diff --git a/src/entrypoints/anakin-test-dma.cpp b/src/entrypoints/anakin-test-dma.cpp
index 72350005f70eb4d065bfa89f2d1978a53085ce28..8242bfaee52a0918ea52c037d6348866f1c19ac4 100644
--- a/src/entrypoints/anakin-test-dma.cpp
+++ b/src/entrypoints/anakin-test-dma.cpp
@@ -27,6 +27,35 @@
using namespace miosix;
+void fifoQueueSz(void *arg)
+{
+ const SPIDriver& spi = SPIDriver::instance();
+ int tx_accum = 0, rx_accum = 0, sz_ctr = 0;
+
+ sLog->logString("Thread started");
+
+ while(1)
+ {
+ DMAFIFOStatus tx = spi.getTxFIFOStatus();
+ DMAFIFOStatus rx = spi.getRxFIFOStatus();
+
+ if(tx > -1 && rx > -1)
+ {
+ tx_accum += tx;
+ rx_accum += rx;
+ if(++sz_ctr == 100)
+ {
+ float tx1 = tx_accum / (float)(DFS_100 - DFS_EE + 1) * 255.0f;
+ float rx1 = rx_accum / (float)(DFS_100 - DFS_EE + 1) * 255.0f;
+ tx_accum = rx_accum = sz_ctr = 0;
+ sLog->logLimitedInt(17, 0, 255, tx1);
+ sLog->logLimitedInt(18, 0, 255, rx1);
+ sLog->logUInt32(19, spi.getFIFOFaultCtr());
+ }
+ }
+ Thread::sleep(1);
+ }
+}
int main()
{
@@ -39,9 +68,7 @@ int main()
const std::vector<SingleSensor>& data = sBoard->debugGetSensors();
int ctr=0;
- char buf[128] = {0};
-
- const SPIDriver& spi = SPIDriver::instance();
+ Thread::create(fifoQueueSz, 1024);
while(1)
{
for(const auto& s : data)
@@ -58,13 +85,8 @@ int main()
break;
}
}
- DMAFIFOStatus tx = spi.getTxFIFOStatus();
- DMAFIFOStatus rx = spi.getRxFIFOStatus();
-
- if(tx > -1) sLog->logLimitedInt(17, DFS_EE, DFS_100, tx);
- if(rx > -1) sLog->logLimitedInt(18, DFS_EE, DFS_100, rx);
- Thread::sleep(1);
+ Thread::sleep(10);
}
// NOT EXECUTED
diff --git a/src/shared/DMA/DMA.cpp b/src/shared/DMA/DMA.cpp
index 14a8df2024954e5a6264c0568593543bab75e195..43581c8261cf1dcf42ec7b7575d38d21b7e3632a 100644
--- a/src/shared/DMA/DMA.cpp
+++ b/src/shared/DMA/DMA.cpp
@@ -35,6 +35,7 @@ static Thread *waiting = nullptr;
static vector<SPIRequest> *requestVector = nullptr;
static size_t requestIndex = 0;
static bool error = false;
+static uint32_t fifoFaultCtr = 0;
/**
* DMA RX end of transfer
@@ -52,10 +53,16 @@ void __attribute__((naked)) DMA2_Stream0_IRQHandler()
void __attribute__((used)) SPI1rxDmaHandlerImpl()
{
if(DMA2->LISR & (DMA_LISR_TEIF0 | DMA_LISR_DMEIF0 | DMA_LISR_FEIF0))
+ {
error = true;
- if(DMA2->HISR & (DMA_HISR_TEIF5 | DMA_HISR_DMEIF5 | DMA_HISR_FEIF5))
+ fifoFaultCtr++;
+ }
+ if(DMA2->HISR & (DMA_HISR_TEIF5 | DMA_HISR_DMEIF5))
+ {
error = true;
-
+ fifoFaultCtr++;
+ }
+
DMA2->LIFCR = DMA_LIFCR_CTCIF0
| DMA_LIFCR_CTEIF0
| DMA_LIFCR_CDMEIF0
@@ -66,6 +73,7 @@ void __attribute__((used)) SPI1rxDmaHandlerImpl()
| DMA_HIFCR_CDMEIF5
| DMA_HIFCR_CFEIF5;
+
if(requestVector==nullptr) return;
(*requestVector)[requestIndex].IRQendTransaction();
@@ -171,6 +179,11 @@ SPIDriver::SPIDriver()
}
}
+uint32_t SPIDriver::getFIFOFaultCtr() const
+{
+ return fifoFaultCtr;
+}
+
//
// class SPIRequest
//
@@ -193,7 +206,6 @@ void SPIRequest::IRQbeginTransaction()
| DMA_SxFCR_FTH_1;
DMA2_Stream0->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 // Channel 3
- | DMA_SxCR_MBURST_0 //Read 4 byte at a time from RAM
| DMA_SxCR_PL_1 //High priority because fifo disabled
| DMA_SxCR_MINC //Increment memory pointer
| DMA_SxCR_TCIE //Interrupt on transfer complete
@@ -214,7 +226,6 @@ void SPIRequest::IRQbeginTransaction()
| DMA_SxFCR_FTH_1;
DMA2_Stream5->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 // Channel 3
- | DMA_SxCR_MBURST_0 //Read 4 byte at a time from RAM
| DMA_SxCR_PL_1 //High priority because fifo disabled
| DMA_SxCR_MINC //Increment memory pointer
| DMA_SxCR_DIR_0 //Memory to peripheral
diff --git a/src/shared/DMA/DMA.h b/src/shared/DMA/DMA.h
index f5f929e407303add384847fb2fe9cac67defd093..dbaba8eba2f05ae8ea45be917ce045f909ed9e85 100644
--- a/src/shared/DMA/DMA.h
+++ b/src/shared/DMA/DMA.h
@@ -54,6 +54,7 @@ public:
{
return intToFIFOStatus((DMA2_Stream0->FCR & DMA_SxFCR_FS) >> 3);
}
+ uint32_t getFIFOFaultCtr() const;
private:
SPIDriver();
diff --git a/src/shared/DMA/SensorSampling.h b/src/shared/DMA/SensorSampling.h
index fcb9accbbcb0289cd2cfc796cb414de6449e0b9d..10ac318587d884ced8990df9d92fc2eec4293cea 100644
--- a/src/shared/DMA/SensorSampling.h
+++ b/src/shared/DMA/SensorSampling.h
@@ -24,6 +24,7 @@
#include <Common.h>
#include <DMA/DMA.h>
+#include <log/Log.h>
class Sensor;
class DMASensorSampler
@@ -45,10 +46,11 @@ public:
void Update()
{
auto& driver = SPIDriver::instance();
- driver.transaction(mRequests);
+ bool ret = driver.transaction(mRequests);
- for(size_t i=0; i< mSensors.size(); i++)
- mSensors[i]->onDMAUpdate(mRequests[i]);
+ if(ret)
+ for(size_t i=0; i< mSensors.size(); i++)
+ mSensors[i]->onDMAUpdate(mRequests[i]);
}
private:
std::vector<Sensor*> mSensors;
diff --git a/src/shared/boards/AnakinBoard.cpp b/src/shared/boards/AnakinBoard.cpp
index 283fa7ec5c7a5ee1e313a48474bf1b41c06ae9a1..4a0a5be177b870a76e3cabfe6f566f8c2f374f96 100644
--- a/src/shared/boards/AnakinBoard.cpp
+++ b/src/shared/boards/AnakinBoard.cpp
@@ -49,26 +49,27 @@ bool AnakinBoard::init()
INIT_AND_CHECK(mS_LPS331AP);
INIT_AND_CHECK(mS_MS580);
- AddSensor(MPU9250_ACCEL, DATA_VEC3, mS_MPU9250->accelDataPtr());
- AddSensor(MPU9250_GYRO, DATA_VEC3, mS_MPU9250->gyroDataPtr());
- AddSensor(MPU9250_COMPASS, DATA_VEC3, mS_MPU9250->compassDataPtr());
- AddSensor(MPU9250_TEMP, DATA_FLOAT, mS_MPU9250->tempDataPtr());
-
- AddSensor(INEMO_ACCEL, DATA_VEC3, mS_INEMO->accelDataPtr());
- AddSensor(INEMO_GYRO, DATA_VEC3, mS_INEMO->gyroDataPtr());
- AddSensor(INEMO_COMPASS, DATA_VEC3, mS_INEMO->compassDataPtr());
- AddSensor(INEMO_TEMP, DATA_FLOAT, mS_INEMO->tempDataPtr());
- AddSensor(FXAS21002_GYRO, DATA_VEC3, mS_FXAS->gyroDataPtr());
-
- AddSensor(LPS331AP_PRESS, DATA_FLOAT, mS_LPS331AP->pressureDataPtr());
- AddSensor(LPS331AP_TEMP, DATA_FLOAT, mS_LPS331AP->tempDataPtr());
-
- AddSensor(MAX21105_ACCEL, DATA_VEC3, mS_MAX21105->accelDataPtr());
- AddSensor(MAX21105_GYRO, DATA_VEC3, mS_MAX21105->gyroDataPtr());
- AddSensor(MAX21105_TEMP, DATA_FLOAT, mS_MAX21105->tempDataPtr());
-
- AddSensor(MS580_PRESSURE, DATA_FLOAT, mS_MS580->pressureDataPtr());
- AddSensor(MS580_TEMP, DATA_FLOAT, mS_MS580->tempDataPtr());
+ AddSensor(ACCEL_MPU9250, DATA_VEC3, mS_MPU9250->accelDataPtr());
+ AddSensor(GYRO_MPU9250, DATA_VEC3, mS_MPU9250->gyroDataPtr());
+ AddSensor(COMPASS_MPU9250, DATA_VEC3, mS_MPU9250->compassDataPtr());
+ AddSensor(TEMP_MPU9250, DATA_FLOAT, mS_MPU9250->tempDataPtr());
+
+ AddSensor(ACCEL_INEMO, DATA_VEC3, mS_INEMO->accelDataPtr());
+ AddSensor(GYRO_INEMO, DATA_VEC3, mS_INEMO->gyroDataPtr());
+ AddSensor(COMPASS_INEMO, DATA_VEC3, mS_INEMO->compassDataPtr());
+ AddSensor(TEMP_INEMO, DATA_FLOAT, mS_INEMO->tempDataPtr());
+
+ AddSensor(GYRO_FXAS21002, DATA_VEC3, mS_FXAS->gyroDataPtr());
+
+ AddSensor(PRESS_LPS331AP, DATA_FLOAT, mS_LPS331AP->pressureDataPtr());
+ AddSensor(TEMP_LPS331AP, DATA_FLOAT, mS_LPS331AP->tempDataPtr());
+
+ AddSensor(ACCEL_MAX21105, DATA_VEC3, mS_MAX21105->accelDataPtr());
+ AddSensor(GYRO_MAX21105, DATA_VEC3, mS_MAX21105->gyroDataPtr());
+ AddSensor(TEMP_MAX21105, DATA_FLOAT, mS_MAX21105->tempDataPtr());
+
+ AddSensor(PRESS_MS580, DATA_FLOAT, mS_MS580->pressureDataPtr());
+ AddSensor(TEMP_MS580, DATA_FLOAT, mS_MS580->tempDataPtr());
sLog->logString("Adding sensors to 100Hz DMA sampler\n");
m100HzDMA.AddSensor(mS_MPU9250);
diff --git a/src/shared/boards/AnakinBoard.h b/src/shared/boards/AnakinBoard.h
index 10e6ee347619efff4e82fa74dddaae94827172cd..87a24080af08e4ea06f38ecd0bb380549978c2ae 100644
--- a/src/shared/boards/AnakinBoard.h
+++ b/src/shared/boards/AnakinBoard.h
@@ -38,27 +38,30 @@ typedef MS580301BA07<spiMS580301BA07> ms580_t;
// AnakinSensor numbers must be in range 0 <= x <= 65535 (uint16_t)
enum AnakinSensor
{
- MPU9250_ACCEL = 0,
- MPU9250_GYRO = 1,
- MPU9250_COMPASS = 2,
- MPU9250_TEMP = 3,
-
- INEMO_ACCEL = 4,
- INEMO_GYRO = 5,
- INEMO_COMPASS = 6,
- INEMO_TEMP = 7,
-
- FXAS21002_GYRO = 8,
-
- LPS331AP_PRESS = 9,
- LPS331AP_TEMP = 10,
-
- MAX21105_ACCEL = 11,
- MAX21105_GYRO = 12,
- MAX21105_TEMP = 13,
-
- MS580_PRESSURE = 14,
- MS580_TEMP = 15,
+ ACCEL_MPU9250 = 0,
+ ACCEL_INEMO = 1,
+ ACCEL_MAX21105 = 2,
+
+ GYRO_MPU9250 = 3,
+ GYRO_INEMO = 4,
+ GYRO_FXAS21002 = 5,
+ GYRO_MAX21105 = 6,
+
+ COMPASS_MPU9250 = 7,
+ COMPASS_INEMO = 8,
+
+ TEMP_MPU9250 = 9,
+ TEMP_INEMO = 10,
+ TEMP_LPS331AP = 11,
+ TEMP_MAX21105 = 12,
+ TEMP_MS580 = 13,
+
+ PRESS_LPS331AP = 14,
+ PRESS_MS580 = 15,
+
+ UNUSED_16 = 16,
+ RESERVED_17 = 17,
+ RESERVED_18 = 18,
};
class AnakinBoard : public Singleton<AnakinBoard>, public Board
diff --git a/src/shared/events/Scheduler.cpp b/src/shared/events/Scheduler.cpp
index 634bbe76fae90f1e65c347ad0b6ba8fbc36c6132..350f8a8de2f0191142bb74b3dff190617ffa3ac2 100644
--- a/src/shared/events/Scheduler.cpp
+++ b/src/shared/events/Scheduler.cpp
@@ -102,9 +102,7 @@ void EventScheduler::run() {
} else tasks.erase(e.task);
} else {
Unlock<FastMutex> u(l);
- leds::led9::high();
Thread::sleepUntil(nextTick);
- leds::led9::low();
}
}
}
diff --git a/src/shared/log/Log.h b/src/shared/log/Log.h
index e16f217a52c27c3a47a53e237746ba86de8f1b3b..6e691edf4c30814b28adff5fd2e728c757e6dbf3 100644
--- a/src/shared/log/Log.h
+++ b/src/shared/log/Log.h
@@ -21,6 +21,7 @@ class Log : public Singleton<Log>, ActiveObject
DATA_INT = 3,
DATA_STRING = 4,
DATA_LIMITED_INT = 5,
+ DATA_UINT32 = 6,
};
friend class Singleton<Log>;
@@ -50,6 +51,16 @@ public:
queue(std::move(buf));
}
+ void logUInt32(uint8_t id, uint32_t data)
+ {
+ std::vector<uint8_t> buf(2 + sizeof(uint32_t));
+ buf[0] = DATA_UINT32;
+ buf[1] = id;
+ memcpy(&buf[2], &data, sizeof(uint32_t));
+
+ queue(std::move(buf));
+ }
+
void logLimitedInt(uint8_t id, int min, int max, int data)
{
assert(max > min);