dmammolo commented on issue #11594: URL: https://github.com/apache/nuttx/issues/11594#issuecomment-1910235712
@davids5 I think you are right and I have a suspicion what could cause the issue that I am observing. It is probably only an issue in combination with the PX4 SPI wrapper/stack. The issue can only occur if you have multiple devices on the same SPI and/or an IMU such as BMI055 or BMI088 which require requesting data for gyro and accel separately. E.g. if we take the bmi055 there is a chance that the gyro and accel spi transfer happens one after each other. During the `spi_dmarxwait(priv)` there can be a context switch from accel/gyro which will start a new dma transfer. We will then again be in `spi_dmarxwait(priv)`. On some point the dma transfer of the first spi dma transfer will be completed and proceed with the code, but in the background the dma will be executing the last dma transfer and update the memory. This update might happen during the `memcpy(xbuffer, priv->rxbuf, nbytes)`. In my case I observed that roughly the first half of the bytes were not as expected, e.g. the accel data did contain gyro data in the first half. I think that the px4 layer is not protecting against this, see my comment and link [above](https://github.com/apache/nuttx/issues/11594#issuecomment-1908246967). If you agree I can create an issue on PX4-Autopilot. -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
