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

PX4 · Jul 6, 2021 · 72389c2 · 72389c2
1 parent 9524e8e
commit 72389c2
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/boards/ark/can-flow/default.cmake b/boards/ark/can-flow/default.cmake
@@ -24,10 +24,10 @@ px4_add_board(
 		#sensors
 	SYSTEMCMDS
 		param
-		#perf
+		perf
 		#reboot
 		#system_time
-		#top
+		top
 		#topic_listener
 		#uorb
 		#ver

diff --git a/boards/ark/can-flow/nuttx-config/include/board_dma_map.h b/boards/ark/can-flow/nuttx-config/include/board_dma_map.h
@@ -35,9 +35,10 @@
 
 // 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
 //--------------------------------------------//---------------------------//----------------
 #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
diff --git a/boards/ark/can-flow/nuttx-config/nsh/defconfig b/boards/ark/can-flow/nuttx-config/nsh/defconfig
@@ -104,8 +104,8 @@ CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_HPWORKPRIORITY=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
@@ -142,8 +142,10 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=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_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y

diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp b/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp
@@ -39,7 +39,7 @@
 #include <px4_platform_common/getopt.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 SPI_BAUD_RATE 5000000