X-Git-Url: http://pileus.org/git/?a=blobdiff_plain;f=hw2%2Fmain.cpp;h=d03b3f312cc3aa843290485b338f7f333bf65859;hb=83b574a16cf66deda0fa95b6bc43a4b293162593;hp=82f28f75a3d4e62bd722cd69459bab3120969cb1;hpb=fcf3a5999ccfbb4a88f747ee3d9ed1c9c81891de;p=~andy%2Fcsm213a-hw diff --git a/hw2/main.cpp b/hw2/main.cpp index 82f28f7..d03b3f3 100644 --- a/hw2/main.cpp +++ b/hw2/main.cpp @@ -5,6 +5,10 @@ #include "serial_dma.h" #include "timer_dma.h" +#include "main_time.h" +#include "main_emit.h" +#include "main_comm.h" + /** * Mode of operation: * Devices 1 and 2 synchronize clocks using serial messages. @@ -21,268 +25,36 @@ */ /******************* - * Timer functions * + * Tasks Scheduler * *******************/ -#define NSEC_PER_SEC 1000000000ULL - -uint64_t time_last_local; // timestamp at last time sync -uint64_t time_last_world; // offset at last time sync - -/** - * Generate time stamp for an async event: - * local: drift compensated wall-clock time - * world: nanoseconds in world time world - * valid: local timestamp at valid valid - */ -//uint64_t time_to_local(uint64_t world, uint64_t valid) -//{ -// uint64_t now = -// local = + (stamp); -//} - -/** - * Generate time stamp for an async event: - * time: drift compensated wall-clock time - * stamp: event timestamp from PIT Module - */ -uint64_t time_to_world(uint64_t local) -{ - uint64_t elapsed = local - time_last_local; - return time_last_world + elapsed; -} - -/** - * Compensate the Real-Time-Clock oscillator for - * temperature and drift errors. Called at 1Hz and - * synchronous to the RTC 1Hz output. - */ -void time_rtc_comp(void) -{ - // todo -} - -/** - * Synchronize the timer internal state with updates - * from an external time sync message. - * local: our internal timestamp for the event - * world: reference timestamp from the other device - */ -void time_ext_init(uint64_t local, uint64_t world) -{ - sirq_printf("initialize clocks: %d -> %d\r\n", - (int)(local/NSEC_PER_SEC), - (int)(world/NSEC_PER_SEC)); - - time_last_local = local; - time_last_world = world; -} - -/** - * Synchronize the timer internal state with updates - * from an external time sync message. - * local: our internal timestamp for the event - * world: reference timestamp from the other device - */ -void time_ext_sync(uint64_t local, uint64_t world) -{ - sirq_printf("syncing clocks: %d -> %d\r\n", - (int)(local/NSEC_PER_SEC), - (int)(world/NSEC_PER_SEC)); - - time_last_local = local; - time_last_world = world; -} - -/************************ - * Serial I/O functions * - ************************/ +// Macros +#define N_ELEM(x) (sizeof(x) / sizeof((x)[0])) +// Task entry typedef struct { - int index; - int state; - uint8_t buffer[256]; -} parser_t; - -const uint64_t serial_sync_delay = NSEC_PER_SEC * 2; // 1hz -static uint64_t serial_sync_due = 0; - -static tdma_t *serial_tdma_rcv = NULL; -static tdma_t *serial_tdma_xmt = NULL; - -static uint64_t serial_prev_local = 0; -static uint64_t serial_prev_seq = 0; - -static uint64_t serial_xmt_local = 0; -static uint64_t serial_xmt_seq = 0; - -/** - * Output time sync message - */ -void serial_send_sync(sirq_t *port, uint64_t now) -{ - if (serial_sync_due == 0 || now < serial_sync_due) - return; // not ready - - // Calculate world time - uint64_t world = time_to_world(serial_xmt_local); - - // Message data - header_t head; - sync_msg_t body; - - // Transmit sync message - head.header = MSG_HEADER; - head.msgid = MSG_ID_SYNC; - head.length = sizeof(body); - head.cksum = 0; // todo - - body.seq = serial_xmt_seq; - body.time.seconds = world / NSEC_PER_SEC; - body.time.nanosec = world % NSEC_PER_SEC; - - sirq_write(port, &head, sizeof(head)); - sirq_write(port, &body, sizeof(body)); - - serial_xmt_seq += 1; - serial_sync_due = 0; - - // Debug - sirq_printf("sync msg transmit\r\n"); - - // save transmit time - for (int i = 0; i < 1000; i++) - asm("nop"); - int valid = tdma_stamp(serial_tdma_xmt, &serial_xmt_local); - if (!valid) - sirq_printf("missing sync transmit time\r\n"); - tdma_reset(serial_tdma_xmt); -} - -/** - * Output external event received message - * event: id of the received event - * time: compensated timestamp of the event - */ -void serial_send_event(uint16_t event, uint64_t local) -{ - uint64_t world = time_to_world(local); - - ntime_t time = {}; - time.seconds = (uint32_t)(world / NSEC_PER_SEC); - time.nanosec = (uint32_t)(world % NSEC_PER_SEC); - - sirq_printf("event received - %08x:%08x - %u.%u\r\n", - (uint32_t)(local >> 32), (uint32_t)local, - time.seconds, time.nanosec); - // todo -} - -/** - * Handle sync message - */ -void serial_handle_sync(sync_msg_t *msg) -{ - // Read receive timestamp for next time sync message - uint64_t current = 0; - int valid = tdma_stamp(serial_tdma_rcv, ¤t); - if (!valid) - sirq_printf("missing sync receive time\r\n"); - tdma_reset(serial_tdma_rcv); - - // Lookup times - uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC - + ((uint64_t)msg->time.nanosec); - - // Initialize - if (msg->seq == 0) { - uint64_t local = tdma_time(); - time_ext_init(local, world); - } - - // Valid times timestamp - if (serial_prev_seq == (msg->seq-1)) { - uint64_t local = serial_prev_local; - time_ext_sync(local, world); - } - - // Queue transmit to other board - serial_sync_due = tdma_time() + serial_sync_delay; - - // Update states - serial_prev_local = current; - serial_prev_seq = msg->seq; -} - -/** - * Handle event message - */ -void serial_handle_event(event_msg_t *msg) -{ -} - -/** - * Deliver message - */ -void serial_deliver(int msgid, void *body) -{ - switch (msgid) { - case MSG_ID_SYNC: - sirq_printf("received sync msg\r\n"); - serial_handle_sync((sync_msg_t*)body); - break; - case MSG_ID_EVENT: - sirq_printf("received event msg\r\n"); - serial_handle_event((event_msg_t*)body); - break; - } -} - -/** - * Process serial receive messages - */ -void serial_receive(parser_t *parser, int byte) -{ - //sirq_printf("serial_receive - %02x\r\n", byte); - - // Lookup pointers - header_t *head = (header_t*)parser->buffer; - void *body = (void*)(head+1); - const int max_length = sizeof(parser->buffer)-sizeof(header_t); - - // Process uart messages - parser->buffer[parser->index++] = byte; - switch (parser->state) { - case 0: // Search - if (parser->index == sizeof(uint16_t)) { - if (head->header == MSG_HEADER) { - parser->state = 1; - } else { - parser->buffer[0] = parser->buffer[1]; - parser->index = 1; - } - } - break; - case 1: // Header - if (parser->index == sizeof(header_t)) { - if (head->length <= max_length && - head->msgid <= MSG_MAXID) { - parser->state = 2; - } else { - parser->index = 0; - parser->state = 0; - } - } - break; - case 2: // Data - if (parser->index == (int)sizeof(header_t)+head->length) { - serial_deliver(head->msgid, body); - parser->index = 0; - parser->state = 0; - } - break; - } -} + void (*task)(uint64_t, uint64_t); + uint64_t period; + uint64_t due; +} task_t; + +// Task functions +void task_serial(uint64_t local, uint64_t world); +void task_events(uint64_t local, uint64_t world); +void task_sync(uint64_t local, uint64_t world); +void task_leds(uint64_t local, uint64_t world); +void task_emit(uint64_t local, uint64_t world); +void task_debug(uint64_t local, uint64_t world); + +// Task table +task_t tasks[] = { + { task_serial, 0 }, // always + { task_events, 0 }, // always -- testing + { task_sync, 0 }, // always + { task_emit, 0 }, // always + { task_leds, 100000000 }, // 10hz + { task_debug, 1000000000 }, // 1hz +}; /******************** * Data definitions * @@ -315,17 +87,17 @@ void task_serial(uint64_t local, uint64_t world) { while (sirq_ready(sirq_dbg)) { //sirq_printf("serial recv - dbg\r\n"); - serial_receive(&parser_dbg, sirq_getc(sirq_dbg)); + msg_receive(&parser_dbg, sirq_getc(sirq_dbg)); } while (sirq_ready(sirq_bbb)) { //sirq_printf("serial recv - bbb\r\n"); - serial_receive(&parser_bbb, sirq_getc(sirq_bbb)); + msg_receive(&parser_bbb, sirq_getc(sirq_bbb)); } while (sirq_ready(sirq_mbed)) { //sirq_printf("serial recv - mbed\r\n"); - serial_receive(&parser_mbed, sirq_getc(sirq_mbed)); + msg_receive(&parser_mbed, sirq_getc(sirq_mbed)); } } @@ -343,13 +115,14 @@ void task_events(uint64_t local, uint64_t world) #endif if (tdma_stamp(tdma_evt, &event)) - serial_send_event(0, event); - tdma_reset(tdma_evt); + comm_send_event(0, event); + tdma_stop(tdma_evt, 0); + tdma_start(tdma_evt); } void task_sync(uint64_t local, uint64_t world) { - serial_send_sync(sirq_bbb, local); + comm_send_sync(local); } void task_leds(uint64_t local, uint64_t world) @@ -360,37 +133,33 @@ void task_leds(uint64_t local, uint64_t world) which ^= 1; } +void task_emit(uint64_t local, uint64_t world) +{ + emit_transmit(local, world); +} + void task_debug(uint64_t local, uint64_t world) { //tdma_debug(tdma_rcv); - sirq_printf("background - %6d.%02d -> %d.%02d\r\n", + //tdma_debug(tdma_xmt); + + //sirq_debug(sirq_mbed); + + comm_send_event(1, local); + +#ifdef VERBOSE + sirq_printf("background - %6u.%02u -> %u.%02u\r\n", (uint32_t)(local / NSEC_PER_SEC), (uint32_t)(local % NSEC_PER_SEC / 10000000), (uint32_t)(world / NSEC_PER_SEC), (uint32_t)(world % NSEC_PER_SEC / 10000000)); +#endif } /******** * Main * ********/ -#define N_ELEM(x) (sizeof(x) / sizeof((x)[0])) - -extern void test_main(void); -extern serial_t stdio_uart; - -static struct { - void (*task)(uint64_t, uint64_t); - uint64_t period; - uint64_t due; -} tasks[] = { - { task_serial, 0 }, // always - { task_events, 1000000000 }, // always - { task_sync, 0 }, // always - { task_leds, 100000000 }, // 10hz - { task_debug, 1000000000 }, // 1hz -}; - void background(void) { // Debugging @@ -408,36 +177,41 @@ void background(void) int main(int argc, char **argv) { - tdma_init(); - // Open serial ports - sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc - sirq_bbb = sirq_open(SIRQ_UART1, PTD3, PTD2, 115200); // to bbb - sirq_mbed = sirq_open(SIRQ_UART2, PTE0, PTE1, 115200); // to mbed - + sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200, 0); // to pc + sirq_bbb = sirq_open(SIRQ_UART1, PTE0, PTE1, 115200, 0); // to bbb + sirq_mbed = sirq_open(SIRQ_UART2, PTD3, PTD2, 115200, 1); // to mbed // Setup timers tdma_evt = tdma_open(TDMA_CHAN0, 3, PTC9, PullDown); // async event - - // mbed time sync tdma_rcv = tdma_open(TDMA_CHAN2, 3, PTD2, PullUp); // time sync rcv tdma_xmt = tdma_open(TDMA_CHAN3, 3, PTD3, PullUp); // time sync xmt - // host time sync - //tdma_rcv = tdma_open(TDMA_CHAN2, 2, USBRX, PullUp); // time sync rcv - //tdma_xmt = tdma_open(TDMA_CHAN3, 2, USBTX, PullUp); // time sync xmt + // Setup event generation + time_init(); + emit_init(3, PTE20, PullDown); + comm_init(sirq_dbg, sirq_bbb, sirq_mbed, + tdma_rcv, tdma_xmt); + + // Register messages + msg_register(&parser_dbg, MSG_ID_INIT, (handler_t)comm_handle_init); + msg_register(&parser_dbg, MSG_ID_SYNC, (handler_t)comm_handle_sync); + msg_register(&parser_dbg, MSG_ID_EVENT, (handler_t)comm_handle_event); - // Serial timestamping - serial_tdma_rcv = tdma_rcv; - serial_tdma_xmt = tdma_xmt; + msg_register(&parser_bbb, MSG_ID_INIT, (handler_t)comm_handle_init); + + msg_register(&parser_mbed, MSG_ID_INIT, (handler_t)comm_handle_init); + msg_register(&parser_mbed, MSG_ID_SYNC, (handler_t)comm_handle_sync); + msg_register(&parser_mbed, MSG_ID_EVENT, (handler_t)comm_handle_event); + + // start timers + tdma_start(tdma_evt); + tdma_start(tdma_rcv); + tdma_start(tdma_xmt); // Run background loop - printf("hello"); while (true) background(); - // Run tests - //test_main(); - return 0; }