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HAL_ChibiOS: make SPI clock test non-blocking

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This commit is contained in:
Andrew Tridgell 2019-02-10 08:53:22 +11:00
parent e6b41fbe0b
commit 4c7fa7c6fb
1 changed files with 21 additions and 5 deletions
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26
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
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@ -177,7 +177,7 @@ void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
}
bus.bouncebuffer_finish(send, recv, len);
set_chip_select(old_cs_forced);
}
@ -374,6 +374,7 @@ SPIDeviceManager::get_device(const char *name)
}
#ifdef HAL_SPI_CHECK_CLOCK_FREQ
/*
test clock frequencies. This measures the actual SPI clock
frequencies on all configured SPI buses. Used during board bringup
@ -383,14 +384,18 @@ void SPIDevice::test_clock_freq(void)
{
// delay for USB to come up
hal.console->printf("Waiting for USB\n");
hal.scheduler->delay(1000);
for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1000);
hal.console->printf("Waiting %u\n", AP_HAL::millis());
}
hal.console->printf("SPI1_CLOCK=%u SPI2_CLOCK=%u SPI3_CLOCK=%u SPI4_CLOCK=%u\n",
SPI1_CLOCK, SPI2_CLOCK, SPI3_CLOCK, SPI4_CLOCK);
// we will send 1024 bytes without any CS asserted and measure the
// time it takes to do the transfer
uint16_t len = 1024;
uint8_t *buf = (uint8_t *)hal.util->malloc_type(len, AP_HAL::Util::MEM_DMA_SAFE);
uint8_t *buf1 = (uint8_t *)hal.util->malloc_type(len, AP_HAL::Util::MEM_DMA_SAFE);
uint8_t *buf2 = (uint8_t *)hal.util->malloc_type(len, AP_HAL::Util::MEM_DMA_SAFE);
for (uint8_t i=0; i<ARRAY_SIZE(spi_devices); i++) {
SPIConfig spicfg {};
const uint32_t target_freq = 2000000UL;
@ -403,13 +408,24 @@ void SPIDevice::test_clock_freq(void)
spiAcquireBus(spi_devices[i].driver);
spiStart(spi_devices[i].driver, &spicfg);
uint32_t t0 = AP_HAL::micros();
spiExchange(spi_devices[i].driver, len, buf, buf);
spiStartExchange(spi_devices[i].driver, len, buf1, buf2);
chSysLock();
msg_t msg = osalThreadSuspendTimeoutS(&spi_devices[i].driver->thread, TIME_MS2I(100));
chSysUnlock();
if (msg == MSG_TIMEOUT) {
spiAbort(spi_devices[i].driver);
hal.console->printf("SPI[%u] FAIL %p %p\n", spi_devices[i].busid, buf1, buf2);
spiStop(spi_devices[i].driver);
spiReleaseBus(spi_devices[i].driver);
continue;
}
uint32_t t1 = AP_HAL::micros();
spiStop(spi_devices[i].driver);
spiReleaseBus(spi_devices[i].driver);
hal.console->printf("SPI[%u] clock=%u\n", spi_devices[i].busid, unsigned(1000000ULL * len * 8ULL / uint64_t(t1 - t0)));
}
hal.util->free_type(buf, len, AP_HAL::Util::MEM_DMA_SAFE);
hal.util->free_type(buf1, len, AP_HAL::Util::MEM_DMA_SAFE);
hal.util->free_type(buf2, len, AP_HAL::Util::MEM_DMA_SAFE);
}
#endif // HAL_SPI_CHECK_CLOCK_FREQ