Project: SPI_MSTransfer

tonton81 · Mar 7, 2018

you got it or? i just flashed the slave with your sketch and its running the example
im gonna try to flash your master now

tonton81 · Mar 7, 2018

its something in your master sketch
one sec ill reflash my master for sanity check..

tonton81 · Mar 7, 2018

yup my sketch works, let me look through yours see whats wrong

tonton81 · Mar 7, 2018

HASHAHAHAHAHAH
seriously mike? Calling a method on an SPI object without calling begin first?

void setup() {
Serial.begin(115200);
while (!Serial && millis() < 2000 ) {}
Serial.println("\n" __FILE__ " " __DATE__ " " __TIME__);
teensy_gpio.onTransfer(myCallback);
teensy_gpio.debug(Serial);
teensy_gpio.pinMode(LED_BUILTIN, OUTPUT);

#ifdef SPI_MST_SCK
SPI_MST_BUS.setSCK( SPI_MST_SCK );
#endif
SPI_MST_BUS.begin();
}

tonton81 · Mar 7, 2018

btw, library already sets pinMode for 13 to OUTPUT while it moves CS to pin 2 for the slave, so calling it is not necessary

mjs513 · Mar 7, 2018

Ok - figured it out. In the master I commented out all calls to the LED - in setup and in the loop and it started working. Now to look at the data

mjs513 · Mar 7, 2018

Ok typing at same time - I told you I needed coffee. I will fix and reload.

tonton81 · Mar 7, 2018

View attachment SPI_MSTransfer 0_0_15.zip

1. pinToggle added by defragster
2. resends re-implemented
3. some cleanup

tonton81 · Mar 7, 2018

oh yeah now i can start up mcus in any order, its working now

mjs513 · Mar 7, 2018

Ok - that's what I get for blindly using a sketch that I thought worked

My fault. But with that said ran into a problem with the 2T3.5 and 120 an the example sketches I sent you.

Started out good but after a minute or two started to see issues and then the slave just hung while the master kept sending but with errors here is when it failed:
Master:

Code:

F&F (OT=1206)micros() _time==99871
F&F (OT=1207)micros() _time==99839
F&F (OT=1208)micros() _time==99798
F&F (OT=1209)micros() _time==99853
F&F (OT=1210)micros() _time==99855
F&F (OT=1211)micros() _time==69
F&F (OT=1211)micros() _time==7228
F&F (OT=1212)micros() _time==99990
F&F (OT=1213)micros() _time==99870
F&F (OT=1214)micros() _time==99278
F&F (OT=1215)micros() _time==99792
F&F (OT=1216)micros() _time==99212
DEBUG: [SLAVE CS 15] [INFO] FAILED SEND  ################################
F&F (OT=1217)micros() _time==40217
DEBUG: [SLAVE CS 15] [INFO] FAILED SEND  ################################
F&F (OT=1218)micros() _time==99698
DEBUG: [SLAVE CS 15] [INFO] FAILED SEND  ################################
F&F (OT=1219)micros() _time==99956
DEBUG: [SLAVE CS 15] [INFO] FAILED SEND  ################################
F&F (OT=1220)micros() _time==99957

Slave:

Code:

15192.00, #, #, #, #, #, #, #, #, #, #, #,1267,0
15204.00, #, #, #, #, #, #, #, #, #, #, #,1268,0
15216.00, #, #, #, #, #, #, #, #, #, #, #,1269,0
15228.00, #, #, #, #, #, #, #, #, #, #, #,1270,0
15240.00, #, #, #, #, #, #, #, #, #, #, #,1271,0
15252.00, #, #, #, #, #, #, #, #, #, #, #,1272,0
15264.00, #, #, #, #, #, #, #, #, #, #, #,1273,0
15276.00, #, #, #, #, #, #, #, #, #, #, #,1274,0
15288.00, #, #, #, #, #, #, #, #, #, #, #,1275,0

Going to try it at 168 - always had problems at 120 for some reason.

Edit - going to use v15.

tonton81 · Mar 7, 2018

mine still going at 0 errors with my sketch and current 15 library
stock 3.6master and stock t35 speeds

tonton81 · Mar 7, 2018

make sure you flash v15 to both master and slave

Code:

4896.00,4897.00,4898.00,4899.00,4900.00,4901.00,4902.00,4903.00,4904.00,4905.00,4906.00,4907.00,0
4908.00,4909.00,4910.00,4911.00,4912.00,4913.00,4914.00,4915.00,4916.00,4917.00,4918.00,4919.00,0
4920.00,4921.00,4922.00,4923.00,4924.00,4925.00,4926.00,4927.00,4928.00,4929.00,4930.00,4931.00,0
4932.00,4933.00,4934.00,4935.00,4936.00,4937.00,4938.00,4939.00,4940.00,4941.00,4942.00,4943.00,0
4944.00,4945.00,4946.00,4947.00,4948.00,4949.00,4950.00,4951.00,4952.00,4953.00,4954.00,4955.00,0
4956.00,4957.00,4958.00,4959.00,4960.00,4961.00,4962.00,4963.00,4964.00,4965.00,4966.00,4967.00,0
4968.00,4969.00,4970.00,4971.00,4972.00,4973.00,4974.00,4975.00,4976.00,4977.00,4978.00,4979.00,0
4980.00,4981.00,4982.00,4983.00,4984.00,4985.00,4986.00,4987.00,4988.00,4989.00,4990.00,4991.00,0
4992.00,4993.00,4994.00,4995.00,4996.00,4997.00,4998.00,4999.00,5000.00,5001.00,5002.00,5003.00,0
5004.00,5005.00,5006.00,5007.00,5008.00,5009.00,5010.00,5011.00,5012.00,5013.00,5014.00,5015.00,0
5016.00,5017.00,5018.00,5019.00,5020.00,5021.00,5022.00,5023.00,5024.00,5025.00,5026.00,5027.00,0
5028.00,5029.00,5030.00,5031.00,5032.00,5033.00,5034.00,5035.00,5036.00,5037.00,5038.00,5039.00,0
5040.00,5041.00,5042.00,5043.00,5044.00,5045.00,5046.00,5047.00,5048.00,5049.00,5050.00,5051.00,0
5052.00,5053.00,5054.00,5055.00,5056.00,5057.00,5058.00,5059.00,5060.00,5061.00,5062.00,5063.00,0
5064.00,5065.00,5066.00,5067.00,5068.00,5069.00,5070.00,5071.00,5072.00,5073.00,5074.00,5075.00,0
5076.00,5077.00,5078.00,5079.00,5080.00,5081.00,5082.00,5083.00,5084.00,5085.00,5086.00,5087.00,0
5088.00,5089.00,5090.00,5091.00,5092.00,5093.00,5094.00,5095.00,5096.00,5097.00,5098.00,5099.00,0
5100.00,5101.00,5102.00,5103.00,5104.00,5105.00,5106.00,5107.00,5108.00,5109.00,5110.00,5111.00,0
5112.00,5113.00,5114.00,5115.00,5116.00,5117.00,5118.00,5119.00,5120.00,5121.00,5122.00,5123.00,0
5124.00,5125.00,5126.00,5127.00,5128.00,5129.00,5130.00,5131.00,5132.00,5133.00,5134.00,5135.00,0
5136.00,5137.00,5138.00,5139.00,5140.00,5141.00,5142.00,5143.00,5144.00,5145.00,5146.00,5147.00,0
5148.00,5149.00,5150.00,5151.00,5152.00,5153.00,5154.00,5155.00,5156.00,5157.00,5158.00,5159.00,0
5160.00,5161.00,5162.00,5163.00,5164.00,5165.00,5166.00,5167.00,5168.00,5169.00,5170.00,5171.00,0
5172.00,5173.00,5174.00,5175.00,5176.00,5177.00,5178.00,5179.00,5180.00,5181.00,5182.00,5183.00,0

tonton81 · Mar 7, 2018

heres mine:

slave:

Code:

#include <SPI_MSTransfer.h>
#include "FastCRC.h"
#include "atomic"
#include "TeensyThreads.h"
#define DEBUGHACK 1 // Set this to 1 to run against TEST MASTER EXAMPLE

SPI_MSTransfer slave = SPI_MSTransfer("SLAVE", "STANDALONE");




void setup() {
  slave.begin();
//  slave.watchdog(10000);
//attachInterrupt(2, spi0_isr, FALLING);

  Serial.begin(115200);
  while (!Serial && micros() < 5000 )
  { Serial.print( "Teensy Online @ millis=" );
    Serial.println( millis() );
    delay(10);
  }
  Serial.print( "Teensy Online @ millis=" );
  Serial.println( millis() );
  Serial.println("\n" __FILE__ " " __DATE__ " " __TIME__);
  slave.onTransfer(myCallback);
  // slave.debug(Serial); // SPI_MST Debug error tracking


  int val = 0;

  //  std::lock_guard<std::mutex> lock(g_mutex);
  //  Serial.print("LOCKED");

  //  g_mutex.unlock();


}
void led() {
  digitalWrite(13, !digitalRead(13));
}
void yield() {}
void loop() {

//if (GPIOD_PDIR & 0x01) SPI0_SR |= SPI_SR_RFDF;
  
  slave.events();
//return;
  static uint32_t _timer = millis();
  if ( millis() - _timer > 500 ) {
    _timer = millis();
    uint16_t buf[20];
    for ( uint16_t i = 0; i < 20; i++ ) buf[i] = random(0x10,0xFF);
    slave.transfer16(buf, 20, random(1,65534));
  }

}

double LastVal = 100000;
uint32_t ChkErr = 0;
void myCallback(uint16_t *buffer, uint16_t length, AsyncMST info) {
  double DiffMiss=0;
  if ( 55 == info.packetID ) {
    if ( 48 != length ) {
      Serial.print("Bad Length: "); Serial.println(length);
    }
    else if ( 0 != info.error ) {
      Serial.println("\nBad CRC: ");
    }
    else {
      double* MST_PrintVals;
      MST_PrintVals = (double *)buffer;

      if ( 1 == DEBUGHACK ) {
        for ( uint32_t ii = 0; ii < 12; ii++ ) {
          LastVal++;
          if ( 65536 == LastVal ) LastVal = 0;
          if ( 100001 == LastVal ) LastVal = MST_PrintVals[ii];
          if ( LastVal != MST_PrintVals[ii] ) {
            DiffMiss = LastVal - MST_PrintVals[ii];
            ChkErr++;
            Serial.print("\nBad LASTVAL TEST INCREMENT <<<<<<<<<<<<<<<<<<<< DIFF OF> ");
            Serial.println( DiffMiss );
            LastVal = MST_PrintVals[ii];
          }
          Serial.print( MST_PrintVals[ii] );
          Serial.print(",");
        }
          Serial.print( ChkErr );
          Serial.println();
      }
      else
      {
        //trig conversions
        float rad2deg = 180.0f / PI;
        float deg2rad = PI / 180.0f;
        int  textLength = 12 * 31;
        char text[textLength];

        char utcText[30];
        char tsIMUText[30];
        char tsGPSText[30];

        // KF parameters
        char latText[30];
        char lonText[30];
        char altText[30];
        char pk1xText[30];
        char pk1yText[30];
        char pk1zText[30];
        char nuk1xText[30];
        char nuk1yText[30];
        char nuk1zText[30];

        int ii = 0;
        dtostrf( MST_PrintVals[ii] , 10, 6, utcText);
        ii++;
        dtostrf( MST_PrintVals[ii] * 0.000001f, 10, 4, tsIMUText);
        ii++;
        dtostrf( MST_PrintVals[ii] * 0.000001f, 10, 4, tsGPSText);
        ii++;
        dtostrf( MST_PrintVals[ii] *rad2deg, 10, 6, latText);
        ii++;
        dtostrf( MST_PrintVals[ii] *rad2deg, 10, 6, lonText);
        ii++;
        dtostrf( MST_PrintVals[ii] , 10, 4, altText);
        ii++;
        dtostrf(sqrt( MST_PrintVals[ii] ), 10, 4, pk1xText);
        ii++;
        dtostrf(sqrt( MST_PrintVals[ii] ), 10, 4, pk1yText);
        ii++;
        dtostrf(sqrt( MST_PrintVals[ii] ), 10, 4, pk1zText);
        ii++;
        dtostrf( MST_PrintVals[ii] , 10, 4, nuk1xText);
        ii++;
        dtostrf( MST_PrintVals[ii] , 10, 4, nuk1yText);
        ii++;
        dtostrf( MST_PrintVals[ii] , 10, 4, nuk1zText);

        // Create single text parameter and print it
        snprintf(text, textLength, "%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s",
                 utcText, tsIMUText, tsGPSText,
                 latText, lonText, altText,
                 pk1xText, pk1yText, pk1zText,
                 nuk1xText, nuk1yText, nuk1zText);
        Serial.println(text);
        //Serial.send_now();
      }

      /*      for ( uint16_t i = 0; i < (length / 2); i++ ) {
              Serial.print(MST_PrintVals[i], HEX); Serial.print(" __ ");
              Serial.print(MST_PrintVals[i]); Serial.print(" | ");
            }
            */
    }
  }
  else {
    Serial.print("PacketID: ");
    Serial.println(info.packetID);
  }
}

master:

Code:

#include <SPI.h>
#include <SPI_MSTransfer.h>
#include "A_ConfigDefines.h"

//SPI_MSTransfer teensy_gpio = SPI_MSTransfer("Serial", SPI_MST_CS, SPI_MST_BUS, 30000000 );
SPI_MSTransfer teensy_gpio = SPI_MSTransfer("Serial", 43, &SPI2, 30000000);


void setup() {
  Serial.begin(115200);
  while (!Serial && millis() < 2000 ) {}
  Serial.println("\n" __FILE__ " " __DATE__ " " __TIME__);
  teensy_gpio.onTransfer(myCallback);
  //  teensy_gpio.debug(Serial);

  SPI2.begin();
}

elapsedMillis ioTest;
void yield() {}
void myCallback(uint16_t *buffer, uint16_t length, AsyncMST info) {
  Serial.print("PacketID: "); Serial.println(info.packetID);
  Serial.print("Length: "); Serial.println(length);
  for ( uint16_t i = 0; i < length; i++ ) {
    Serial.print(buffer[i], HEX); Serial.print(" ");
  }
  Serial.println();
}

void loop() {
//  teensy_gpio._detect();
//  delay(1000);
//  return;
  static uint32_t _timer = millis();
  if ( !(millis() % 1000) )  {
        teensy_gpio.digitalWrite(13, !teensy_gpio.digitalRead(13));
    delay(1);
  }
  if ( millis() - _timer > 10 ) {
    _timer = millis();
    uint32_t _time = micros();

    uint16_t *buf;
    double MST_PrintVals[12];
    buf = (uint16_t *)MST_PrintVals;
    int ii = 0;
    static uint16_t __count = 0;
    for ( uint32_t i = 0; i < sizeof(MST_PrintVals) / sizeof( MST_PrintVals[0]  ); i++ ) MST_PrintVals[i] = __count++;
    Serial.print("returned value ");
    //    teensy_gpio.digitalWrite(13, 1);
    _time = micros();
    teensy_gpio.transfer16((uint16_t *)MST_PrintVals, sizeof(MST_PrintVals) / 2, 55, 1);
    _time = micros() - _time;
    Serial.print("micros() _time==");
    Serial.println(_time);
   }
}

mjs513 · Mar 7, 2018

mine still going at 0 errors with my sketch and current 15 library. stock 3.6master and stock t35 speeds

I think that's the same setup as Tim's. Think that seems to be the question - that always worked but with 2T3.5s I always had to run oc'ed to get zero errors. by the way just reflashed and all is well with the world:

Code:

^LTF&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==62
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==58
F&F (OT=0)micros() _time==59
F&F (OT=0)micros() _time==58
======

14104.00, #, #, #, #, #, #, #, #, #, #, #,12099,0
14116.00, #, #, #, #, #, #, #, #, #, #, #,12100,0
14128.00, #, #, #, #, #, #, #, #, #, #, #,12101,0
14140.00, #, #, #, #, #, #, #, #, #, #, #,12102,0
14152.00, #, #, #, #, #, #, #, #, #, #, #,12103,0
14164.00, #, #, #, #, #, #, #, #, #, #, #,12104,0
14176.00, #, #, #, #, #, #, #, #, #, #, #,12105,0
14188.00, #, #, #, #, #, #, #, #, #, #, #,12106,0
14200.00, #, #, #, #, #, #, #, #, #, #, #,12107,0
14212.00, #, #, #, #, #, #, #, #, #, #, #,12108,0

mjs513 · Mar 7, 2018

here is a complete zip package of the v15 library with Tim's and your examples.

mjs513 · Mar 7, 2018

ok. uploaded your master-slave works like a charm. running fine no issues that I can see. going to load up the other threads sketch and see how it works

defragster · Mar 7, 2018

I bailed last night for sleep with my Examples refusing to run [after running MPU9250_INS9State_V11_SPI ??] - pulled down the V0.0.15 and it is working now using pinToggle version and no errors [ overtime or lost F&F's ] up to 82K F&F's. Pulled the newest complete above but not unzip'd yet. T_3.5 Slave at 120 MHz and T_3.6 Master at 240 MHz.

I used pinToggle as name since I cloned pinMode - makes sense since the param is a pin - not sure what else might Toggle - but that seems okay. Since I saw pin(13) is already set OUTPUT - I didn't do a pinMode( 13 ) - but that would be needed for other pins to work.

One thing I failed to do was bring this over - meant to add as comments to examples perhaps as well:

Code:
Using SPI0 on both I have this working as T_3.x Slave :: T_3.y Master > Connections

Code:

[U]T_3.x :: T_3.y > Connections[/U] GND :: GND > GND 14 :: 14 > SCK 12 :: 11 > MOSI 11 :: 12 > MISO 02 :: 15 > CS

It should work on any Teensy [ as long as the SLAVE hits SPI0 hardware as coded ] - it doesn't have to be of course Slave(T_3.5) and Master (T_3.6) - but that is what I had at least though two or interchangeable.

mjs513 · Mar 7, 2018

Just tested at 120 and having issues:

Code:

slave:
Bad LASTVAL TEST INCREMENT <<<<<<<<<<<<<<<<<<<< DIFF OF> 3.00
-1.29,
Bad LASTVAL TEST INCREMENT <<<<<<<<<<<<<<<<<<<< DIFF OF> -60.91
60.62,
Bad LASTVAL TEST INCREMENT <<<<<<<<<<<<<<<<<<<< DIFF OF> 60.25
1.36,
Bad LASTVAL TEST INCREMENT <<<<<<<<<<<<<<<<<<<< DIFF OF> 1.00

168Mhz does not appear to be an issue. Tried 120 on master and 168 on slave and no luck. If using different Teensies going to have to becareful of CPU speeds, at least from my testing.

mjs513 · Mar 7, 2018

Decided to run one more test. Guess it finally sunk in. I set the slave at 120Mhz and the master at 168Mhz. It worked no issues. Works about the same way as setting both to 168Mhz. Guess its a warning that the slave should be at a lower speed than the master?

tonton81 · Mar 7, 2018

yeah but at what mhz?

wont the cpu speed change the spi bus speed? (master 3.5)
im using a 3.6 master so no issues at 180

tonton81 · Mar 7, 2018

you try lower speed? like 24mhz spi? 16?

defragster · Mar 7, 2018

I'll try more later - but I recompiled T_3.6 and data xFer failed? Took T_3.6 back to 240 - still no signs of life? Reset both in turn . . . Slave T_3.5 still at 120 ??

Is it possible a faster slave it TOO responsive?

Gotta run again - also have to restart and try Paul's latest Teensy 1.42 beta fixes . . . will be interesting if that works. I'm back to TyCommander - and sometimes it is HANGING on programming the Slave? I wonder if we need a delay() in setup before it starts SPI_MST Streaming?

defragster · Mar 7, 2018

Running MASTER slower will drop SPI to the highest it can support - the requested or nearest under F_BUS/2? The SLAVE is always driven by Master clock?

This thread is more like a CHAT . . . so many messages so fast - has pushed my post per day over 5 for 3 years . . . .

tonton81 · Mar 7, 2018

v15 works perfect for me at stock speed and 30mhz using both sketches i posted before, always 0

tonton81 · Mar 7, 2018

heres v0_0_16

i optimised the code more and readded the incomming crc routine rather than the forloop (it wasnt implemented in your pinToggle version)

View attachment SPI_MSTransfer.zip

had to restart my browser, 64bit waterfox was taking 2.5gigs of ram lol

Project: SPI_MSTransfer

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