X-Git-Url: http://pileus.org/git/?a=blobdiff_plain;f=hw2%2Fmain_comm.c;h=118f6b3cd42f2499528829e5568fd7c1f00a490e;hb=3519f0f7a6ced0a3a4419eac56fe49cd2c2fa938;hp=6afe80d27c1550dfffa208b78ea51355ee127161;hpb=a8fb9b5f585f2cd1d163e37269b6b44ad937c1b2;p=~andy%2Fcsm213a-hw

diff --git a/hw2/main_comm.c b/hw2/main_comm.c
index 6afe80d..118f6b3 100644
--- a/hw2/main_comm.c
+++ b/hw2/main_comm.c
@@ -9,7 +9,7 @@
 #include "main_emit.h"
 
 /**
- * Communcation overview:
+ * Communication overview:
  *
  *     Initialization:
  *        bbb --init1-->  mbed1
@@ -26,7 +26,7 @@
  * Initialization:
  *     Each mbed is initialized by the BBB by receiving an initialization
  *     message.  The Device ID must be non-zero, and is saved for future
- *     messages. If the device is already initialized and a recevied Device ID
+ *     messages. If the device is already initialized and a received Device ID
  *     does not match the configured Device ID, the messages is relayed to the
  *     second mbed.
  *
@@ -44,7 +44,8 @@
  * Communication functions *
  ***************************/
 
-static uint32_t comm_device_id   = 0;
+static int      comm_device_id   = 0;
+static int      comm_relay_mode  = 0;
 
 const  uint64_t comm_sync_delay  = NSEC_PER_SEC / 100;
 static uint64_t comm_sync_due    = 0;
@@ -101,7 +102,6 @@ void comm_init(sirq_t *dbg, sirq_t *bbb, sirq_t *mbed,
 	comm_tdma_xmt  = xmt;
 }
 
-
 /**
  * Output time sync message
  */
@@ -120,10 +120,13 @@ void comm_send_sync(uint64_t local)
 	head.length = sizeof(body);
 	head.cksum  = 0; // todo
 
+	sirq_write(comm_sirq_mbed, &head, sizeof(head));
+
+	// Capture transmit time
 	tdma_stop(comm_tdma_rcv, 0);
 	tdma_start(comm_tdma_xmt);
 
-	sirq_write(comm_sirq_mbed, &head, sizeof(head));
+	sirq_transmit(comm_sirq_mbed);
 
 	tdma_stop(comm_tdma_xmt, 100);
 	tdma_start(comm_tdma_rcv);
@@ -143,6 +146,8 @@ void comm_send_sync(uint64_t local)
 
 	sirq_write(comm_sirq_mbed, &body, sizeof(body));
 
+	sirq_transmit(comm_sirq_mbed);
+
 	// Queue next transmit time
 	comm_sync_due  = 0;
 }
@@ -154,7 +159,7 @@ void comm_send_sync(uint64_t local)
  */
 void comm_send_event(uint16_t event, uint64_t local)
 {
-	//time_printf("event received", local);
+	time_printf("event received", local);
 
 	// Convert timestamp
 	uint64_t world = time_to_world(local);
@@ -177,12 +182,12 @@ void comm_send_event(uint16_t event, uint64_t local)
 	body.local  = ltime;
 
 	// Transmit message to BBB
-	if (comm_device_id == 1) {
-		sirq_write(comm_sirq_bbb,  &head, sizeof(head));
-		sirq_write(comm_sirq_bbb,  &body, sizeof(body));
-	} else {
+	if (comm_relay_mode) {
 		sirq_write(comm_sirq_mbed, &head, sizeof(head));
 		sirq_write(comm_sirq_mbed, &body, sizeof(body));
+	} else {
+		sirq_write(comm_sirq_bbb,  &head, sizeof(head));
+		sirq_write(comm_sirq_bbb,  &body, sizeof(body));
 	}
 }
 
@@ -193,42 +198,53 @@ void comm_handle_init(header_t *head, init_msg_t *body)
 {
 	// Relay initialization from bbb to mbed
 	if (comm_device_id && body->device != comm_device_id) {
-		sirq_write(comm_sirq_bbb, &head, sizeof(head));
-		sirq_write(comm_sirq_bbb, &body, sizeof(body));
+		//sirq_printf("relaying init\r\n");
+
+		sirq_write(comm_sirq_mbed, head, sizeof(*head));
+		sirq_write(comm_sirq_mbed, body, sizeof(*body));
+
+		// Normally we transmit during the time sync but
+		// if we haven't started syncing yet, we need to
+		// push out the message now.
+		if (!comm_sync_due)
+			sirq_transmit(comm_sirq_mbed);
 		return;
 	}
 
 	// Debug output
 	sirq_printf("initialize: %s %s %s %s %s\r\n",
-		body->valid & MSG_VALID_DEVICE ? "DEV"    : "dev",
-		body->valid & MSG_VALID_START  ? "START"  : "start",
-		body->valid & MSG_VALID_PERIOD ? "PERIOD" : "period",
-		body->valid & MSG_VALID_WORLD  ? "WORLD"  : "world",
-		body->valid & MSG_VALID_SYNC   ? "SYNC"   : "sync");
+		body->control & MSG_CTL_VALID_DEVICE ? "DEV"    : "dev",
+		body->control & MSG_CTL_VALID_START  ? "START"  : "start",
+		body->control & MSG_CTL_VALID_PERIOD ? "PERIOD" : "period",
+		body->control & MSG_CTL_VALID_WORLD  ? "WORLD"  : "world",
+		body->control & MSG_CTL_RELAY_MODE   ? "RELAY"  : "relay",
+		body->control & MSG_CTL_BEGIN_SYNC   ? "SYNC"   : "sync");
 	sirq_printf("  dev    -- %d\r\n", body->device);
 	time_printf("  start ", comm_read_time(body->start));
 	time_printf("  period", comm_read_time(body->period));
 	time_printf("  world ", comm_read_time(body->world));
 
 	// Validate message parts and initialize
-	if (body->valid & MSG_VALID_DEVICE)
+	if (body->control & MSG_CTL_VALID_DEVICE)
 		comm_device_id = body->device;
 
-	if (body->valid & MSG_VALID_START ||
-	    body->valid & MSG_VALID_PERIOD) {
-		uint64_t start  = comm_read_time(body->start);
-		uint64_t period = comm_read_time(body->period);
-		emit_enable(start, period);
-	}
+	if (body->control & MSG_CTL_VALID_WORLD)
+		time_ext_init(tdma_time(), comm_read_time(body->world));
 
-	if (body->valid & MSG_VALID_WORLD) {
-		uint64_t world = comm_read_time(body->world);
-		uint64_t local = tdma_time();
-		time_ext_init(local, world);
-	}
+	if (body->control & MSG_CTL_RELAY_MODE)
+		comm_relay_mode = 1;
+	else
+		comm_relay_mode = 0;
 
-	if (body->valid & MSG_VALID_SYNC)
+	if (body->control & MSG_CTL_BEGIN_SYNC)
 		comm_sync_due = tdma_time() + comm_sync_delay;
+
+	// Run these after world time is valid
+	if (body->control & MSG_CTL_VALID_START)
+		emit_set_start(comm_read_time(body->start));
+
+	if (body->control & MSG_CTL_VALID_PERIOD)
+		emit_set_period(comm_read_time(body->period));
 }
 
 /**
@@ -263,9 +279,7 @@ void comm_handle_sync(header_t *head, sync_msg_t *body)
  */
 void comm_handle_event(header_t *head, event_msg_t *body)
 {
-	// Relay event from mbed to bbb
-	if (comm_device_id == 1) {
-		sirq_write(comm_sirq_bbb, &head, sizeof(head));
-		sirq_write(comm_sirq_bbb, &body, sizeof(body));
-	}
+	// Relay events from other mbeds
+	sirq_write(comm_sirq_bbb, head, sizeof(*head));
+	sirq_write(comm_sirq_bbb, body, sizeof(*body));
 }