From f73c450270e34245d0f5c1a62fbca103bfec99ba Mon Sep 17 00:00:00 2001 From: Francis Guevarra Date: Sat, 27 Jun 2020 13:49:22 -0700 Subject: [PATCH] Binho Nova performance improvement, use new WHR command which consolidates multiple commands into one transaction --- requirements.txt | 2 +- .../microcontroller/nova/__init__.py | 4 +- .../microcontroller/nova/i2c.py | 148 ++++++++++++---- .../microcontroller/nova/pwmout.py | 1 + .../microcontroller/nova/spi.py | 162 ++++++++++++++---- .../microcontroller/nova/uart.py | 4 + 6 files changed, 246 insertions(+), 75 deletions(-) diff --git a/requirements.txt b/requirements.txt index 21b3728..67765e5 100755 --- a/requirements.txt +++ b/requirements.txt @@ -5,4 +5,4 @@ RPi.GPIO; platform_machine=='armv7l' or platform_machine=='armv6l' rpi_ws281x>=4.0.0; platform_machine=='armv7l' or platform_machine=='armv6l' sysv_ipc; sys_platform == 'linux' and platform_machine!='mips' pyftdi>=0.40.0 -binho-host-adapter>=0.1.4 +binho-host-adapter>=0.1.6 diff --git a/src/adafruit_blinka/microcontroller/nova/__init__.py b/src/adafruit_blinka/microcontroller/nova/__init__.py index bf4127b..8ab7ce0 100644 --- a/src/adafruit_blinka/microcontroller/nova/__init__.py +++ b/src/adafruit_blinka/microcontroller/nova/__init__.py @@ -23,9 +23,7 @@ class Connection: from binhoHostAdapter import binhoUtilities # pylint: enable=import-outside-toplevel - - utilities = binhoUtilities.binhoUtilities() - devices = utilities.listAvailableDevices() + devices = binhoUtilities.listAvailableDevices() if len(devices) > 0: Connection.__instance = binhoHostAdapter.binhoHostAdapter(devices[0]) diff --git a/src/adafruit_blinka/microcontroller/nova/i2c.py b/src/adafruit_blinka/microcontroller/nova/i2c.py index 75306f8..5c1ecb1 100644 --- a/src/adafruit_blinka/microcontroller/nova/i2c.py +++ b/src/adafruit_blinka/microcontroller/nova/i2c.py @@ -5,6 +5,7 @@ from adafruit_blinka.microcontroller.nova import Connection class I2C: """Custom I2C Class for Binho Nova""" + WHR_PAYLOAD_MAX_LENGTH = 1024 def __init__(self, *, frequency=400000): self._nova = Connection.getInstance() @@ -13,6 +14,16 @@ class I2C: self._nova.setPullUpStateI2C(0, "EN") self._nova.setClockI2C(0, frequency) + self._novaCMDVer = "0" + if hasattr(self._nova, "getCommandVer"): + response = self._nova.getCommandVer().split(" ") + if response[0] != "-NG": + self._novaCMDVer = response[1] + + def __del__(self): + """Close Nova on delete""" + self._nova.close() + def scan(self): """Perform an I2C Device Scan""" scanResults = [] @@ -30,22 +41,40 @@ class I2C: def writeto(self, address, buffer, *, start=0, end=None, stop=True): """Write data from the buffer to an address""" end = end if end else len(buffer) + readBytes = 0 + if int(self._novaCMDVer) >= 1: + chunks, rest = divmod(end - start, self.WHR_PAYLOAD_MAX_LENGTH) + for i in range(chunks): + chunk_start = start + i * self.WHR_PAYLOAD_MAX_LENGTH + chunk_end = chunk_start + self.WHR_PAYLOAD_MAX_LENGTH + self._nova.writeToReadFromI2C(0, + address<<1, + stop, + readBytes, + chunk_end-chunk_start, + buffer[chunk_start:chunk_end]) + if rest: + self._nova.writeToReadFromI2C(0, + address<<1, + stop, + readBytes, + rest, + buffer[-1*rest:]) + else: + self._nova.startI2C(0, address<<1) - self._nova.startI2C(0, address << 1) - - for i in range(start, end): - self._nova.writeByteI2C(0, buffer[i]) + for i in range(start, end): + self._nova.writeByteI2C(0, buffer[i]) - if stop: - self._nova.endI2C(0) - else: - self._nova.endI2C(0, True) + if stop: + self._nova.endI2C(0) + else: + self._nova.endI2C(0, True) # pylint: disable=unused-argument def readfrom_into(self, address, buffer, *, start=0, end=None, stop=True): """Read data from an address and into the buffer""" end = end if end else len(buffer) - result = self._nova.readBytesI2C(0, address << 1, len(buffer[start:end])) if result != "-NG": @@ -59,43 +88,88 @@ class I2C: ) def writeto_then_readfrom( - self, - address, - buffer_out, - buffer_in, - *, - out_start=0, - out_end=None, - in_start=0, - in_end=None, - stop=False + self, + address, + buffer_out, + buffer_in, + *, + out_start=0, + out_end=None, + in_start=0, + in_end=None, + stop=False ): """Write data from buffer_out to an address and then read data from an address and into buffer_in """ out_end = out_end if out_end else len(buffer_out) in_end = in_end if in_end else len(buffer_in) + if int(self._novaCMDVer) >= 1: + totalIn = in_end - in_start + totalOut = out_end - out_start + totalBytes = totalIn + if totalOut > totalIn: + totalBytes = totalOut + chunks, rest = divmod(totalBytes, self.WHR_PAYLOAD_MAX_LENGTH) + if rest > 0: + chunks += 1 + + for i in range(chunks): + # calculate the number of bytes to be written and read + numInBytes = self.WHR_PAYLOAD_MAX_LENGTH + if totalIn < self.WHR_PAYLOAD_MAX_LENGTH: + numInBytes = totalIn + numOutBytes = self.WHR_PAYLOAD_MAX_LENGTH + if totalOut < self.WHR_PAYLOAD_MAX_LENGTH: + numOutBytes = totalOut + + # setup the buffer out chunk offset + buffer = '0' + if numOutBytes > 0: + chunk_start = out_start + i * self.WHR_PAYLOAD_MAX_LENGTH + chunk_end = chunk_start + numOutBytes + buffer = buffer_out[chunk_start:chunk_end] + + result = self._nova.writeToReadFromI2C(0, + address<<1, + stop, + numInBytes, + numOutBytes, + buffer) + totalIn -= numInBytes + totalOut -= numOutBytes + + if result != "-NG": + if numInBytes: + resp = result.split(" ") + resp = resp[2] + + for j in range(numInBytes): + buffer_in[in_start+i*self.WHR_PAYLOAD_MAX_LENGTH+j] = \ + int(resp[j*2]+resp[j*2+1], 16) + else: + raise RuntimeError("Received error response from Binho Nova, result = " + \ + result) + else: + self._nova.startI2C(0, address<<1) - self._nova.startI2C(0, address << 1) - - for i in range(out_start, out_end): - self._nova.writeByteI2C(0, buffer_out[i]) - - self._nova.endI2C(0, True) - - result = self._nova.readBytesI2C( - 0, address << 1, len(buffer_in[in_start:in_end]) - ) + for i in range(out_start, out_end): + self._nova.writeByteI2C(0, buffer_out[i]) - if result != "-NG": - resp = result.split(" ") + if stop: + self._nova.endI2C(0) + else: + self._nova.endI2C(0, True) - for i in range(len(buffer_in[in_start:in_end])): - buffer_in[in_start + i] = int(resp[2 + i]) - else: - raise RuntimeError( - "Received error response from Binho Nova, result = " + result - ) + result = self._nova.readBytesI2C(0, address<<1, len(buffer_in[in_start:in_end])) + if result != "-NG": + resp = result.split(" ") + for i in range(len(buffer_in[in_start:in_end])): + buffer_in[in_start+i] = int(resp[2+i]) + else: + raise RuntimeError( + "Received error response from Binho Nova, result = " + result + ) # pylint: enable=unused-argument diff --git a/src/adafruit_blinka/microcontroller/nova/pwmout.py b/src/adafruit_blinka/microcontroller/nova/pwmout.py index 00beba7..4139380 100644 --- a/src/adafruit_blinka/microcontroller/nova/pwmout.py +++ b/src/adafruit_blinka/microcontroller/nova/pwmout.py @@ -60,6 +60,7 @@ class PWMOut: def __del__(self): self.deinit() + PWMOut._nova.close() def __enter__(self): return self diff --git a/src/adafruit_blinka/microcontroller/nova/spi.py b/src/adafruit_blinka/microcontroller/nova/spi.py index ce61fd6..d22be37 100644 --- a/src/adafruit_blinka/microcontroller/nova/spi.py +++ b/src/adafruit_blinka/microcontroller/nova/spi.py @@ -6,7 +6,8 @@ class SPI: """Custom SPI Class for Binho Nova""" MSB = 0 - PAYLOAD_MAX_LENGTH = 64 + BUFFER_PAYLOAD_MAX_LENGTH = 64 + WHR_PAYLOAD_MAX_LENGTH = 1024 def __init__(self, clock): self._nova = Connection.getInstance() @@ -17,6 +18,11 @@ class SPI: self._nova.setIOpinMode(0, "DOUT") self._nova.setIOpinMode(1, "DOUT") self._nova.beginSPI(0) + self._novaCMDVer = "0" + if hasattr(self._nova, "getCommandVer"): + response = self._nova.getCommandVer().split(" ") + if response[0] != "-NG": + self._novaCMDVer = response[1] # Cpol and Cpha set by mode # Mode Cpol Cpha @@ -25,21 +31,23 @@ class SPI: # 2 1 0 # 3 1 1 + def __del__(self): + """Close Nova on delete""" + self._nova.close() + # pylint: disable=too-many-arguments,unused-argument def init( - self, - baudrate=100000, - polarity=0, - phase=0, - bits=8, - firstbit=MSB, - sck=None, - mosi=None, - miso=None, + self, + baudrate=1000000, + polarity=0, + phase=0, + bits=8, + firstbit=MSB, + sck=None, + mosi=None, + miso=None, ): """Initialize the Port""" - # print("baudrate: " + str(baudrate)) - # print("mode: " + str((polarity<<1) | (phase))) self._nova.setClockSPI(0, baudrate) self._nova.setModeSPI(0, (polarity << 1) | (phase)) @@ -58,31 +66,78 @@ class SPI: def write(self, buf, start=0, end=None): """Write data from the buffer to SPI""" end = end if end else len(buf) - chunks, rest = divmod(end - start, self.PAYLOAD_MAX_LENGTH) + payloadMaxLength = self.BUFFER_PAYLOAD_MAX_LENGTH + if int(self._novaCMDVer) >= 1: + payloadMaxLength = self.WHR_PAYLOAD_MAX_LENGTH + chunks, rest = divmod(end - start, payloadMaxLength) + for i in range(chunks): - chunk_start = start + i * self.PAYLOAD_MAX_LENGTH - chunk_end = chunk_start + self.PAYLOAD_MAX_LENGTH - buffer_data = buf[chunk_start:chunk_end] - self._nova.clearBuffer(0) - self._nova.writeToBuffer(0, 0, buffer_data) - self._nova.transferBufferSPI(0, chunk_end - chunk_start + 1) + chunk_start = start + i * payloadMaxLength + chunk_end = chunk_start + payloadMaxLength + if int(self._novaCMDVer) >= 1: + self._nova.writeToReadFromSPI(0, + True, + False, + chunk_end - chunk_start, + buf[chunk_start:chunk_end]) + else: + self._nova.clearBuffer(0) + self._nova.writeToBuffer(0, 0, buf[chunk_start:chunk_end]) + self._nova.transferBufferSPI(0, chunk_end - chunk_start + 1) if rest: - buffer_data = buf[-1 * rest :] - self._nova.clearBuffer(0) - self._nova.writeToBuffer(0, 0, buffer_data) - self._nova.transferBufferSPI(0, rest) + if int(self._novaCMDVer) >= 1: + self._nova.writeToReadFromSPI(0, True, False, rest, buf[-1 * rest :]) + else: + self._nova.clearBuffer(0) + self._nova.writeToBuffer(0, 0, buf[-1 * rest :]) + self._nova.transferBufferSPI(0, rest) def readinto(self, buf, start=0, end=None, write_value=0): """Read data from SPI and into the buffer""" end = end if end else len(buf) - for i in range(start, end): - buf[start + i] = int( - self.get_received_data(self._nova.transferSPI(0, write_value)) - ) + if int(self._novaCMDVer) >= 1: + chunks, rest = divmod(end - start, self.WHR_PAYLOAD_MAX_LENGTH) + i = 0 + for i in range(chunks): + chunk_start = start + i * self.WHR_PAYLOAD_MAX_LENGTH + chunk_end = chunk_start + self.WHR_PAYLOAD_MAX_LENGTH + result = self._nova.writeToReadFromSPI(0, + False, + True, + chunk_end - chunk_start, + write_value) + if result != "-NG": + resp = result.split(" ") + resp = resp[2] + # loop over half of resp len as we're reading 2 chars at a time to form a byte + loops = int(len(resp)/2) + for j in range(loops): + buf[(i*self.WHR_PAYLOAD_MAX_LENGTH)+start+j] = \ + int(resp[j*2]+resp[j*2+1], 16) + else: + raise RuntimeError("Received error response from Binho Nova, result = " + \ + result) + if rest: + result = self._nova.writeToReadFromSPI(0, False, True, rest, write_value) + if result != "-NG": + resp = result.split(" ") + resp = resp[2] + + # loop over half of resp len as we're reading 2 chars at a time to form a byte + loops = int(len(resp)/2) + for j in range(loops): + buf[(i*self.WHR_PAYLOAD_MAX_LENGTH)+start+j] = \ + int(resp[j*2]+resp[j*2+1], 16) + else: + raise RuntimeError("Received error response from Binho Nova, result = " + \ + result) + else: + for i in range(start, end): + buf[start+i] = int(self.get_received_data(self._nova.transferSPI(0, write_value))) # pylint: disable=too-many-arguments def write_readinto( - self, buffer_out, buffer_in, out_start=0, out_end=None, in_start=0, in_end=None + self, buffer_out, buffer_in, out_start=0, out_end=None, in_start=0, in_end=None ): """Perform a half-duplex write from buffer_out and then read data into buffer_in @@ -96,11 +151,50 @@ class SPI: tmp = bytearray(buffer_out) tmp.extend([0] * (readlen - len(buffer_out))) buffer_out = tmp - i = 0 - for data_out in buffer_out: - data_in = int(self.get_received_data(self._nova.transferSPI(0, data_out))) - if i < readlen: - buffer_in[in_start + i] = data_in - i += 1 + if int(self._novaCMDVer) >= 1: + chunks, rest = divmod(len(buffer_out), self.WHR_PAYLOAD_MAX_LENGTH) + i = 0 + for i in range(chunks): + chunk_start = out_start + i * self.WHR_PAYLOAD_MAX_LENGTH + chunk_end = chunk_start + self.WHR_PAYLOAD_MAX_LENGTH + result = self._nova.writeToReadFromSPI(0, + True, + True, + chunk_end-chunk_start, + buffer_out[chunk_start:chunk_end]) + + if result != "-NG": + resp = result.split(" ") + resp = resp[2] + + # loop over half of resp len as we're reading 2 chars at a time to form a byte + loops = int(len(resp)/2) + for j in range(loops): + buffer_in[(i*self.WHR_PAYLOAD_MAX_LENGTH)+in_start+j] = \ + int(resp[j*2]+resp[j*2+1], 16) + else: + raise RuntimeError("Received error response from Binho Nova, result = " + \ + result) + if rest: + result = self._nova.writeToReadFromSPI(0, True, True, rest, buffer_out[-1*rest:]) + if result != "-NG": + resp = result.split(" ") + resp = resp[2] + + # loop over half of resp len as we're reading 2 chars at a time to form a byte + loops = int(len(resp)/2) + for j in range(loops): + buffer_in[(i*self.WHR_PAYLOAD_MAX_LENGTH)+in_start+j] = \ + int(resp[j*2]+resp[j*2+1], 16) + else: + raise RuntimeError("Received error response from Binho Nova, result = " + \ + result) + print(buffer_in) + else: + for data_out in buffer_out: + data_in = int(self.get_received_data(self._nova.transferSPI(0, data_out))) + if i < readlen: + buffer_in[in_start+i] = data_in + i += 1 # pylint: enable=too-many-arguments diff --git a/src/adafruit_blinka/microcontroller/nova/uart.py b/src/adafruit_blinka/microcontroller/nova/uart.py index d84a339..5d698f8 100644 --- a/src/adafruit_blinka/microcontroller/nova/uart.py +++ b/src/adafruit_blinka/microcontroller/nova/uart.py @@ -43,6 +43,10 @@ class UART: self._nova.beginBridgeUART(self._id) # pylint: enable=too-many-arguments,unused-argument + def __del__(self): + """Close Nova on delete""" + self.deinit() + self._nova.close() def deinit(self): """Deinitialize""" -- 2.49.0