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Arduino_Benchmark_240814.ino
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Arduino_Benchmark_240814.ino
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/*
Author: Mitchell C. Nelson, PhD
Date: March 17, 2024
Contact: [email protected]
Measures and reports timings various basic operations.
Original version For Teensy 4.0 and 3.2
Revision August 14, 2024 Include support for the UNO R4
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
// ------------------------------------------------------------------
//#define DIAGNOSTICS_CPU
//#define DIAGNOSTICS_IDLER
//#define DIAGNOSTICS_SYNC
//#define DIAGNOSTICS_GATE
// Stream& dataPort = SerialUSB1;
// ------------------------------------------------------------------
#include "Arduino.h"
#include <stdlib.h>
#include <limits.h>
#include <ctype.h>
#include <TimerOne.h>
#include <SPI.h>
const char versionstr[] = "Benchmark digital i/o";
const char authorstr[] = "(c) 2024 by Mitchell C. Nelson, Ph.D. ";
// Number of cycles for averaging response times
#define NKNTS 500
// CPU Cycles per time and inverse
#define CYCLES_PER_USEC (F_CPU / 1000000)
#define CYCLE_PER_NANOSEC (1.0E-9*F_CPU)
#define SECS_PER_CYCLE (1./F_CPU)
#define NANOSECS_PER_CYCLE (1.0E-9/F_CPU)
#define NANOSECS_TO_CYCLES(n) (((n)*CYCLES_PER_USEC)/1000)
volatile uint32_t cpucycles = 0;
volatile uint32_t cpucycles1 = 0;
volatile uint32_t cpucycles2 = 0;
volatile uint32_t cpuavg = 0;
volatile uint32_t cpumax = 0;
uint32_t cpucycles_overhead = 0;
uint8_t outputpin;
uint8_t inputpin;
uint8_t diagnosticpin;
unsigned int diagnosticpin_nsecs = 1000;
bool use_diagnosticpin;
uint8_t timertest_outpin;
unsigned int timertest_countdown = 0;
int serial_printf(const char *format, ...)
{
char buffer[128] = {0};
int n = 0;
va_list args;
va_start(args, format);
n = vsprintf(buffer, format, args);
va_end(args);
Serial.print(buffer);
return n;
}
// ==========================================================
// Identify our platform
#if defined(ARDUINO_TEENSY41)||defined(ARDUINO_TEENSY40)
#define IS_TEENSY
#elif defined(ARDUINO_TEENSY36)||defined(ARDUINO_TEENSY35)||defined(ARDUINO_TEENSY32)
#define IS_TEENSY
#elif defined(ARDUINO_UNOR4_MINIMA) || defined(ARDUINO_UNOR4_WIFI)
#define IS_ARDUINO_UNO_R4
#else
#error "not recognized as a supported board"
#endif
// ==========================================================
// Specific to the Teensy 4.0, 3.2
#ifdef IS_TEENSY
#include <digitalWriteFast.h>
#define DIGITALREAD(a) digitalReadFast(a)
#define DIGITALWRITE(a,b) digitalWriteFast(a,b)
#define DIGITALTOGGLE(a) digitalToggleFast(a)
inline void _rebootFunc() {
_reboot_Teensyduino_();
}
// Pins for fast read/write,etc and interrupt timing
#define INPIN 5
#define OUTPIN 4
#define SPAREPIN 3
#define READMACRO (CORE_PIN5_PINREG & CORE_PIN5_BITMASK)
// SPI interface to external device on T4 controller
const uint8_t CNVSTPin = 10;
const uint8_t SDIPin = 11;
const uint8_t SDOPin = 12;
const uint8_t CLKPin = 13;
#define MAXADC 8
uint8_t adcpins[MAXADC] = { A0, A1, A2, A3, A4, A5, A6, A7 };
#define ADCPIN A0
void blink() {
digitalWrite(13,HIGH);
delay(1000);
digitalWrite(13,LOW);
}
#define HAS_CPU_TEMPERATURE
extern float tempmonGetTemp(void);
inline float getCpuTemperature() {
return tempmonGetTemp();
}
// Measure elapsed time in cpu clock cycles
volatile uint32_t elapsed_cycles_holder;
inline uint32_t elapsed_cycles() {
return (ARM_DWT_CYCCNT - elapsed_cycles_holder);
}
inline void elapsed_cycles_start() {
elapsed_cycles_holder = ARM_DWT_CYCCNT;
}
void setupCYCCNT() {
elapsed_cycles_holder = ARM_DWT_CYCCNT;
}
#define DELAYNANOSECONDS(a) nanoDelay(a)
inline void nanoDelay(uint32_t nsecs)
{
uint32_t volatile start_cycles = ARM_DWT_CYCCNT;
uint32_t volatile wait_cycles = NANOSECS_TO_CYCLES(nsecs);
while ((ARM_DWT_CYCCNT-start_cycles)<wait_cycles);
}
// -------------------------------------------
// ADC library specific for the Teensy 4.0, 3.2, etc
#include <ADC.h>
#include <ADC_util.h>
ADC *adc = new ADC();
void adcSetup() {
// Setup the onboard ADCs
adc->adc0->setReference(ADC_REFERENCE::REF_3V3);
adc->adc0->setAveraging(1); // set number of averages
adc->adc0->setResolution(12); // set bits of resolution
adc->adc0->setConversionSpeed(ADC_CONVERSION_SPEED::HIGH_SPEED);
adc->adc0->setSamplingSpeed(ADC_SAMPLING_SPEED::VERY_HIGH_SPEED);
adc->adc0->wait_for_cal();
adc->adc0->singleMode(); // need this for the fast read
}
inline int fastAnalogRead( uint8_t pin ) {
adc->adc0->startReadFast(pin);
while ( adc->adc0->isConverting() );
return adc->adc0->readSingle();
}
// -------------------------------------------
// SPI Specific for the Teensy 4.0, 3.2
#define SPI_SPEED 30000000
SPISettings spi_settings( SPI_SPEED, MSBFIRST, SPI_MODE0);
#define ADC_WAIT_NANOSECONDS_SPI_SPEEDUP 650
#define ADC_WAIT_NANOSECONDS 530
#define USE_SPI_SPEEDUP
#include "imxrt.h"
#include "pins_arduino.h"
#define DR_INDEX 0
#define GDIR_INDEX 1
#define PSR_INDEX 2
#define ICR1_INDEX 3
#define ICR2_INDEX 4
#define IMR_INDEX 5
#define ISR_INDEX 6
#define EDGE_INDEX 7
IMXRT_LPSPI_t *lpspi = &IMXRT_LPSPI4_S;
static inline uint16_t get_framesz( IMXRT_LPSPI_t *port ) {
return (port->TCR & 0x00000fff) + 1;
}
static inline void set_framesz( IMXRT_LPSPI_t *port, uint16_t nbits ) {
port->TCR = (port->TCR & 0xfffff000) | LPSPI_TCR_FRAMESZ(nbits-1);
}
static inline uint16_t transfer16( IMXRT_LPSPI_t *port, uint16_t data ) {
port->TDR = data; // output 16 bit data
while (port->RSR & LPSPI_RSR_RXEMPTY) {} // wait while RSR fifo is empty
return port->RDR; // return data read
}
// -------------------------------------------
// Accelerated ISR handling specific to ARM
#define USE_INTERRUPT_SPEEDUP
volatile uint32_t *directgpio;
volatile uint32_t directmask = 0;
inline void directAttach( uint8_t pin, void (*function)(void), int mode ) {
directgpio = portOutputRegister(pin);
directmask = digitalPinToBitMask(pin);
attachInterrupt(pin, function, mode);
attachInterruptVector(IRQ_GPIO6789, function);
}
inline uint32_t directClear( ) {
uint32_t status = directgpio[ISR_INDEX] & directgpio[IMR_INDEX];
if (status) {
directgpio[ISR_INDEX] = status;
}
return status & directmask;
}
void directnoop() {
}
inline void directDetach(uint8_t pin) {
attachInterrupt(pin,directnoop,RISING);
detachInterrupt(pin);
}
void timing_direct_isr() {
if (directClear()) {
cpucycles = elapsed_cycles();
DIGITALWRITE(outputpin,LOW);
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
}
void timing_const_direct_isr() {
directClear();
cpucycles = elapsed_cycles();
DIGITALWRITE(OUTPIN,LOW);
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
// Serial.println("const isr");
}
// ----------------------------------------
IntervalTimer mytimer;
void intervaltimer_test_isr() {
if (!cpucycles1) {
cpucycles1 = elapsed_cycles();
}
DIGITALTOGGLE(timertest_outpin);
if (timertest_countdown) {
timertest_countdown--;
if (!timertest_countdown) {
cpucycles2 = elapsed_cycles();
mytimer.end();
if (use_diagnosticpin) {
DIGITALTOGGLE(diagnosticpin);
delayNanoseconds(diagnosticpin_nsecs);
DIGITALTOGGLE(diagnosticpin);
}
}
}
else {
Serial.println("Warning: intervaltimer_test_isr called after countdown expired");
}
}
void intervaltimerTestStart(unsigned int usecs, uint8_t outpin, unsigned int cycles)
{
pinMode(outpin,OUTPUT);
cpucycles = 0;
cpucycles1 = 0;
cpucycles2 = 0;
timertest_outpin = outpin;
timertest_countdown = cycles;
if (use_diagnosticpin) {
DIGITALTOGGLE(diagnosticpin);
delayNanoseconds(diagnosticpin_nsecs);
DIGITALTOGGLE(diagnosticpin);
}
elapsed_cycles_start();
mytimer.begin(intervaltimer_test_isr,usecs);
cpucycles = elapsed_cycles();
}
// ==========================================================
#elif defined(IS_ARDUINO_UNO_R4)
//#include <digitalWriteFast.h>
#define DIGITALREAD(a) digitalRead(a)
#define DIGITALWRITE(a,b) digitalWrite(a,b)
#define DIGITALTOGGLE(a) digitalWrite(a,!digitalRead(a))
// Pins for fast read/write,etc and interrupt timing
#define INPIN 5
#define OUTPIN 4
#define SPAREPIN 3
// SPI interface to external device
const int CNVSTPin = 10;
const int SDIPin = 11;
const int SDOPin = 12;
const int CLKPin = 13;
// Uno has 6 analog inputs
#define MAXADC 6
uint8_t adcpins[MAXADC] = { A0, A1, A2, A3, A4, A5 };
#define ADCPIN A0
void adcSetup() {
analogReadResolution(14);
}
// -------------------------------------------
//#define SPI_SPEED 20000000
#define SPI_SPEED 24000000
SPISettings spi_settings( SPI_SPEED, MSBFIRST, SPI_MODE0);
#define ADC_WAIT_NANOSECONDS 500 // the digital write time adds another 600nsecs
void blink() {
digitalWrite(13,HIGH);
delay(1000);
digitalWrite(13,LOW);
}
void(*_rebootFunc)(void)=0;
void setupCYCCNT() {
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
ITM->LAR = 0xc5acce55;
DWT->CYCCNT = 0;
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
}
uint32_t elapsed_cycles_holder = 0;
#define ARM_DWT_CYCCNT DWT->CYCCNT
inline uint32_t elapsed_cycles() {
return (DWT->CYCCNT - elapsed_cycles_holder);
}
inline void elapsed_cycles_start() {
elapsed_cycles_holder = DWT->CYCCNT;
}
#define DELAYNANOSECONDS(a) nanoDelay(a)
inline void nanoDelay(uint32_t nsecs)
{
uint32_t start_cycles = DWT->CYCCNT;
uint32_t wait_cycles = (nsecs * (F_CPU/1000))/1000000;
while ((DWT->CYCCNT-start_cycles)<wait_cycles);
}
#endif
// -------------------------------------------------------
void timerone_test_isr() {
if (!cpucycles1) {
cpucycles1 = elapsed_cycles();
}
DIGITALTOGGLE(timertest_outpin);
if (timertest_countdown) {
timertest_countdown--;
if (!timertest_countdown) {
cpucycles2 = elapsed_cycles();
Timer1.stop();
Timer1.detachInterrupt();
if (use_diagnosticpin) {
DIGITALTOGGLE(diagnosticpin);
DELAYNANOSECONDS(diagnosticpin_nsecs);
DIGITALTOGGLE(diagnosticpin);
}
}
}
else {
Serial.println("Warning: timerone_test_isr called after countdown expired");
}
}
bool timerone_initialized = false;
void timeroneTestStart( unsigned int usecs, uint8_t outpin, unsigned int cycles) {
if (!timerone_initialized) {
Timer1.initialize(100000);
delay(1000);
Timer1.stop();
timerone_initialized = true;
}
pinMode(outpin,OUTPUT);
cpucycles = 0;
cpucycles1 = 0;
cpucycles2 = 0;
timertest_outpin = outpin;
timertest_countdown = cycles;
Timer1.stop();
Timer1.setPeriod(usecs);
Timer1.attachInterrupt(timerone_test_isr);
if (use_diagnosticpin) {
DIGITALTOGGLE(diagnosticpin);
DELAYNANOSECONDS(diagnosticpin_nsecs);
DIGITALTOGGLE(diagnosticpin);
}
elapsed_cycles_start();
Timer1.start();
cpucycles = elapsed_cycles();
}
// -------------------------------------------------------
void timing_isr() {
cpucycles = elapsed_cycles();
DIGITALWRITE(outputpin,LOW);
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
void timing_const_isr() {
cpucycles = elapsed_cycles();
DIGITALWRITE(OUTPIN,LOW);
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
void measureoverhead() {
uint32_t cpucycles1 = 0;
uint32_t cpucycles2 = 0;
cpucycles_overhead = 0;
for (int n = 0; n < NKNTS; n++ ) {
elapsed_cycles_start();
cpucycles1 = elapsed_cycles();
cpucycles2 = elapsed_cycles();
cpucycles = cpucycles2 - cpucycles1;
cpucycles_overhead += cpucycles;
}
cpucycles_overhead /= NKNTS;
//serial_printf("elapsed cycles timer overhead %d %.1f\n", cpucycles_overhead, ((double)cpucycles_overhead/F_CPU)*1.E9);
serial_printf( "#define CYCLECLOCK_OVERHEAD_CYCLES %d\n", cpucycles_overhead);
}
void sendResults( const char *s, uint32_t cavg, uint32_t cmax, uint32_t knts) {
cavg /= knts;
serial_printf( "#define %s_MEASUERED_CYCLES %d\n", s, cavg);
serial_printf( "#define %s_MEASUERED_NANOSECS %.1f\n", s, ((double)cavg/F_CPU)*1.E9);
serial_printf( "#define %s_MEASUERED_CYCLES_MAX %d\n", s, cmax);
serial_printf( "#define %s_MEASUERED_NANOSECS_MAX %.1f\n", s, ((double)cmax/F_CPU)*1.E9);
}
/* ===================================================================
For command processing
*/
bool testUint( char *pc, unsigned int *pu, char **next ) {
unsigned long ul;
char *pc1 = pc;
ul = strtoul(pc,&pc1,0);
if ((pc1 > pc)&&(ul <= UINT_MAX)) {
if (pu) *pu = ul;
if (next) *next = pc1;
return true;
}
return false;
}
bool testUint8( char *pc, uint8_t *pu, char **next ) {
unsigned long ul;
char *pc1 = pc;
ul = strtoul(pc,&pc1,0);
if ((pc1 > pc)&&(ul <= 255)) {
if (pu) *pu = ul;
if (next) *next = pc1;
return true;
}
return false;
}
bool testKey(char *pc, const char *key, char **next) {
int n = strlen(key);
// skip leading white space, if any
while (*pc && isspace(*pc)) pc++;
// now test the leading characters against key
if (*pc && !strncmp(pc,key,n)) {
if (next) *next = pc+n;
return true;
}
return false;
}
void lowercase(char *pc, int nlen) {
while(*pc && nlen--) {
*pc = (char) tolower((int) *pc);
pc++;
}
}
/* ===================================================================
The setup routine runs once when you press reset:
*/
void setup() {
#ifdef HASLED
pinMode(led, OUTPUT);
blink();
delay(1000);
blink();
delay(1000);
#endif
// initialize the digital pins
pinMode(INPIN,INPUT);
pinMode(OUTPIN,OUTPUT);
pinMode(SPAREPIN,OUTPUT);
// ------------------------------
// Setup the MCU Cycle Counter
setupCYCCNT();
// ------------------------------
// Setup the onboard ADCs
adcSetup();
// ------------------------------
// SPI library takes care of the other pins
pinMode(CNVSTPin, OUTPUT);
DIGITALWRITE(CNVSTPin, LOW);
SPI.begin();
// ------------------------------
Serial.begin(9600);
delay(100);
// Patent pending and copyright notice displayed at startup
Serial.println( versionstr );
Serial.println( authorstr );
Serial.print("// F_CPU: "); Serial.print(F_CPU/1e6); Serial.println(" MHz.");
#ifdef F_BUS
Serial.print("// F_BUS: "); Serial.print(F_BUS/1e6); Serial.println(" MHz.");
#endif
#ifdef ADC_F_BUS
Serial.print("// ADC_F_BUS: "); Serial.print(ADC_F_BUS/1e6); Serial.println(" MHz.");
#endif
measureoverhead();
#ifdef HASLED
blink();
delay(1000);
blink();
delay(1000);
#endif
}
/* ===========================================================
*/
char rcvbuffer[256];
void loop() {
uint16_t nlen = 0;
char *pc;
uint8_t pin;
uint16_t u16tmp;
/* --------------------------------------------------------------------
* Command processing
*/
if ((nlen=Serial.readBytesUntil('\n',rcvbuffer,sizeof(rcvbuffer)-1))) {
//blink();
rcvbuffer[nlen] = 0;
lowercase(rcvbuffer,nlen);
/*
Serial.print( "// Recieved: ");
Serial.print( nlen);
Serial.print( " bytes //");
Serial.print( rcvbuffer );
Serial.println( "//" );
*/
/*-----------------------------------------------------------
Put this at the top, best chance of getting to it if very busy
*/
if ( testKey( rcvbuffer, "reboot", 0) ) {
_rebootFunc();
}
/* --------------------------------------------------------------
*/
else if (testKey(rcvbuffer, "help",0)) {
Serial.println( "/* -----------------------------------------------");
Serial.println( versionstr );
Serial.println( authorstr );
Serial.println(" reboot - reboots the entire board");
#ifdef HAS_CPU_TEMPERATURE
Serial.println(" temperature - report microcontroller temperature");
#endif
Serial.println(" help - display this message");
Serial.println(" diagnostic pin nsecs - pulse this pin for diagnostics");
Serial.println(" adc [pin] - time analogRead");
Serial.println(" set [npin] hi|low|input|pullup|output");
Serial.println(" read [npin] - time digital Read");
Serial.println(" write [npin] - time digital Write");
Serial.println(" toggle [npin] - time digital Toggle");
Serial.println(" pulse [npin] - time write high then low");
Serial.println(" latency [npin_in npin_out] - time isr latency");
Serial.println(" spi - time spi transfers");
Serial.println(" faux spi - time manual loop spi transfers");
Serial.println(" timer1 usecs pin cycles - time interval start and intervals");
#ifdef IS_ADUINO_UNO_R4
Serial.println(" UNO R4 specific fucntions");
Serial.println(" fast spi - loop optimized spi readout transfers");
Serial.println(" slow spi - the orginal two byte transfer");
#endif
#ifdef IS_TEENSY
Serial.println(" Teensy specific fucntions");
Serial.println(" macro - time read macro");
Serial.println(" fast adc [pin] - time analogReadFast");
Serial.println(" fast latency [npin_in npin_out] - time isr latency");
Serial.println(" fast spi - time optimized spi readout transfers");
Serial.println(" interval usecs pin cycles - time intervaltimer start and intervals");
Serial.println("");
#endif
Serial.println("*/");
}
#ifdef HAS_CPU_TEMPERATURE
else if (testKey(rcvbuffer,"temp",0)) {
Serial.print( "CHIPTEMPERATURE " );
Serial.println( getCpuTemperature() );
}
#endif
#ifdef IS_TEENSY
else if (testKey( rcvbuffer, "fast adc", &pc)) {
if (testUint8(pc,&pin,NULL)) {
cpucycles = 0;
cpuavg = 0;
cpumax = 0;
for (int n = 0; n < NKNTS; n++ ) {
elapsed_cycles_start();
u16tmp = fastAnalogRead( pin );
cpucycles = elapsed_cycles();
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
cpuavg /= NKNTS;
cpuavg -= cpucycles_overhead;
cpumax -= cpucycles_overhead;
serial_printf( "//fastAnalogRead pin %d result %d\n", pin, u16tmp);
serial_printf( "#define FAST_ADC_CYCLES %d\n", cpuavg);
serial_printf( "#define FAST_ADC_NANOSECS %.1f\n", ((double)cpuavg/F_CPU)*1.E9);
serial_printf( "#define FAST_ADC_CYCLES_MAX %d\n", cpumax);
serial_printf( "#define FAST_ADC_NANOSECS_MAX %.1f\n", ((double)cpumax/F_CPU)*1.E9);
}
else {
cpucycles = 0;
cpuavg = 0;
cpumax = 0;
for (int n = 0; n < NKNTS; n++ ) {
elapsed_cycles_start();
u16tmp = fastAnalogRead( ADCPIN );
cpucycles = elapsed_cycles();
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
sendResults( "FAST_ADC", cpuavg, cpumax, NKNTS);
}
}
else if (testKey( rcvbuffer, "macro", &pc)) {
cpucycles = 0;
cpuavg = 0;
cpumax = 0;
for (int n = 0; n < NKNTS; n++ ) {
elapsed_cycles_start();
u16tmp = READMACRO;
cpucycles = elapsed_cycles();
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
sendResults( "READMACRO", cpuavg, cpumax, NKNTS);
}
else if (testKey( rcvbuffer, "fast latency", &pc)) {
if (testUint8(pc,&inputpin,&pc)&&testUint8(pc,&outputpin,NULL)) {
pinMode(inputpin,INPUT);
pinMode(outputpin,OUTPUT);
DIGITALWRITE( outputpin, LOW );
directAttach(digitalPinToInterrupt(inputpin), timing_direct_isr, RISING);
cpuavg = 0;
cpumax = 0;
for (int n = 0; n < NKNTS; n++ ) {
cpucycles = 0;
elapsed_cycles_start();
DIGITALWRITE( outputpin, HIGH );
delayMicroseconds(1);
if (!cpucycles) {
Serial.print("isr did not run");\
Serial.println(n);\
break;
}
}
directDetach(digitalPinToInterrupt(inputpin));
sendResults( "LATENCY_DIRECT", cpuavg, cpumax, NKNTS);
}
else {
pinMode(INPIN,INPUT);
pinMode(OUTPIN,OUTPUT);
DIGITALWRITE( OUTPIN, LOW );
directAttach(digitalPinToInterrupt(inputpin), timing_const_direct_isr, RISING);
/*
attachInterrupt(digitalPinToInterrupt(INPIN), timing_const_fast_isr, RISING);
directconnect( digitalPinToInterrupt(INPIN), timing_const_fast_isr );
*/
cpuavg = 0;
cpumax = 0;
for (int n = 0; n < NKNTS; n++ ) {
cpucycles = 0;
elapsed_cycles_start();
DIGITALWRITE(OUTPIN,HIGH);
delayMicroseconds(1);
if (!cpucycles) {
Serial.print("isr did not run");\
Serial.println(n);\
break;
}
}
directDetach(digitalPinToInterrupt(INPIN));
sendResults( "LATENCY_DIRECT_CONST", cpuavg, cpumax, NKNTS);
}
}
else if (testKey( rcvbuffer, "fast spi", &pc)) {
uint16_t saved_framesz;
uint16_t data[NKNTS];
float ravg = 0.;
cpuavg = 0;
cpumax = 0;
//SPI.begin();
SPI.beginTransaction(spi_settings);
saved_framesz = get_framesz( lpspi );
set_framesz( lpspi, 16 );
for (uint16_t i=0; i<NKNTS; i++){
DIGITALWRITE(CNVSTPin,HIGH);
DELAYNANOSECONDS( ADC_WAIT_NANOSECONDS_SPI_SPEEDUP );
DIGITALWRITE(CNVSTPin,LOW);
elapsed_cycles_start();
DIGITALWRITE(SPAREPIN,HIGH);
data[i] = transfer16( lpspi, 0xFFFF );
DIGITALWRITE(SPAREPIN,LOW);
cpucycles = elapsed_cycles();
cpuavg += cpucycles;
if ( cpucycles > cpumax) cpumax = cpucycles;
}
set_framesz( lpspi, saved_framesz ); // restore original
SPI.endTransaction();
for (uint16_t i=0, ravg = 0; i<NKNTS; i++){
ravg += data[i];
}
ravg /= NKNTS;
serial_printf( "// average reading (binary) %.2f/n", ravg);
sendResults( "SPI_fast_transfer16", cpuavg, cpumax, NKNTS);
}
else if (testKey( rcvbuffer, "interval", &pc)) {
unsigned int usecs = 0;
unsigned int cycles = 10;
unsigned int msecs = 0;
if (testUint(pc,&usecs,&pc)&&testUint8(pc,&pin,&pc)&&testUint(pc,&cycles,NULL)) {
Serial.print( "// intervaltimer period ");
Serial.print( usecs);
Serial.print( " pin ");
Serial.print( pin);
Serial.print( " cycles ");
Serial.println( cycles);
intervaltimerTestStart(usecs, pin, cycles);
//intervaltimerTestStart(usecs);
msecs = (usecs * 10)/1000.;
msecs = msecs > 100 ? msecs : 100;
delay(msecs+100);
serial_printf( "// intervalTimer cpucycles %d %d %d times %.5gnsec %.5gnsec %.5gnsec %.5gnsec counter %d\n",
cpucycles, cpucycles1, cpucycles2,
((double)cpucycles/F_CPU)*1.E9,
((double)cpucycles1/F_CPU)*1.E9,
((double)cpucycles2/F_CPU)*1.E9,
((double)(cpucycles2-cpucycles1)/F_CPU)*1.E9,
timertest_countdown);
}
else {
Serial.println("Error: intervaltimer usecs pin cycles, missing parameters");
}
}
#endif
else if (testKey( rcvbuffer, "// diagnostic off", &pc)) {
use_diagnosticpin = false;
}
else if (testKey( rcvbuffer, "diagnostic", &pc)) {
if (testUint8(pc,&diagnosticpin,&pc)) {
testUint(pc,&diagnosticpin_nsecs,NULL);
use_diagnosticpin = true;
serial_printf( "// diagnostic on pin %d %d nsecs\n",diagnosticpin,diagnosticpin_nsecs);
}
else {
Serial.println( "Error: diagnostic pin|off" );
}
}
else if (testKey( rcvbuffer, "set", &pc)) {
if (testUint8(pc,&pin,&pc)) {
if (testKey(pc,"hi",NULL)) {
serial_printf( "// Set pin %d high\n",pin);
DIGITALWRITE(pin,HIGH);
}
else if (testKey(pc,"low",NULL)) {
serial_printf( "// Set pin %d low\n",pin);
DIGITALWRITE(pin,LOW);
}
else if (testKey(pc,"pullup",NULL)) {
serial_printf( "// Set pin %d pullup\n",pin);
pinMode(pin,INPUT_PULLUP);
}
else if (testKey(pc,"input",NULL)) {
serial_printf( "// Set pin %d input\n",pin);
pinMode(pin,INPUT);
}
else if (testKey(pc,"output",NULL)) {
serial_printf( "// Set pin %d output\n",pin);
pinMode(pin,OUTPUT);
}
else {
Serial.println( "Error: set command, pin state not recognized");
}
}
else {
Serial.println( "Error: set command, pin number not recognized");
}
}
else if (testKey( rcvbuffer, "cyccnt", &pc)) {
uint32_t wait_cycles;
uint32_t stop_cycles;
uint32_t start_cycles;
unsigned int nsecs = 0;
Serial.println("Cyccnt" );
if (testUint(pc,&nsecs,&pc) && testUint8(pc,&pin,&pc)) {
wait_cycles = (((nsecs)*(F_CPU / 1000000))/1000);
Serial.print("Cyccnt test: nsecs " );
Serial.print( nsecs);
Serial.print(" pin " );
Serial.print( pin);
Serial.print(" cpu clock " );
Serial.print( F_CPU);
Serial.print(" cycles wait " );
Serial.println( wait_cycles);
//Serial.println("high");
digitalWrite(pin,HIGH);
//DIGITALWRITE(pin,HIGH);
start_cycles = ARM_DWT_CYCCNT;
DELAYNANOSECONDS(nsecs);
stop_cycles = ARM_DWT_CYCCNT;