPLES],
- gx[FIFO_WATERMARK*FIFO_SAMPLES],
- gy[FIFO_WATERMARK*FIFO_SAMPLES],
- gz[FIFO_WATERMARK*FIFO_SAMPLES];
-
-uint64_t t[FIFO_WATERMARK*FIFO_SAMPLES];
-
-void fakeLogger(lsm9ds1XLGSample sample)
-{
- ax[counter] = sample.axelData.getX();
- ay[counter] = sample.axelData.getY();
- az[counter] = sample.axelData.getZ();
- gx[counter] = sample.gyroData.getX();
- gy[counter] = sample.gyroData.getY();
- gz[counter] = sample.gyroData.getZ();
- t[counter] = sample.timestamp;
- counter++;
-}
-
-void printLogger()
-{
- for(int i = 0; i < counter; i++)
- {
- printf("%lld>>%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\n", t[i],ax[i],ay[i],az[i],
- gx[i],gy[i],gz[i]);
-
- }
}
\ No newline at end of file
--
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