X-Git-Url: http://pileus.org/git/?a=blobdiff_plain;f=hw2%2Fmain.cpp;h=d03b3f312cc3aa843290485b338f7f333bf65859;hb=83b574a16cf66deda0fa95b6bc43a4b293162593;hp=f7b76715e07e170726d7106c2c59eb44f90bf122;hpb=4d12e5ba26058b03792459cda53087998f291e05;p=~andy%2Fcsm213a-hw diff --git a/hw2/main.cpp b/hw2/main.cpp index f7b7671..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. @@ -21,492 +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) -{ - uint64_t guess = time_to_world(local); - - time_last_local = local; - time_last_world = (guess/2) + (world/2); - //time_last_world = (guess * 3 / 4) + (world * 1 / 4); - //time_last_world = - // (guess - ( guess / 2)) + - // (world - (world - world / 2)); - //time_last_world = - // (guess - (guess - guess / 4)) + - // (world - ( world / 4)); - - world = time_last_world; - -//#ifdef VERBOSE -#if 0 - uint64_t error = world > guess ? world - guess : - guess > world ? guess - world : 0; - int ahead = guess > world; - sirq_printf("syncing clocks: %6d=%d.%04u -> %d.%04u (err: %s%ld.%09lu)\r\n", - (int)((local / NSEC_PER_SEC)), - (int)((guess / NSEC_PER_SEC)), - (int)((guess % NSEC_PER_SEC)/(NSEC_PER_SEC/10000)), - (int)((world / NSEC_PER_SEC)), - (int)((world % NSEC_PER_SEC)/(NSEC_PER_SEC/10000)), - ahead ? "-" : " ", - (int32_t )(error / (int64_t)NSEC_PER_SEC), - (uint32_t)(error % (int64_t)NSEC_PER_SEC)); -#endif -//#endif -} - -void time_printf(const char *label, uint64_t local) -{ - uint64_t world = time_to_world(local); - sirq_printf("%s -- %d.%09u -> %d.%09u\r\n", - label, - (int)(local / NSEC_PER_SEC), - (int)(local % NSEC_PER_SEC), - (int)(world / NSEC_PER_SEC), - (int)(world % NSEC_PER_SEC)); -} - -/********************* - * Signal generation * - *********************/ - -static uint32_t *emit_pcr = 0; // transmit pin name - -static uint64_t emit_start = 0; // transmit start time (world time) -static uint64_t emit_period = 0; // transmit period -static uint64_t emit_due = 0; // next transmit (world time) - -static uint32_t emit_slack = 0; // how far ahead we need to schedule, in us -static uint32_t emit_worst = 0; // worst-case latency in task table - -void emit_init(int alt, PinName pin, PinMode mode) -{ - // Find pin - emit_pcr = (uint32_t*)(PORTA_BASE + pin); - - // Enable clocks - SIM->SCGC6 |= SIM_SCGC6_TPM0_MASK; - - SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1); - SIM->SOPT4 |= SIM_SOPT4_TPM1CLKSEL_MASK; - - // Set pin mode - emit_pcr[0] = PORT_PCR_ISF_MASK - | PORT_PCR_MUX(alt) - | mode; - - // Setup Timer/PWM Module - TPM0->SC = TPM_SC_TOF_MASK - | TPM_SC_PS(1); // 24 MHz clock ? - TPM0->CNT = TPM_CNT_COUNT(0); - TPM0->MOD = TPM_MOD_MOD(0xFFFF); - - TPM0->CONTROLS[0].CnSC = TPM_CnSC_CHF_MASK // clear flag - | TPM_CnSC_MSB_MASK // pulse output on match - | TPM_CnSC_MSA_MASK // .. - | TPM_CnSC_ELSA_MASK; // pulse high - - TPM0->CONTROLS[0].CnV = 0xFFFF; // time delay - - TPM0->STATUS = TPM_STATUS_CH0F_MASK - | TPM_STATUS_TOF_MASK; - - TPM0->CONF = TPM_CONF_CSOO_MASK; -} - -void emit_enable(uint64_t start, uint64_t period) -{ - const int slack_tick = 0xC000; // tune based on emit_worst - - emit_start = start; - emit_period = period; - emit_due = start + period; - - emit_slack = slack_tick * 1000 / 24; - - time_printf("emit scheduled", emit_due); -} - -void emit_schedule(uint64_t when) -{ - uint64_t now = time_to_world(tdma_time()); - uint16_t delay = (uint16_t)(when-now); - - // Clear pending flags - //emit_pcr[0] |= PORT_PCR_ISF_MASK - - // Disable timer - TPM0->SC = TPM_SC_TOF_MASK; - - // Set transmit time - TPM0->CNT = TPM_CNT_COUNT(0); - TPM0->CONTROLS[0].CnV = delay; - - // Start the timer - TPM0->SC = TPM_SC_TOF_MASK - | TPM_SC_CMOD(1); - - // Debug - sirq_printf("emitting event\r\n"); -} - -void emit_transmit(uint64_t local, uint64_t world) -{ - static uint64_t prev = 0; - - // Record how how much time we have to reschedule - if (prev && (local-prev) > emit_worst) - emit_worst = (local-prev); - prev = local; - - // Schedule task if needed - if (emit_due && emit_period && - world+emit_slack > emit_due) { - emit_schedule(emit_due); - emit_due += emit_period; - } -} - -/************************ - * 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; - -static uint32_t serial_device_id = 0; - -const uint64_t serial_sync_delay = NSEC_PER_SEC / 100; // 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; - -/** - * Convert world to local time - */ -uint64_t serial_read_time(ntime_t time) -{ - return ((uint64_t)time.seconds) * NSEC_PER_SEC - + ((uint64_t)time.nanosec); -} - -ntime_t serial_write_time(uint64_t time) -{ - ntime_t buf = {}; - buf.seconds = time / NSEC_PER_SEC; - buf.nanosec = time % NSEC_PER_SEC; - return buf; -} - -/** - * Output initialization message init message - */ -void serial_send_init(uint16_t device, uint64_t local) -{ -} - -/** - * 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 - - //sirq_printf("sending sync\r\n"); - - // Calculate world time - uint64_t local = 0; - 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; - - tdma_stop(serial_tdma_rcv); - - tdma_start(serial_tdma_xmt); - sirq_write(port, &head, sizeof(head)); - sirq_write(port, &body, sizeof(body)); - tdma_stop(serial_tdma_xmt); - - // save transmit time - int valid = tdma_stamp(serial_tdma_xmt, &local); - if (!valid) - sirq_printf("sync transmit time -- missed\r\n"); - else - //time_printf("sync transmit time ", local); - - tdma_start(serial_tdma_rcv); - - serial_xmt_seq += 1; - serial_sync_due = 0; - serial_xmt_local = local; -} - -/** - * 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) -{ - time_printf("event received", local); - -#if 0 - // Message data - header_t head; - event_msg_t body; - - 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); - - // 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; - - tdma_stop(serial_tdma_rcv); - - tdma_start(serial_tdma_xmt); - sirq_write(port, &head, sizeof(head)); - sirq_write(port, &body, sizeof(body)); - tdma_stop(serial_tdma_xmt); -#endif -} - -/** - * Handle init message - */ -void serial_handle_init(init_msg_t *msg) -{ - sirq_printf("initialize: %s %s %s %s %s\r\n", - msg->valid & MSG_VALID_DEVICE ? "DEV" : "dev", - msg->valid & MSG_VALID_START ? "START" : "start", - msg->valid & MSG_VALID_PERIOD ? "PERIOD" : "period", - msg->valid & MSG_VALID_WORLD ? "WORLD" : "world", - msg->valid & MSG_VALID_SYNC ? "SYNC" : "sync"); - sirq_printf(" dev -- %d\r\n", msg->device); - time_printf(" start ", serial_read_time(msg->start)); - time_printf(" period", serial_read_time(msg->period)); - time_printf(" world ", serial_read_time(msg->world)); - - if (msg->valid & MSG_VALID_DEVICE) - serial_device_id = msg->device; - - if (msg->valid & MSG_VALID_START || - msg->valid & MSG_VALID_PERIOD) { - uint64_t start = serial_read_time(msg->start); - uint64_t period = serial_read_time(msg->period); - emit_enable(start, period); - } - - if (msg->valid & MSG_VALID_WORLD) { - uint64_t world = serial_read_time(msg->world); - uint64_t local = tdma_time(); - time_ext_init(local, world); - } - - if (msg->valid & MSG_VALID_SYNC) - serial_sync_due = tdma_time() + serial_sync_delay; -} - -/** - * 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("sync receive time -- missing\r\n"); - //else - // time_printf("sync receive time ", current); - tdma_stop(serial_tdma_rcv); - - // Lookup times - uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC - + ((uint64_t)msg->time.nanosec); - - // 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_INIT: - //sirq_printf("received init msg\r\n"); - serial_handle_init((init_msg_t*)body); - break; - 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_MAX_ID) { - 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 * @@ -539,17 +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)); } } @@ -567,14 +115,14 @@ void task_events(uint64_t local, uint64_t world) #endif if (tdma_stamp(tdma_evt, &event)) - serial_send_event(0, event); - tdma_stop(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_mbed, local); + comm_send_sync(local); } void task_leds(uint64_t local, uint64_t world) @@ -597,6 +145,8 @@ void task_debug(uint64_t local, uint64_t world) //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), @@ -610,24 +160,6 @@ void task_debug(uint64_t local, uint64_t world) * 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, 0 }, // always -- testing - { task_sync, 0 }, // always - { task_emit, 0 }, // always - { task_leds, 100000000 }, // 10hz - { task_debug, 1000000000 }, // 1hz -}; - void background(void) { // Debugging @@ -645,98 +177,41 @@ void background(void) int main(int argc, char **argv) { - tdma_init(); - emit_init(4, PTC1, PullDown); - // Open serial ports - sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc - sirq_bbb = sirq_open(SIRQ_UART1, PTE0, PTE1, 115200); // to bbb - sirq_mbed = sirq_open(SIRQ_UART2, PTD3, PTD2, 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); + + 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); - // Serial timestamping - serial_tdma_rcv = tdma_rcv; - serial_tdma_xmt = tdma_xmt; - - // Test clocks - //MCG->C1 = 0x05; // was 0x1A - //MCG->C2 = 0x2C; // was 0x24 - //MCG->C3 = 0x91; // was 0x91 - //MCG->C4 = 0x10; // was 0x10 - //MCG->C5 = 0x01; // was 0x01 - //MCG->C6 = 0x40; // was 0x40 - //MCG->S = 0x6E; // was 0x6E - //MCG->SC = 0x02; // was 0x02 - //MCG->ATCVH = 0x00; // was 0x00 - //MCG->ATCVL = 0x00; // was 0x00 - //MCG->C7 = 0x00; // was 0x00 - //MCG->C8 = 0x80; // was 0x80 - //MCG->C9 = 0x00; // was 0x00 - //MCG->C10 = 0x00; // was 0x00 - - //sirq_printf("MGC - C1 %02hx\r\n", MCG->C1); // 1A - //sirq_printf("MGC - C2 %02hx\r\n", MCG->C2); // 24 - //sirq_printf("MGC - C3 %02hx\r\n", MCG->C3); // 91 - //sirq_printf("MGC - C4 %02hx\r\n", MCG->C4); // 10 - //sirq_printf("MGC - C5 %02hx\r\n", MCG->C5); // 01 - //sirq_printf("MGC - C6 %02hx\r\n", MCG->C6); // 40 - //sirq_printf("MGC - S %02hx\r\n", MCG->S); // 6E - //sirq_printf("MGC - SC %02hx\r\n", MCG->SC); // 02 - //sirq_printf("MGC - ATCVH %02hx\r\n", MCG->ATCVH); // 00 - //sirq_printf("MGC - ATCVL %02hx\r\n", MCG->ATCVL); // 00 - //sirq_printf("MGC - C7 %02hx\r\n", MCG->C7); // 00 - //sirq_printf("MGC - C8 %02hx\r\n", MCG->C8); // 80 - //sirq_printf("MGC - C9 %02hx\r\n", MCG->C9); // 00 - //sirq_printf("MGC - C10 %02hx\r\n", MCG->C10); // 00 - // Run background loop while (true) background(); - // Performance testing - //uint64_t prev = 0, due = 0; - //uint64_t worst[10] = {}; - //int count = 0; - //while (true) { - // uint64_t local = tdma_time(); - // if (prev && (local-prev) > worst[count]) - // worst[count] = (local-prev); - // prev = local; - // if (local > due) { - // if (count == 5) { - // static char str[] = "background background background\r\n"; - // sirq_write(sirq_dbg, str, sizeof(str)); - // } - // if (count == 9) { - // sirq_printf("background\r\n"); - // for (int i = 0; i < 10; i++) { - // sirq_printf(" worst[%d] = 0.%09u\r\n", - // i, worst[i]); - // worst[i] = 0; - // } - // } - // due += NSEC_PER_SEC; - // count = (count + 1) % 10; - // } - //} - - // Run tests - //test_main(); - return 0; }