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https://github.com/ArduPilot/ardupilot
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HAL_ChibiOS: fixed SPI bus speed on SPI3
and add optional bootup test of SPI bus speeds to help with porting to new MCUs
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c50359a5b5
commit
01e9c55721
libraries/AP_HAL_ChibiOS
@ -135,6 +135,12 @@ static THD_FUNCTION(main_loop,arg)
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ChibiOS::Shared_DMA::init();
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hal.uartA->begin(115200);
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#ifdef HAL_SPI_CHECK_CLOCK_FREQ
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// optional test of SPI clock frequencies
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ChibiOS::SPIDevice::test_clock_freq();
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#endif
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hal.uartB->begin(38400);
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hal.uartC->begin(57600);
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hal.analogin->init();
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@ -37,6 +37,11 @@ extern const AP_HAL::HAL& hal;
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#define SPI3_CLOCK STM32_PCLK1
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#define SPI4_CLOCK STM32_PCLK2
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// expected bus clock speeds
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static const uint32_t bus_clocks[4] = {
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SPI1_CLOCK, SPI2_CLOCK, SPI3_CLOCK, SPI4_CLOCK
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};
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static const struct SPIDriverInfo {
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SPIDriver *driver;
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uint8_t busid; // used for device IDs in parameters
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@ -148,51 +153,23 @@ void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
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uint16_t SPIDevice::derive_freq_flag(uint32_t _frequency)
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{
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uint8_t i;
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uint32_t spi_clock_freq;
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switch(device_desc.bus) {
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case 0:
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spi_clock_freq = SPI1_CLOCK;
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break;
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case 1:
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spi_clock_freq = SPI2_CLOCK;
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break;
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case 2:
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spi_clock_freq = SPI4_CLOCK;
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break;
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case 3:
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spi_clock_freq = SPI4_CLOCK;
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break;
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default:
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spi_clock_freq = SPI1_CLOCK;
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break;
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uint32_t spi_clock_freq = SPI1_CLOCK;
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uint8_t busid = spi_devices[device_desc.bus].busid;
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if (busid > 0 && busid-1 < ARRAY_SIZE_SIMPLE(bus_clocks)) {
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spi_clock_freq = bus_clocks[busid-1];
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}
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for(i = 0; i <= 7; i++) {
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spi_clock_freq /= 2;
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if (spi_clock_freq <= _frequency) {
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break;
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}
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}
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switch(i) {
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case 0: //PCLK DIV 2
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return 0;
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case 1: //PCLK DIV 4
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return SPI_CR1_BR_0;
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case 2: //PCLK DIV 8
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return SPI_CR1_BR_1;
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case 3: //PCLK DIV 16
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return SPI_CR1_BR_1 | SPI_CR1_BR_0;
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case 4: //PCLK DIV 32
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return SPI_CR1_BR_2;
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case 5: //PCLK DIV 64
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return SPI_CR1_BR_2 | SPI_CR1_BR_0;
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case 6: //PCLK DIV 128
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return SPI_CR1_BR_2 | SPI_CR1_BR_1;
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case 7: //PCLK DIV 256
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default:
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return SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0;
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// find first divisor that brings us below the desired SPI clock
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uint32_t i = 0;
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while (spi_clock_freq > _frequency && i<7) {
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spi_clock_freq >>= 1;
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i++;
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}
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// assuming the bitrate bits are consecutive in the CR1 register,
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// we can just multiply by BR_0 to get the right bits for the desired
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// scaling
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return i * SPI_CR1_BR_0;
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}
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bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
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@ -326,4 +303,40 @@ SPIDeviceManager::get_device(const char *name)
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return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
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}
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#endif
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#ifdef HAL_SPI_CHECK_CLOCK_FREQ
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/*
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test clock frequencies. This measures the actual SPI clock
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frequencies on all configured SPI buses. Used during board bringup
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to validate clock configuration
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*/
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void SPIDevice::test_clock_freq(void)
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{
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// delay for USB to come up
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hal.console->printf("Waiting for USB\n");
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hal.scheduler->delay(1000);
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hal.console->printf("SPI1_CLOCK=%u SPI2_CLOCK=%u SPI3_CLOCK=%u SPI4_CLOCK=%u\n",
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SPI1_CLOCK, SPI2_CLOCK, SPI3_CLOCK, SPI4_CLOCK);
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// we will send 1024 bytes without any CS asserted and measure the
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// time it takes to do the transfer
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uint16_t len = 1024;
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uint8_t *buf = (uint8_t *)hal.util->malloc_type(len, AP_HAL::Util::MEM_DMA_SAFE);
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for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(spi_devices); i++) {
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SPIConfig spicfg {};
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// use a clock divisor of 256 for maximum resolution
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spicfg.cr1 = SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0; // clock / 256
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spiAcquireBus(spi_devices[i].driver);
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spiStart(spi_devices[i].driver, &spicfg);
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uint32_t t0 = AP_HAL::micros();
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spiExchange(spi_devices[i].driver, len, buf, buf);
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uint32_t t1 = AP_HAL::micros();
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spiStop(spi_devices[i].driver);
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spiReleaseBus(spi_devices[i].driver);
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hal.console->printf("SPI[%u] clock=%u\n", spi_devices[i].busid, unsigned(256ULL * 1000000ULL * len * 8ULL / uint64_t(t1 - t0)));
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}
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hal.util->free_type(buf, len, AP_HAL::Util::MEM_DMA_SAFE);
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}
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#endif // HAL_SPI_CHECK_CLOCK_FREQ
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#endif // HAL_USE_SPI
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@ -88,6 +88,11 @@ public:
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bool set_chip_select(bool set) override;
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#ifdef HAL_SPI_CHECK_CLOCK_FREQ
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// used to measure clock frequencies
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static void test_clock_freq(void);
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#endif
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private:
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SPIBus &bus;
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SPIDesc &device_desc;
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