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Increase hp work priority. Turn on SPI2 DMA for AFBR.

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alexklimaj
2021-07-05 23:01:01 -06:00
committed by Daniel Agar
parent 9524e8ec03
commit 72389c2306
4 changed files with 11 additions and 8 deletions
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boards/ark/can-flow/default.cmake
+2 -2
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@@ -24,10 +24,10 @@ px4_add_board(
#sensors #sensors
SYSTEMCMDS SYSTEMCMDS
param param
#perf perf
#reboot #reboot
#system_time #system_time
#top top
#topic_listener #topic_listener
#uorb #uorb
#ver #ver
boards/ark/can-flow/nuttx-config/include/board_dma_map.h
+3 -2
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@@ -35,9 +35,10 @@
// DMA1 Channel/Stream Selections // DMA1 Channel/Stream Selections
//--------------------------------------------//---------------------------//---------------- //--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA1, Stream 3, Channel 0
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA1, Stream 4, Channel 0
// DMA2 Channel/Stream Selections // DMA2 Channel/Stream Selections
//--------------------------------------------//---------------------------//---------------- //--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3 #define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3 #define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3
boards/ark/can-flow/nuttx-config/nsh/defconfig
+5 -3
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@@ -104,8 +104,8 @@ CONFIG_RAW_BINARY=y
CONFIG_RTC_DATETIME=y CONFIG_RTC_DATETIME=y
CONFIG_SCHED_ATEXIT=y CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=249 CONFIG_SCHED_HPWORKPRIORITY=254
CONFIG_SCHED_HPWORKSTACKSIZE=1280 CONFIG_SCHED_HPWORKSTACKSIZE=3000
CONFIG_SCHED_INSTRUMENTATION=y CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORK=y
@@ -142,8 +142,10 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI1_DMA_BUFFER=1024 CONFIG_STM32_SPI1_DMA_BUFFER=2048
CONFIG_STM32_SPI2=y CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI2_DMA=y
CONFIG_STM32_SPI2_DMA_BUFFER=2048
CONFIG_STM32_SPI_DMA=y CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM8=y CONFIG_STM32_TIM8=y
CONFIG_STM32_USART2=y CONFIG_STM32_USART2=y
src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp
+1 -1
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@@ -39,7 +39,7 @@
#include <px4_platform_common/getopt.h> #include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#define AFBRS50_MEASURE_INTERVAL (1000000 / 100) // 10Hz #define AFBRS50_MEASURE_INTERVAL (1000000 / 100) // 100Hz
/*! Define the SPI baud rate (to be used in the SPI module). */ /*! Define the SPI baud rate (to be used in the SPI module). */
#define SPI_BAUD_RATE 5000000 #define SPI_BAUD_RATE 5000000