Pileus Git - ~andy/csm213a-hw/blob - hw2/main.cpp

   1 #include "mbed.h"\r
   2 #include "serial_dma.h"\r
   3 \r
   4 /**\r
   5  * Mode of operation:\r
   6  *   Devices 1 and 2 synchronize clocks using serial messages.\r
   7  *\r
   8  *   1. Each serial message timestamped using the hardware timer capture\r
   9  *      registers in both the sender and receiver.\r
  10  *   2. The sender transmits the send timestamp during the next time-sync\r
  11  *      message.\r
  12  *   3. The receiver then compares the senders timestamp with it's own\r
  13  *      timestamp for the corresponding messages and calculates an offset.\r
  14  *   4. The offset is used to compensate the receivers local clock.\r
  15  *\r
  16  *   Time synchronization is performed in both directions.\r
  17  *\r
  18  *\r
  19  * Only port A, C, and D can do aysnc DMA (p. 67)\r
  20  *\r
  21  * Uart Sources:\r
  22  *      UART 0     UART 1     UART 2\r
  23  *     xmt  rcv   xmt  rcv   xmt  rcv\r
  24  *     ---  ---   ---  ---   ---  ---\r
  25  *     A2   A1  **A19  A18** -    -\r
  26  *     A14  A15   -    -     -    -\r
  27  *     B17  B16   -    -     -    -\r
  28  *     -    -   **C4   C3**  -    -\r
  29  *     D7   D6    -    -   **D3   D2** <<<\r
  30  *     -    -     -    -   **D5   D4**\r
  31  *     E20  E21   E0   E1    E16  E17 \r
  32  *     -    -     -    -     E22  E23 \r
  33  *\r
  34  * Pinout\r
  35  *     A1    B18        E30  C1        \r
  36  *     A2    B19        B20  C2        \r
  37  *     D3    C0         E23  B3        \r
  38  *     A12   C4         E22  B2        \r
  39  *     A4    C6         E21  B1        \r
  40  *     A5    C7         E20  B0        \r
  41  *     C8    C10                       \r
  42  *     C9    C11        E2   P5-9V     \r
  43  *                      E3   GND       \r
  44  *     A13   C13        E6   GND       \r
  45  *     D2    C16        E16  P5V-USB   \r
  46  *     D4    A7         E17  P3V3      \r
  47  *     D6    A6         E18  RST       \r
  48  *     D7    A14        E19  P3V3      \r
  49  *     D5    A15        E31  SDA/D5  \r
  50  *     GND   A15 \r
  51  *     VREFH A17 \r
  52  *     E0    B9  \r
  53  *     E1    --\r
  54  */\r
  55 \r
  56 /* Trigger select options */\r
  57 \r
  58 #define TMP_CONF_TRGSEL_EXTRG 0x0 // 0b0000 External trigger pin input (EXTRG_IN)\r
  59 #define TMP_CONF_TRGSEL_CMP0  0x1 // 0b0001 CMP0 output\r
  60 #define TMP_CONF_TRGSEL_PIT0  0x4 // 0b0100 PIT trigger 0\r
  61 #define TMP_CONF_TRGSEL_PIT1  0x5 // 0b0101 PIT trigger 1\r
  62 #define TMP_CONF_TRGSEL_TPM0  0x8 // 0b1000 TPM0 overflow\r
  63 #define TMP_CONF_TRGSEL_TPM1  0x9 // 0b1001 TPM1 overflow\r
  64 #define TMP_CONF_TRGSEL_TPM2  0xA // 0b1010 TPM2 overflow\r
  65 #define TMP_CONF_TRGSEL_RTCA  0xC // 0b1100 RTC alarm\r
  66 #define TMP_CONF_TRGSEL_RTCS  0xD // 0b1101 RTC seconds\r
  67 #define TMP_CONF_TRGSEL_LPTMR 0xE // 0b1110 LPTMR trigger\r
  68 \r
  69 /***********************\r
  70  * Message Definitions *\r
  71  ***********************/\r
  72 \r
  73 #define MSG_HEADER 0x1234\r
  74 \r
  75 typedef enum {\r
  76         MSG_ID_SYNC,       // Time synchronization\r
  77         MSG_ID_EVENT,      // Event occurred\r
  78 } msgid_t;\r
  79 \r
  80 typedef struct {\r
  81         uint32_t seconds;  // Seconds since 1970 (without leap seconds)\r
  82         uint32_t nanosec;  // Nanoseconds since 'seconds'\r
  83 } ntime_t;\r
  84 \r
  85 typedef struct {\r
  86         uint16_t header;   // Message Header\r
  87         uint16_t mesgid;   // Message ID\r
  88         uint16_t length;   // Body length\r
  89         uint16_t cksum;    // Body checksum\r
  90 } header_t;\r
  91 \r
  92 typedef struct {\r
  93         uint16_t seq;      // Current sequence counter\r
  94         uint16_t prev;     // Sequence of previous message\r
  95         ntime_t  time;     // Time of previous message\r
  96 } sync_msg_t;\r
  97 \r
  98 typedef struct {\r
  99         uint16_t device;   // Device ID\r
 100         uint16_t event;    // Event ID\r
 101         ntime_t  time;     // Timestamp\r
 102 } event_msg_t;\r
 103 \r
 104 /*******************\r
 105  * Timer functions *\r
 106  *******************/\r
 107 \r
 108 /**\r
 109  * Generate time stamp for an async event:\r
 110  *   time:  drift compensated wall-clock time\r
 111  *   stamp: event timestamp from Timer/PWM Module\r
 112  */\r
 113 void time_stamp(ntime_t *time, uint32_t stamp)\r
 114 {\r
 115         // todo\r
 116 }\r
 117 \r
 118 /**\r
 119  * Compensate the Real-Time-Clock oscillator for\r
 120  * temperature and drift errors. Called at 1Hz and\r
 121  * synchronous to the RTC 1Hz output.\r
 122  */\r
 123 void time_rtc_comp(void)\r
 124 {\r
 125         // todo\r
 126 }\r
 127 \r
 128 /**\r
 129  * Synchronize the timer internal state with updates\r
 130  * from an external time sync message.\r
 131  *   ours: our internal timestamp for the event\r
 132  *   ref:  reference timestamp from the other device\r
 133  */\r
 134 void time_ext_sync(ntime_t *ours, ntime_t *ref)\r
 135 {\r
 136         // todo\r
 137 }\r
 138 \r
 139 /************************\r
 140  * Serial I/O functions *\r
 141  ************************/\r
 142 \r
 143 /**\r
 144  * Output time sync message\r
 145  */\r
 146 void serial_send_sync(void)\r
 147 {\r
 148 }\r
 149 \r
 150 /**\r
 151  * Output external event received message\r
 152  *   event: id of the received event\r
 153  *   time:  compensated timestamp of the event\r
 154  */\r
 155 void serial_send_event(uint16_t event, ntime_t *time)\r
 156 {\r
 157 }\r
 158 \r
 159 /**\r
 160  * Process serial receive messages\r
 161  */\r
 162 void serial_receive(void)\r
 163 {\r
 164 }\r
 165 \r
 166 /***********************\r
 167  * Timestamp functions *\r
 168  ***********************/\r
 169 \r
 170 //void stamp() {\r
 171 //}\r
 172 \r
 173 /********************\r
 174  * Data definitions *\r
 175  ********************/\r
 176 \r
 177 // LEDs\r
 178 DigitalOut led1(LED1);\r
 179 DigitalOut led2(LED2);\r
 180 \r
 181 // UARTs         tx      rx\r
 182 Serial     uart0(USBTX,  USBRX);\r
 183 Serial     uart1(PTE0,   PTE1);\r
 184 Serial     uart2(PTD3,   PTD2);\r
 185 \r
 186 // Serial DMA\r
 187 sdma_t    *sdma0;\r
 188 sdma_t    *sdma1;\r
 189 sdma_t    *sdma2;\r
 190 \r
 191 /********\r
 192  * Main *\r
 193  ********/\r
 194 \r
 195 void test_tpm_init(void)\r
 196 {\r
 197         // EXTRG_IN - PTB8 - alt 3\r
 198         //            PTC0 - alt 3\r
 199         //            PTC6 - alt 3\r
 200 \r
 201         // Setup System Integration Module\r
 202         SIM_Type *sim = SIM;\r
 203 \r
 204         sim->SCGC5 |= SIM_SCGC5_PORTA_MASK\r
 205                    |  SIM_SCGC5_PORTB_MASK\r
 206                    |  SIM_SCGC5_PORTC_MASK\r
 207                    |  SIM_SCGC5_PORTD_MASK\r
 208                    |  SIM_SCGC5_PORTE_MASK\r
 209                    |  SIM_SCGC5_LPTMR_MASK;\r
 210 \r
 211         sim->SCGC6 |= SIM_SCGC6_TPM0_MASK\r
 212                    |  SIM_SCGC6_TPM1_MASK\r
 213                    |  SIM_SCGC6_TPM2_MASK\r
 214                    |  SIM_SCGC6_DAC0_MASK\r
 215                    |  SIM_SCGC6_ADC0_MASK\r
 216                    |  SIM_SCGC6_PIT_MASK\r
 217                    |  SIM_SCGC6_DMAMUX_MASK\r
 218                    |  SIM_SCGC6_RTC_MASK;\r
 219 \r
 220         sim->SOPT2 |= SIM_SOPT2_TPMSRC(1);\r
 221 \r
 222         sim->SOPT4  = SIM_SOPT4_TPM1CLKSEL_MASK\r
 223                    |  SIM_SOPT4_TPM1CH0SRC(3);\r
 224 \r
 225         printf("SOPT2:%08lx SCGC5:%08lx SCGC6:%08lx\r\n",\r
 226                         sim->SOPT2, sim->SCGC5, sim->SCGC6);\r
 227         //SOPT2:05010000 SCGC5:00003f83 SCGC6:07800001\r
 228 \r
 229         //sim->SOPT7 |= SIM_SOPT7_ADC0TRGSEL(TMP_CONF_TRGSEL_EXTRG);\r
 230 \r
 231         // Setup Port Control\r
 232         PORT_Type *port = PORTC;\r
 233 \r
 234         PORTE->PCR[25] = PORT_PCR_ISF_MASK\r
 235                        | PORT_PCR_IRQC(0x1)\r
 236                        | PORT_PCR_MUX(3) ;\r
 237 \r
 238         port->PCR[0]   = PORT_PCR_ISF_MASK\r
 239                        | PORT_PCR_IRQC(0x1)\r
 240                        | PORT_PCR_MUX(3)\r
 241                        | PORT_PCR_PE_MASK;\r
 242 \r
 243         // Setup Timer/PWM Module\r
 244         volatile TPM_Type *tpm = TPM1;\r
 245 \r
 246         tpm->SC               = TPM_SC_PS(0x7)\r
 247                               | TPM_SC_TOF_MASK;\r
 248 \r
 249         tpm->CNT              = TPM_CNT_COUNT(0);\r
 250 \r
 251         tpm->MOD              = TPM_CNT_COUNT(0xFFFF);\r
 252 \r
 253         tpm->CONTROLS[1].CnV  = 0x1234;\r
 254         tpm->CONTROLS[1].CnSC = TPM_CnSC_CHF_MASK\r
 255                               | TPM_CnSC_CHIE_MASK\r
 256                               | TPM_CnSC_ELSA_MASK;\r
 257 \r
 258         //tpm->CONTROLS[0].CnSC = TPM_CnSC_CHF_MASK\r
 259         //                    | TPM_CnSC_CHIE_MASK\r
 260         //                    | TPM_CnSC_MSB_MASK\r
 261         //                    | TPM_CnSC_MSA_MASK\r
 262         //                    | TPM_CnSC_ELSB_MASK\r
 263         //                    | TPM_CnSC_ELSA_MASK;\r
 264 \r
 265         tpm->STATUS           = TPM_STATUS_CH0F_MASK\r
 266                               | TPM_STATUS_CH1F_MASK\r
 267                               | TPM_STATUS_CH2F_MASK\r
 268                               | TPM_STATUS_CH3F_MASK\r
 269                               | TPM_STATUS_CH4F_MASK\r
 270                               | TPM_STATUS_CH5F_MASK\r
 271                               | TPM_STATUS_TOF_MASK;\r
 272 \r
 273         tpm->CONF             = TPM_CONF_TRGSEL(TMP_CONF_TRGSEL_EXTRG)\r
 274                               | TPM_CONF_CSOO_MASK\r
 275                               | TPM_CONF_CSOT_MASK\r
 276                               | TPM_CONF_GTBEEN_MASK\r
 277                               | TPM_CONF_DBGMODE_MASK;\r
 278 \r
 279         tpm->SC               = TPM_SC_CMOD(1)\r
 280                               | TPM_SC_PS(0x7)\r
 281                               | TPM_SC_TOF_MASK;\r
 282 \r
 283         printf("test - %02lx %08lx\r\n", tpm->CONTROLS[1].CnSC, tpm->CONTROLS[1].CnV); wait(0.1);\r
 284 }\r
 285 \r
 286 void test_tpm_run(void)\r
 287 {\r
 288         //static DigitalIn pin(PTC0);\r
 289         //static DigitalIn pin(PTC2);\r
 290         static int pin = 0;\r
 291 \r
 292         printf("%lx - PTC0:%08lx GPCR:%08lx:%08lx - SC:%04lx CNT:%04lx MOD:%04lx STATUS:%04lx CONF:%08lx - CnSC:%02lx CnV:%04lx\r\n",\r
 293                         (long)pin, PORTC->PCR[0], PORTC->GPCHR, PORTC->GPCLR,\r
 294                         TPM1->SC, TPM1->CNT, TPM1->MOD, TPM1->STATUS, TPM1->CONF,\r
 295                         TPM1->CONTROLS[1].CnSC, TPM1->CONTROLS[1].CnV);\r
 296         TPM1->SC     |= TPM_STATUS_TOF_MASK;\r
 297         TPM1->STATUS |= TPM_STATUS_TOF_MASK;\r
 298 }\r
 299 \r
 300 void test_pit_init(void)\r
 301 {\r
 302         //printf("test_pit_init\r\n");\r
 303 \r
 304         // Enable\r
 305         SIM->SCGC6 |= SIM_SCGC6_PIT_MASK;\r
 306         PIT->MCR    = 0;\r
 307 \r
 308         // Channel 0\r
 309         PIT->CHANNEL[0].LDVAL = 0xFFFFFFFF;\r
 310         PIT->CHANNEL[0].TCTRL = 0;\r
 311 \r
 312         // Channel 1\r
 313         PIT->CHANNEL[1].LDVAL = 0xFFFFFFFF;\r
 314         PIT->CHANNEL[1].TCTRL = PIT_TCTRL_CHN_MASK;\r
 315 \r
 316         // Start timers\r
 317         PIT->CHANNEL[0].TCTRL |= PIT_TCTRL_TEN_MASK;\r
 318         PIT->CHANNEL[1].TCTRL |= PIT_TCTRL_TEN_MASK;\r
 319 \r
 320 }\r
 321 \r
 322 void test_pit_run(void)\r
 323 {\r
 324         register volatile uint32_t *tmh asm("r4") = &PIT->LTMR64H;\r
 325         register volatile uint32_t *tml asm("r5") = &PIT->LTMR64L;\r
 326 \r
 327         register uint32_t hi0 asm("r0"), lo0 asm("r1");\r
 328         register uint32_t hi1 asm("r2"), lo1 asm("r3");\r
 329 \r
 330         asm("ldr %0, [%4]\n\t" // Two clocks per load\r
 331             "ldr %1, [%5]\n\t"\r
 332             "ldr %2, [%4]\n\t"\r
 333             "ldr %3, [%5]\n\t"\r
 334             : "=r"(hi0), "=r"(lo0), "=r"(hi1), "=r"(lo1)\r
 335             :  "r"(tmh),  "r"(tml));\r
 336 \r
 337         uint64_t tm0 = ~((uint64_t)hi0 << 32 | lo0);\r
 338         uint64_t tm1 = ~((uint64_t)hi1 << 32 | lo1);\r
 339         double   bus = 24E6;   // 24 MHz bus clock\r
 340 \r
 341         printf("tick   %08lx:%08lx", (uint32_t)(tm0>>32), (uint32_t)tm0);\r
 342         printf(    "   %08lx:%08lx", (uint32_t)(tm1>>32), (uint32_t)tm1);\r
 343         printf(    "   %08lx",       (uint32_t)(tm1-tm0));\r
 344         printf(    "   %f\r\n",      (double)tm0 / bus);\r
 345 }\r
 346 \r
 347 void test_uart(void)\r
 348 {\r
 349         char xmt[32] = "hello, world";\r
 350         char rcv[32] = {};\r
 351 \r
 352         sdma_write(sdma1, xmt, strlen(xmt));\r
 353         sdma_flush(sdma1);\r
 354 \r
 355         for (int i = 0; xmt[i]; i++)\r
 356                 rcv[i] = uart2.getc();\r
 357 \r
 358         printf("xmt: %s    ", xmt);\r
 359         printf("rcv: %s    ", rcv);\r
 360         printf("tag: dir:%08lx in:%08lx\r\n",\r
 361                         FPTD->PDDR, FPTD->PDIR);\r
 362 }\r
 363 \r
 364 void test_leds(void)\r
 365 {\r
 366         led1 = 1; led2 = 0; wait(0.1);\r
 367         led1 = 0; led2 = 1; wait(0.1);\r
 368 }\r
 369 \r
 370 int main(int argc, char **argv)\r
 371 {\r
 372         uart0.baud(115200);\r
 373         uart1.baud(115200);\r
 374         uart2.baud(115200);\r
 375 \r
 376         sdma1 = sdma_open(SDMA_UART1, SDMA_CHANNEL1);\r
 377         sdma2 = sdma_open(SDMA_UART2, SDMA_CHANNEL2);\r
 378 \r
 379         test_uart();\r
 380         //test_leds();\r
 381         test_pit_init();\r
 382         //test_tpm_init();\r
 383 \r
 384         while (1) {\r
 385                 test_uart();\r
 386                 //test_leds();\r
 387                 //test_pit_run();\r
 388                 //test_tpm_run();\r
 389         }\r
 390 }\r