Project: SPI_MSTransfer

mjs513 · Mar 22, 2018

Evening. Just got back to this again

It might just fix the issues with the board combos I am using. Like you said, "just finding the sweet spot" where it works - basically tuning the combo so it work.

tonton81 · Mar 23, 2018

im thinking of getting rid of the slave contructor in favor of the preloaded slave object

example:

with no constructors, just the #include, you should be able to just run slave.begin() in setup() to activate it
the master will definately keep its constructor, as it points to the slave(s)

I did the same with AsyncUDP when i ported it to teensy, using the “Udp” object was able to access the udp protocol and callbacks without instantiating it, because the library enabled the object internally

also, if its segregated properly, we might also be able to do cascading , ex, a slave being both master and slave

that can also potentially extend your bus range over longer legths using “transfer16 repeaters”

tonton81 · Mar 23, 2018

Welp, I got F&F's and toggling, digitalread/write, everything basically, with a SPISettings of 1KHz (1000)

its a bit of a tricky scenario, for high speed the DSPI seems to be finishing the transfers before the line is cut off, at other speeds the CS is dropped before the line is done transferring
I verified this by testing (currently) with a delayMicroseconds(25); (i tried 5 but that failed) right before the first command in SPI_deassert func.
Secondly, the timeout increases the lower SPI speed you go, so while the problem with the line deasserting before the transfer is finished, this one also threw me off,

i have the led toggling at 1 sec intervals and loop at 0ms
the auto resend needed to be upped to 500 as the response can be up to 4xx to validate at 1khz setting, so I put a value of 1000uS for the timeout at a safety margin

Code:

F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
LED STATE: 0
^LTF&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
LED STATE: 1
^LTF&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11782
F&F (OT=0)micros() _time==11783

Code:

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  0.000000,    0.0371,    0.0371,2127850.500000,2127907.750000,37140.0000,  192.7200,  192.7226,  192.7252,37144.0000,37145.0000,37146.0000
  0.000000,    0.0372,    0.0372,2130600.750000,2130658.000000,37188.0000,  192.8445,  192.8471,  192.8497,37192.0000,37193.0000,37194.0000
  0.000000,    0.0372,    0.0372,2133351.000000,2133408.250000,37236.0000,  192.9689,  192.9715,  192.9741,37240.0000,37241.0000,37242.0000
  0.000000,    0.0373,    0.0373,2136101.250000,2136158.500000,37284.0000,  193.0932,  193.0958,  193.0984,37288.0000,37289.0000,37290.0000
  0.000000,    0.0373,    0.0373,2138851.250000,2138908.750000,37332.0000,  193.2175,  193.2201,  193.2227,37336.0000,37337.0000,37338.0000
  0.000000,    0.0374,    0.0374,2141601.500000,2141658.750000,37380.0000,  193.3417,  193.3443,  193.3468,37384.0000,37385.0000,37386.0000

OT _time had to be adjusted to "> 12000" due to the fact it takes long time at slow speed (11782)

tonton81 · Mar 23, 2018

Anyone care to test this?

Code:

[ATTACH]13368._xfImport[/ATTACH]

If your doing 8+ mhz you can change these variables for testing in H

Code:

#define _transfer_slowdown_while_reading 0
#define _delay_before_deassertion 25

The first one seems to be working, omitting it from the library causes crashes, so I presume 0 is doing some delayMicroseconds housekeeping behind scenes
Second one is you increase it if you have problems, it's micros time before CS is raised. For high speed, setting it at 0 works, at low speeds, (1khz lol?) 25 seems to work..

im beginning to wonder why digitalwrite(fast) is faster than the SPI bus can complete (master end of course)..

11782 micros for ~ 30 bytes (buffer & overhead) at 1khz, definately not good for aHRS

would be nice to find actual completion before deasserting, so the delay can go byebye, library uses the core transfer16 method for SPI transfers

EDIT: still 0 OT at 1khz

mjs513 · Mar 23, 2018

I'll give it a shot with my crazy set up in a little bit - have guys here installing new floor

EDIT: Test 1. T3.5 @168 and T3.2 at 120, getting traffic but:

Code:

F&F (OT=1998)micros() _time==12625
F&F (OT=1999)micros() _time==12625
F&F (OT=2000)micros() _time==12625
PacketID: 55
Length: 48
Got message......
F&F (OT=2001)micros() _time==12625
F&F (OT=2002)micros() _time==12625
PacketID: 55

No led blinking. Going to try 144 and 120, that seemed to work before

EDIT2: Same thing at 144/120. At least it works and no hanging.

EDIT3: Same/same at 144/72. One thing I forgot to mention is that there are no errors on the slave side. Only OTs on the master for all three tests. For this one it does blink but intermittently.

defragster · Mar 23, 2018

It works for me - I have an update to the tvMASTER.ino :: View attachment TVmaster.ino.txt

I see no errors - but 30500 where I tested is slow

One F&F is 11,784 uS. The above update overshoots but accounts for that and works at 30 MHz too.

NOTE: At 30 MHz SPI the 51 uS is now 76 to 78 uS

NOTE: At lower speeds the 500 Hz F&F taking soooo long makes the pinToggle miss the time test - so it will not be 10 Hz change as the transfer goes over perhaps 1 ms

Here are the edits I made to SPI_MSTransfer\SPI_MSTransfer.cpp to make the RETRY case output more viewable in the SerMon::

Code:

bool SPI_MSTransfer::command_ack_response(uint16_t *data, uint32_t len) {
  uint8_t resend_count = 0; uint32_t timeout = micros(); uint16_t _crc = 0;
  while ( 1 ) {
    _crc = spi_port->transfer16(0xFFFF);
    if ( _crc == 0xF00D ) {
      spi_port->transfer16(0xBEEF); break;
    }
    else if ( _crc == 0xBAAD ) {
      spi_port->transfer16(0xBEEF); SPI_deassert(); return 0;
    }
    if ( micros() - timeout > 1000 ) {
      resend_count++;
      if ( resend_count > 3 ) {
        if ( debugSerial != nullptr ) {
          Serial.print("DBG: [S_CS "); Serial.print(chip_select);
          Serial.print("] FAIL_RES #"); Serial.print(resend_count);
          Serial.print(" Tx ABORT. "); delay(1000);
        }
        break;
      }
      if ( debugSerial != nullptr ) {
        Serial.print("FAIL_Res #"); Serial.print(resend_count);
        Serial.print(" RETRY..."); delay(1000);
      }
      timeout = micros();
    }
  }
  return 1;
}

tonton81 · Mar 23, 2018

ok will merge your edits, yeah turn 25 to 0 for your use, its only needed for those picky deassertion speeds

i think we'll make 25 as default for now, so it wont affect majority of users. if a user wanted the boost he could adjust it manually
(unless we find that deassert glitch )

i changed the modulo to > 1000 works better, that modulo threw me off too while debugging

defragster · Mar 23, 2018

Did you say the break happened about 8 Mhz?

I did this quick AUTO ADJUST so 30 MHz returns to 51 or 52 uS in SPI_MSTransfer.cpp::

Code:

// { remove [B]_delay_before_deassertion[/B] #define from the header }
uint32_t _delay_before_deassertion = 25;  
 // ...

SPI_MSTransfer::SPI_MSTransfer(const char *data, uint8_t cs, SPIClass *SPIWire, uint32_t spi_bus_speed) {
  chip_select = cs; spi_port = SPIWire; _master_access = 1; _spi_bus_speed = spi_bus_speed;
  ::pinMode(cs, OUTPUT); // make sure CS is OUTPUT before deassertion.
  ::digitalWriteFast(cs, HIGH); // deassert the CS way before SPI initializes :)
  [B]if ( spi_bus_speed > 8000000 ) _delay_before_deassertion = 0;[/B]

Nobody should have to edit the library to get proper performance.

tonton81 · Mar 23, 2018

Mike, the OT is because you have a > 1000 counter, for sure slower speeds are triggering it and are not failing, so its still counted

thats why i said before change OT _timer to > 12000 instead of > 1000 for 1khz, otherwise OT will count +1 every loop

yeah tim, that works too, although, im afraid of "picky" setups due to the SPI issue, what can work for us doesnt necessarily work for mike, as an example, and the library will be controlling it, not the user

mjs513 · Mar 23, 2018

Just loaded up the Tvmaster/slave with the changes that defragster posted as well as the change to the .cpp file. Right now with the T3.5 at 168Mhz and T3.2 at 120Mhz oc'd it's happily chugging along at 1Khz SPI. No OT's or errors on the slave and its blinking happily.
Master:

Code:

F&F (OT=0) OT_CALC==3000000  micros() _time==12625
F&F (OT=0) OT_CALC==3000000  micros() _time==12626
F&F (OT=0) OT_CALC==3000000  micros() _time==12626
F&F (OT=0) OT_CALC==3000000  micros() _time==12626
^LTF&F (OT=0) OT_CALC==3000000  micros() _time==12625
F&F (OT=0) OT_CALC==3000000  micros() _time==12625
F&F (OT=0) OT_CALC==3000000  micros() _time==12625
F&F (OT=0) OT_CALC==3000000  micros() _time==12625
F&F (OT=0) OT_CALC==3000000  micros() _time==12625
F&F (OT=0) OT_CALC==3000000  micros() _time==12625

Slave:

Code:

54456.00, #, #, #, #, #, #, #, #, #, #, #,20085,0
54468.00, #, #, #, #, #, #, #, #, #, #, #,20086,0
54480.000000,    0.0545,    0.0545,3121645.750000,3121703.000000,54485.0000,  233.4224,  233.4245,  233.4267,54489.0000,54490.0000,54491.0000
54492.00, #, #, #, #, #, #, #, #, #, #, #,20087,0
54504.00, #, #, #, #, #, #, #, #, #, #, #,20088,0

tonton81 · Mar 23, 2018

magic bug found!

wheres my cookie? lol

see mike, 12625 > 1000, thats what incremented your OT heheh

mjs513 · Mar 23, 2018

New name = cookie monster

Now the real test, no overclocking T3.5 (120Mhz) and T3.2(72Mhz):

Code:

F&F (OT=0) OT_CALC==3000000  micros() _time==11788
F&F (OT=0) OT_CALC==3000000  micros() _time==11788
F&F (OT=0) OT_CALC==3000000  micros() _time==11789
F&F (OT=0) OT_CALC==3000000  micros() _time==11789
F&F (OT=0) OT_CALC==3000000  micros() _time==11788

Chugging happily along. No ot's or errors. Going to let run for awhile.

BTW: did you notice anything interesting with the times?

defragster · Mar 23, 2018

tonton81 said:
Mike, the OT is because you have a > 1000 counter, for sure slower speeds are triggering it and are not failing, so its still counted

thats why i said before change OT _timer to > 12000 instead of > 1000 for 1khz, otherwise OT will count +1 every loop

yeah tim, that works too, although, im afraid of "picky" setups due to the SPI issue, what can work for us doesnt necessarily work for mike, as an example, and the library will be controlling it, not the user

@Tony: As Mike Notes - the provided tvMaster.ino automates a working (hack) adjustment to the perceived timeout - it Overshoots - but at least no false OT's! I can do a PULL request - or you can upload with your updates.

I think you should do the provided VARIABLE solution. If it needs user adjustment - it can be made as easily ( and perhaps more understandably ) to that variable than to a #define. Pushing the variable on the stack versus pushing the constant to delaymicroseconds() is trivial. In fact you could add that as an option extra param here::

SPI_MSTransfer teensy_gpio = SPI_MSTransfer("Serial", SPI_MST_CS, &SPI_MST_BUS, SPI_SPEED );

becomes::

SPI_MSTransfer teensy_gpio = SPI_MSTransfer("Serial", SPI_MST_CS, &SPI_MST_BUS, SPI_SPEED, _delay_before_deassertion );

and

SPI_MSTransfer::SPI_MSTransfer(const char *data, uint8_t cs, SPIClass *SPIWire, uint32_t spi_bus_speed, uint32_t _DBD=25) {
// ...
_delay_before_deassertion = _DBD;

tonton81 · Mar 23, 2018

Should we just do a method rather than keep overloading the constructor? its getting pretty big

the method would allow you to dynamically change it at runtime

we could even make an automated sync version, where it increments until the crashes stop and keeps its value for all further transactions

defragster · Mar 23, 2018

tonton81 said:
Should we just do a method rather than keep overloading the constructor? its getting pretty big

That is up to you - it is a one time thing and it is part of the usage - it is easy to cut and paste - the _DBD is tied to SPI_SPEED so it should be side by side wherever it is.

In fact for ideal usage perhaps combine my two edits above?

Code:

SPI_MSTransfer::SPI_MSTransfer(const char *data, uint8_t cs, SPIClass *SPIWire, uint32_t spi_bus_speed, uint32_t _DBD=0xffff) {
// ...
if ( _DBD != 0xffff ) _delay_before_deassertion = _DBD; 
else if ( spi_bus_speed > 8000000 ) _delay_before_deassertion = 0;
// else if ( spi_bus_speed > 4000000 ) _delay_before_deassertion = 15;
else _delay_before_deassertion = 25;

mjs513 · Mar 23, 2018

My two cents. Do the method to keep it simple for most users with the constructor. Assuming you are still doing the auto change to 25?

defragster · Mar 23, 2018

A method can work similarly. In fact the method could allow changing the spi_bus_speed on the fly too?

tonton81 · Mar 23, 2018

well auto or default
for auto i'd have to write an initiation scan for the slave on startup, which would poll maybe 25 or so frames, if a crash occurs, the rate is increased by 1, and loops through, once its solid, we'll pad an additional maybe 1-2 extra for a little margin
but for this we have to call it on per slave connection, its doable but tedius. its easier to add just variable of value with a method and call it a day

yes we can change SPI speed on the fly, currently, each object has it's own speed, this was done for multiple slaves having multiple bus speeds

tonton81 · Mar 23, 2018

besides for most user cases, using tim's example of 75uS rate, that kind of difference wouldnt be noticable to the general users, so a default of 25 i think is okay, with a method to change it dynamically

defragster · Mar 23, 2018

I was wondering about an equivalent to 'if ( Serial() )' - where the Master would sent a 'PING' to search for a slave?

teensy_gpi

nline();

Then the program could control and be aware of run-away retries?

Perhaps that could be part of the adjustment method so the sketch gets immediate feedback: teensy_gpi

nline( spi_bus_speed, _DBD );

mjs513 · Mar 23, 2018

That would be a nice feature, additional insurance.

EDIT - forgot over 116k with no errors or OTs. It now seems to be working for normal Teensy speeds - which I could not get to work before with my setup as well as very low SPI bus.

tonton81 · Mar 23, 2018

yeah but you gonna sprinkle that all over your code? why not just do it in events, but that will cause unnecessary traffic

the auto detection still needs to be implemented, so the functions self-disable when a slave goes offline, and events() re-enables them when a slave is found. this will give non-block mode for full loop() speed for master
Its what i want to add only once things are fixed first with stability
Run away retries could also be tracked by timeouts, however, if your slave is offline, this is bad, as the library will block the loop X timeouts per function

online() would return bool for offline/online state (1/0)

thats part of the detection ill be working on

defragster · Mar 23, 2018

It is working ( and has been ) very well! Now it is more speed tolerant and since the aHRS finishes in 51 uS it is ready to test/refine with a stable base now!

I was only looking to see lower speeds work so we could see what the max distance wire length could be pushed to. Another recent poster was looking for 2 meters.

SPI is a nice fast spec - this adds a good protocol and function with CRC checks on it - which I saw was blasted as why i2c and others are better than the raw SPI spec provides for.

Could this even be bastardized [for Smart Teensy SPI_MST Slaves] to have the Master use a common CS for 2 or more slaves with a shutup and listed broadcast command, and a everybody but Slave X listen/ignore - I want to talk to X? All those Slave isr()'s would still go HOT - but perhaps the SPI_int could shutoff until the next CS change during 'not my message' cases?

Also for T_3.6/3.5 utility it would be good to have the Slave cover all SPI0/SPI1/SPI2. Even the T_LC can do SPI0 & SPI1? I'll wire up my T_LC .... soon.

<edit> Perhaps teensy_gpinline(); could have two modes? TEST NOW and LAST RESULT. So any teensy_gpio.xxx() could be gated with teensy_gpi

nline( 0 ); and then in loop() when

if ( !teensy_gpi

nline( 0 ) ) teensy_gpi

nline( 1 ); // if offline - test for online ?

And when a normal teensy_gpio.xxx(); fails it would mark it as OFFLINE.

mjs513 · Mar 23, 2018

Ok. Up to 260K and still no errors or OT's. Think it works

Sorry, don't have a LC to test with

tonton81 · Mar 23, 2018

the LC i believe uses different registers, hopefully the different formatting will make it work, and we could ifdef that for capability

broadcast is something we discussed a month or so back, technically, F&F "should" work currently if you assert the lines manually and fire a single F&F message, you'll have to deassert the CS pin after not belonging to that object

if you can test if that works with 2 slaves great, we could simple have the library keep an array of constructed CS pins, and we could use a method to mass enable/mass disable them

Project: SPI_MSTransfer

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