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Bsongis/latency end to end (#6532)

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* Option -DDEBUG_LATENCY=END_TO_END added
* Add script to decode logic analyser results
This commit is contained in:
Bertrand Songis
2019-06-29 17:37:09 +02:00
committed by GitHub
parent 4412d812e3
commit 3bb15bddf3
3 changed files with 179 additions and 6 deletions
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radio/src/opentx.cpp
+21 -6
View File
@@ -88,6 +88,17 @@ void watchdogSuspend(uint32_t timeout)
watchdogTimeout = timeout;
}
#if defined(DEBUG_LATENCY)
void toggleLatencySwitch()
{
latencyToggleSwitch ^= 1;
if (latencyToggleSwitch)
sportUpdatePowerOn();
else
sportUpdatePowerOff();
}
#endif
void per10ms()
{
g_tmr10ms++;
@@ -111,6 +122,14 @@ void per10ms()
else
trimsDisplayMask = 0;
#if defined(DEBUG_LATENCY_END_TO_END)
static tmr10ms_t lastLatencyToggle = 0;
if (g_tmr10ms - lastLatencyToggle == 10) {
lastLatencyToggle = g_tmr10ms;
toggleLatencySwitch();
}
#endif
#if defined(RTCLOCK)
/* Update global Date/Time every 100 per10ms cycles */
if (++g_ms100 == 100) {
@@ -1326,15 +1345,11 @@ void doMixerCalculations()
tmr10ms_t tmr10ms = get_tmr10ms();
#if defined(DEBUG_LATENCY)
#if defined(DEBUG_LATENCY_MIXER_RF) || defined(DEBUG_LATENCY_RF_ONLY)
static tmr10ms_t lastLatencyToggle = 0;
if (tmr10ms - lastLatencyToggle >= 10) {
lastLatencyToggle = tmr10ms;
latencyToggleSwitch ^= 1;
if (latencyToggleSwitch)
sportUpdatePowerOn();
else
sportUpdatePowerOff();
toggleLatencySwitch();
}
#endif
radio/src/targets/common/arm/CMakeLists.txt
+4
View File
@@ -82,6 +82,10 @@ if(DEBUG_LATENCY STREQUAL RF_ONLY)
add_definitions(-DDEBUG_LATENCY_RF_ONLY)
endif()
if(DEBUG_LATENCY STREQUAL END_TO_END)
add_definitions(-DDEBUG_LATENCY)
add_definitions(-DDEBUG_LATENCY_END_TO_END)
endif()
if(CLI)
add_definitions(-DCLI)
tools/latency.py
Executable
+154
View File
@@ -0,0 +1,154 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright (C) OpenTX
#
# Based on code named
# th9x - http://code.google.com/p/th9x
# er9x - http://code.google.com/p/er9x
# gruvin9x - http://code.google.com/p/gruvin9x
#
# License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License version 2 as
# published by the Free Software Foundation.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
import argparse
import csv
def build_transitions_array(f, column):
f.seek(0)
reader = csv.reader(f, delimiter=',')
last = None
transitions = []
for i, row in enumerate(reader):
if i == 0:
continue
value = row[column]
if last is None or value != last:
transitions.append((float(row[0]) * 1000, int(value)))
last = value
debounced = []
i = 0
while i < len(transitions):
t, val = transitions[i]
if i < len(transitions) - 1 and transitions[i+1][0] - t < 0.002:
i += 2
continue
debounced.append((t, val))
i += 1
return debounced
class SBusFrame:
def __init__(self):
self.transitions = []
def push(self, t, value):
self.transitions.append((t, value))
def start(self):
return self.transitions[0][0]
def end(self):
return self.transitions[-1][0]
def is_after(self, t):
return self.start() >= t
def value(self, time):
value = 0
for t, v in self.transitions:
if t > time:
return value
value = v
return value
def byte(self, index):
t = self.start() + 0.12 * index + 0.015
value = 0
for bit in range(8):
value += (1 - self.value(t)) << bit
t += 0.010
return value
def is_lost(self):
return self.byte(23) != 0
def __str__(self):
return "%.03fms " % self.start() + " ".join(["%02X" % self.byte(i) for i in range(25)])
@staticmethod
def get_frames(transitions):
result = []
current_frame = None
last = 0
for t, value in transitions:
if t - last > 5:
if current_frame:
result.append(current_frame)
current_frame = SBusFrame()
if current_frame is not None:
current_frame.push(t, value)
last = t
return result
def print_statistics(trigger_transitions, sbus_frames, highval, lowval):
mini, maxi = None, None
count = 0
total = 0
for t0, val in trigger_transitions[1:]:
byte = highval if val == 1 else lowval
for frame in sbus_frames:
if frame.is_after(t0) and frame.byte(1) == byte:
delay = frame.end() - t0
count += 1
total += delay
if mini is None or delay < mini[0]:
mini = (delay, t0, frame, val, byte)
if maxi is None or delay > maxi[0]:
maxi = (delay, t0, frame)
break
print("Delay between the switch toggle and the end of the SBUS frame:")
print(" Count = %d transitions" % count)
print(" Average = %.1fms" % (total / count))
print(" Mini = %.1fms @ %fs" % (mini[0], mini[1] / 1000))
print(" Maxi = %.1fms @ %fs" % (maxi[0], maxi[1] / 1000))
def main():
parser = argparse.ArgumentParser()
parser.add_argument('file', help='File to parse', type=argparse.FileType('r'))
parser.add_argument('--trigger', help='The column in the csv file where is your trigger', type=int, required=True)
parser.add_argument('--pwm', help='The column in the csv file where is your PWM output', type=int)
parser.add_argument('--sbus', help='The column in the csv file where is your SBUS output', type=int)
parser.add_argument('--highval', help='The value of SBUS byte 2 when trigger=HIGH', type=int, default=0x13)
parser.add_argument('--lowval', help='The value of SBUS byte 2 when trigger=LOW', type=int, default=0xAC)
args = parser.parse_args()
if not args.pwm and not args.sbus:
print("Either a PWM or SBUS column in CSV must be specified")
exit()
trigger_transitions = build_transitions_array(args.file, args.trigger)
sbus_transitions = build_transitions_array(args.file, args.sbus)
sbus_frames = SBusFrame.get_frames(sbus_transitions)
for frame in sbus_frames:
if frame.is_lost():
print("Frame lost bit @ %fs" % frame.start())
print_statistics(trigger_transitions, sbus_frames, args.highval, args.lowval)
if __name__ == "__main__":
main()