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

   1 #include "messages.h"
   2
   3 #include "mbed.h"
   4 #include "serial_irq.h"
   5 #include "serial_dma.h"
   6 #include "timer_dma.h"
   7
   8 /**
   9  * Mode of operation:
  10  *   Devices 1 and 2 synchronize clocks using serial messages.
  11  *
  12  *   1. Each serial message timestamped using the hardware timer capture
  13  *      registers in both the sender and receiver.
  14  *   2. The sender transmits the send timestamp during the next time-sync
  15  *      message.
  16  *   3. The receiver then compares the senders timestamp with it's own
  17  *      timestamp for the corresponding messages and calculates an offset.
  18  *   4. The offset is used to compensate the receivers local clock.
  19  *
  20  *   Time synchronization is performed in both directions.
  21  */
  22
  23 /****************
  24  * Testing vars *
  25  ****************/
  26
  27 uint32_t test_xmt_enab  = 0;
  28 uint64_t test_xmt_time0 = 0;
  29 uint64_t test_xmt_time1 = 0;
  30
  31 uint32_t test_rcv_enab  = 0;
  32 uint64_t test_rcv_time  = 0;
  33
  34 /*******************
  35  * Timer functions *
  36  *******************/
  37
  38 #define NSEC_PER_SEC 1000000000ULL
  39
  40 uint64_t time_last_local; // timestamp at last time sync
  41 uint64_t time_last_world; // offset at last time sync
  42
  43 /**
  44  * Generate time stamp for an async event:
  45  *   local: drift compensated wall-clock time
  46  *   world: nanoseconds in world time world
  47  *   valid: local timestamp at valid valid
  48  */
  49 //uint64_t time_to_local(uint64_t world, uint64_t valid)
  50 //{
  51 //      uint64_t now =
  52 //      local =  + (stamp);
  53 //}
  54
  55 /**
  56  * Generate time stamp for an async event:
  57  *   time:  drift compensated wall-clock time
  58  *   stamp: event timestamp from PIT Module
  59  */
  60 uint64_t time_to_world(uint64_t local)
  61 {
  62         uint64_t elapsed = local - time_last_local;
  63         return time_last_world + elapsed;
  64 }
  65
  66 /**
  67  * Compensate the Real-Time-Clock oscillator for
  68  * temperature and drift errors. Called at 1Hz and
  69  * synchronous to the RTC 1Hz output.
  70  */
  71 void time_rtc_comp(void)
  72 {
  73         // todo
  74 }
  75
  76 /**
  77  * Synchronize the timer internal state with updates
  78  * from an external time sync message.
  79  *   local: our internal timestamp for the event
  80  *   world: reference timestamp from the other device
  81  */
  82 void time_ext_init(uint64_t local, uint64_t world)
  83 {
  84         sirq_printf("initialize clocks: %d -> %d\r\n",
  85                         (int)(local/NSEC_PER_SEC),
  86                         (int)(world/NSEC_PER_SEC));
  87
  88         time_last_local = local;
  89         time_last_world = world;
  90 }
  91
  92 /**
  93  * Synchronize the timer internal state with updates
  94  * from an external time sync message.
  95  *   local: our internal timestamp for the event
  96  *   world: reference timestamp from the other device
  97  */
  98 void time_ext_sync(uint64_t local, uint64_t world)
  99 {
 100         uint64_t guess = time_to_world(local);
 101         uint64_t error = world > guess ? world - guess :
 102                          guess > world ? guess - world : 0;
 103         int      ahead = guess > world;
 104
 105         time_last_local = local;
 106         time_last_world = (guess/2) + (world/2);
 107         //time_last_world = (guess * 3 / 4) + (world * 1 / 4);
 108         //time_last_world =
 109         //      (guess - (        guess / 2)) +
 110         //      (world - (world - world / 2));
 111         //time_last_world =
 112         //      (guess - (guess - guess / 4)) +
 113         //      (world - (        world / 4));
 114
 115         world = time_last_world;
 116
 117 //#ifdef VERBOSE
 118 #if 0
 119         sirq_printf("syncing clocks: %6d=%d.%04u -> %d.%04u (err: %s%ld.%09lu)\r\n",
 120                         (int)((local / NSEC_PER_SEC)),
 121                         (int)((guess / NSEC_PER_SEC)),
 122                         (int)((guess % NSEC_PER_SEC)/(NSEC_PER_SEC/10000)),
 123                         (int)((world / NSEC_PER_SEC)),
 124                         (int)((world % NSEC_PER_SEC)/(NSEC_PER_SEC/10000)),
 125                         ahead ? "-" : " ",
 126                         (int32_t )(error / (int64_t)NSEC_PER_SEC),
 127                         (uint32_t)(error % (int64_t)NSEC_PER_SEC));
 128 #endif
 129 //#endif
 130
 131         // .000000284
 132         // .000000253
 133         // .000000264
 134         // .000000451
 135         // .000000284
 136         // .000000267
 137         // .000000223
 138         // .000000326
 139
 140 }
 141
 142 void time_printf(const char *label, uint64_t local)
 143 {
 144         uint64_t world = time_to_world(local);
 145         sirq_printf("%s -- %d.%09u -> %d.%09u\r\n",
 146                         label,
 147                         (int)(local / NSEC_PER_SEC),
 148                         (int)(local % NSEC_PER_SEC),
 149                         (int)(world / NSEC_PER_SEC),
 150                         (int)(world % NSEC_PER_SEC));
 151 }
 152
 153 /************************
 154  * Serial I/O functions *
 155  ************************/
 156
 157 typedef struct {
 158         int      index;
 159         int      state;
 160         uint8_t  buffer[256];
 161 } parser_t;
 162
 163 const  uint64_t serial_sync_delay = NSEC_PER_SEC / 100; // 1hz
 164 static uint64_t serial_sync_due   = 0;
 165
 166 static tdma_t  *serial_tdma_rcv   = NULL;
 167 static tdma_t  *serial_tdma_xmt   = NULL;
 168
 169 static uint64_t serial_prev_local = 0;
 170 static uint64_t serial_prev_seq   = 0;
 171
 172 static uint64_t serial_xmt_local  = 0;
 173 static uint64_t serial_xmt_seq    = 0;
 174
 175 /**
 176  * Output time sync message
 177  */
 178 void serial_send_sync(sirq_t *port, uint64_t now)
 179 {
 180         if (serial_sync_due == 0 || now < serial_sync_due)
 181                 return; // not ready
 182
 183         //sirq_printf("sending sync\r\n");
 184
 185         // Calculate world time
 186         uint64_t local = 0;
 187         uint64_t world = time_to_world(serial_xmt_local);
 188
 189         // Message data
 190         header_t   head;
 191         sync_msg_t body;
 192
 193         // Transmit sync message
 194         head.header = MSG_HEADER;
 195         head.msgid  = MSG_ID_SYNC;
 196         head.length = sizeof(body);
 197         head.cksum  = 0; // todo
 198
 199         body.seq          = serial_xmt_seq;
 200         body.time.seconds = world / NSEC_PER_SEC;
 201         body.time.nanosec = world % NSEC_PER_SEC;
 202
 203         tdma_stop(serial_tdma_rcv);
 204
 205         test_xmt_enab  = 1;
 206         test_xmt_time0 = 0;
 207         test_xmt_time1 = 0;
 208
 209         tdma_start(serial_tdma_xmt);
 210         sirq_write(port, &head, sizeof(head));
 211         sirq_write(port, &body, sizeof(body));
 212         tdma_stop(serial_tdma_xmt);
 213
 214         // save transmit time
 215         //local = test_xmt_time1;
 216         int valid = tdma_stamp(serial_tdma_xmt, &local);
 217         if (!valid) {
 218                 sirq_printf("sync transmit time -- missed\r\n");
 219         } else {
 220                 //time_printf("sync transmit time ", local);
 221                 //time_printf("sync transmit test0", test_xmt_time0);
 222                 //time_printf("sync transmit test1", test_xmt_time1);
 223         }
 224
 225         tdma_start(serial_tdma_rcv);
 226
 227         serial_xmt_seq  += 1;
 228         serial_sync_due  = 0;
 229         serial_xmt_local = local;
 230 }
 231
 232 /**
 233  * Output external event received message
 234  *   event: id of the received event
 235  *   time:  compensated timestamp of the event
 236  */
 237 void serial_send_event(uint16_t event, uint64_t local)
 238 {
 239         uint64_t world = time_to_world(local);
 240
 241         ntime_t time = {};
 242         time.seconds = (uint32_t)(world / NSEC_PER_SEC);
 243         time.nanosec = (uint32_t)(world % NSEC_PER_SEC);
 244
 245         sirq_printf("event received - %08x:%08x - %u.%09u\r\n",
 246                 (uint32_t)(local >> 32), (uint32_t)local,
 247                 time.seconds, time.nanosec);
 248         // todo
 249 }
 250
 251 /**
 252  * Handle sync message
 253  */
 254 void serial_handle_sync(sync_msg_t *msg)
 255 {
 256         // Read receive timestamp for next time sync message
 257         uint64_t current = 0;
 258         int valid = tdma_stamp(serial_tdma_rcv, &current);
 259         if (!valid)
 260                 sirq_printf("sync receive time  -- missing\r\n");
 261         //else
 262         //      time_printf("sync receive time ", current);
 263         tdma_stop(serial_tdma_rcv);
 264
 265         // Lookup times
 266         uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC
 267                        + ((uint64_t)msg->time.nanosec);
 268
 269         // Initialize
 270         if (msg->seq == 0) {
 271                 uint64_t local = tdma_time();
 272                 time_ext_init(local, world);
 273         }
 274
 275         // Valid times timestamp
 276         if (serial_prev_seq == (msg->seq-1)) {
 277                 uint64_t local = serial_prev_local;
 278                 time_ext_sync(local, world);
 279         }
 280
 281         // Queue transmit to other board
 282         serial_sync_due   = tdma_time() + serial_sync_delay;
 283
 284         // Update states
 285         serial_prev_local = current;
 286         serial_prev_seq   = msg->seq;
 287 }
 288
 289 /**
 290  * Handle event message
 291  */
 292 void serial_handle_event(event_msg_t *msg)
 293 {
 294 }
 295
 296 /**
 297  * Deliver message
 298  */
 299 void serial_deliver(int msgid, void *body)
 300 {
 301         switch (msgid) {
 302                 case MSG_ID_SYNC:
 303                         //sirq_printf("received sync msg\r\n");
 304                         serial_handle_sync((sync_msg_t*)body);
 305                         break;
 306                 case MSG_ID_EVENT:
 307                         //sirq_printf("received event msg\r\n");
 308                         serial_handle_event((event_msg_t*)body);
 309                         break;
 310         }
 311 }
 312
 313 /**
 314  * Process serial receive messages
 315  */
 316 void serial_receive(parser_t *parser, int byte)
 317 {
 318         //sirq_printf("serial_receive - %02x\r\n", byte);
 319
 320         // Lookup pointers
 321         header_t *head = (header_t*)parser->buffer;
 322         void     *body = (void*)(head+1);
 323         const int max_length = sizeof(parser->buffer)-sizeof(header_t);
 324
 325         // Process uart messages
 326         parser->buffer[parser->index++] = byte;
 327         switch (parser->state) {
 328                 case 0: // Search
 329                         if (parser->index == sizeof(uint16_t)) {
 330                                 if (head->header == MSG_HEADER) {
 331                                         parser->state = 1;
 332                                 } else {
 333                                         parser->buffer[0] = parser->buffer[1];
 334                                         parser->index = 1;
 335                                 }
 336                         }
 337                         break;
 338                 case 1: // Header
 339                         if (parser->index == sizeof(header_t)) {
 340                                 if (head->length <= max_length &&
 341                                     head->msgid  <= MSG_MAXID) {
 342                                         parser->state = 2;
 343                                 } else {
 344                                         parser->index = 0;
 345                                         parser->state = 0;
 346                                 }
 347                         }
 348                         break;
 349                 case 2: // Data
 350                         if (parser->index == (int)sizeof(header_t)+head->length) {
 351                                 serial_deliver(head->msgid, body);
 352                                 parser->index = 0;
 353                                 parser->state = 0;
 354                         }
 355                         break;
 356         }
 357 }
 358
 359 /********************
 360  * Data definitions *
 361  ********************/
 362
 363 // LEDs
 364 DigitalOut led1(LED1);
 365 DigitalOut led2(LED2);
 366
 367 // Message Parsers
 368 parser_t   parser_dbg;
 369 parser_t   parser_bbb;
 370 parser_t   parser_mbed;
 371
 372 // Serial IRQ
 373 sirq_t    *sirq_dbg;
 374 sirq_t    *sirq_bbb;
 375 sirq_t    *sirq_mbed;
 376
 377 // Timer DMA
 378 tdma_t    *tdma_evt;
 379 tdma_t    *tdma_rcv;
 380 tdma_t    *tdma_xmt;
 381
 382 /*********
 383  * Tasks *
 384  *********/
 385
 386 void task_serial(uint64_t local, uint64_t world)
 387 {
 388         while (sirq_ready(sirq_dbg)) {
 389                 //sirq_printf("serial recv - dbg\r\n");
 390                 serial_receive(&parser_dbg,  sirq_getc(sirq_dbg));
 391         }
 392
 393         while (sirq_ready(sirq_bbb)) {
 394                 //sirq_printf("serial recv - bbb\r\n");
 395                 serial_receive(&parser_bbb,  sirq_getc(sirq_bbb));
 396         }
 397
 398         while (sirq_ready(sirq_mbed)) {
 399                 //sirq_printf("serial recv - mbed\r\n");
 400                 serial_receive(&parser_mbed, sirq_getc(sirq_mbed));
 401         }
 402 }
 403
 404 void task_events(uint64_t local, uint64_t world)
 405 {
 406         uint64_t event = 0;
 407
 408 #ifdef VERBOSE
 409         if (tdma_stamp(tdma_evt, &event)) {
 410                 sirq_printf("event received - evt\r\n");
 411         if (tdma_stamp(tdma_rcv, &event))
 412                 sirq_printf("event received - rcv\r\n");
 413         if (tdma_stamp(tdma_xmt, &event))
 414                 sirq_printf("event received - xmt\r\n");
 415 #endif
 416
 417         if (tdma_stamp(tdma_evt, &event))
 418                 serial_send_event(0, event);
 419         tdma_stop(tdma_evt);
 420         tdma_start(tdma_evt);
 421 }
 422
 423 void task_sync(uint64_t local, uint64_t world)
 424 {
 425         serial_send_sync(sirq_mbed, local);
 426 }
 427
 428 void task_leds(uint64_t local, uint64_t world)
 429 {
 430         static uint32_t which = 0;
 431         led1 = (which == 0);
 432         led2 = (which == 1);
 433         which ^= 1;
 434 }
 435
 436 void task_debug(uint64_t local, uint64_t world)
 437 {
 438         //tdma_debug(tdma_rcv);
 439         //tdma_debug(tdma_xmt);
 440
 441         //sirq_debug(sirq_mbed);
 442
 443 #ifdef VERBOSE
 444         sirq_printf("background - %6u.%02u -> %u.%02u\r\n",
 445                         (uint32_t)(local / NSEC_PER_SEC),
 446                         (uint32_t)(local % NSEC_PER_SEC / 10000000),
 447                         (uint32_t)(world / NSEC_PER_SEC),
 448                         (uint32_t)(world % NSEC_PER_SEC / 10000000));
 449 #endif
 450 }
 451
 452 /********
 453  * Main *
 454  ********/
 455
 456 #define N_ELEM(x) (sizeof(x) / sizeof((x)[0]))
 457
 458 extern void test_main(void);
 459 extern serial_t stdio_uart;
 460
 461 static struct {
 462         void (*task)(uint64_t, uint64_t);
 463         uint64_t period;
 464         uint64_t due;
 465 } tasks[] = {
 466         { task_serial, 0          }, // always
 467         { task_events, 1000000000 }, // always
 468         { task_sync,   0          }, // always
 469         { task_leds,   100000000  }, // 10hz
 470         { task_debug,  1000000000 }, // 1hz
 471 };
 472
 473 void background(void)
 474 {
 475         // Debugging
 476         uint64_t local = tdma_time();
 477         uint64_t world = time_to_world(local);
 478
 479         // Run the scheduler
 480         for (unsigned i = 0; i < N_ELEM(tasks); i++) {
 481                 if (local >= tasks[i].due) {
 482                         tasks[i].task(local, world);
 483                         tasks[i].due += tasks[i].period;
 484                 }
 485         }
 486 }
 487
 488 int main(int argc, char **argv)
 489 {
 490         tdma_init();
 491
 492         // Open serial ports
 493         sirq_dbg   = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc
 494         sirq_bbb   = sirq_open(SIRQ_UART1, PTE0,  PTE1,  115200); // to bbb
 495         sirq_mbed  = sirq_open(SIRQ_UART2, PTD3,  PTD2,  115200); // to mbed
 496
 497         // Setup timers
 498         tdma_evt   = tdma_open(TDMA_CHAN0, 3, PTC9,  PullUp); // async event
 499
 500         // mbed time sync
 501         tdma_rcv   = tdma_open(TDMA_CHAN2, 3, PTD2,  PullUp);   // time sync rcv
 502         tdma_xmt   = tdma_open(TDMA_CHAN3, 3, PTD3,  PullUp);   // time sync xmt
 503
 504         // host time sync
 505         //tdma_rcv   = tdma_open(TDMA_CHAN2, 2, USBRX, PullUp); // time sync rcv
 506         //tdma_xmt   = tdma_open(TDMA_CHAN3, 2, USBTX, PullUp); // time sync xmt
 507
 508         // start timers
 509         tdma_start(tdma_evt);
 510         tdma_start(tdma_rcv);
 511         tdma_start(tdma_xmt);
 512
 513         // Serial timestamping
 514         serial_tdma_rcv = tdma_rcv;
 515         serial_tdma_xmt = tdma_xmt;
 516
 517         // Test clocks
 518         //MCG->C1    = 0x05; // was 0x1A
 519         //MCG->C2    = 0x2C; // was 0x24
 520         //MCG->C3    = 0x91; // was 0x91
 521         //MCG->C4    = 0x10; // was 0x10
 522         //MCG->C5    = 0x01; // was 0x01
 523         //MCG->C6    = 0x40; // was 0x40
 524         //MCG->S     = 0x6E; // was 0x6E
 525         //MCG->SC    = 0x02; // was 0x02
 526         //MCG->ATCVH = 0x00; // was 0x00
 527         //MCG->ATCVL = 0x00; // was 0x00
 528         //MCG->C7    = 0x00; // was 0x00
 529         //MCG->C8    = 0x80; // was 0x80
 530         //MCG->C9    = 0x00; // was 0x00
 531         //MCG->C10   = 0x00; // was 0x00
 532
 533         //sirq_printf("MGC - C1    %02hx\r\n", MCG->C1);     // 1A
 534         //sirq_printf("MGC - C2    %02hx\r\n", MCG->C2);     // 24
 535         //sirq_printf("MGC - C3    %02hx\r\n", MCG->C3);     // 91
 536         //sirq_printf("MGC - C4    %02hx\r\n", MCG->C4);     // 10
 537         //sirq_printf("MGC - C5    %02hx\r\n", MCG->C5);     // 01
 538         //sirq_printf("MGC - C6    %02hx\r\n", MCG->C6);     // 40
 539         //sirq_printf("MGC - S     %02hx\r\n", MCG->S);      // 6E
 540         //sirq_printf("MGC - SC    %02hx\r\n", MCG->SC);     // 02
 541         //sirq_printf("MGC - ATCVH %02hx\r\n", MCG->ATCVH);  // 00
 542         //sirq_printf("MGC - ATCVL %02hx\r\n", MCG->ATCVL);  // 00
 543         //sirq_printf("MGC - C7    %02hx\r\n", MCG->C7);     // 00
 544         //sirq_printf("MGC - C8    %02hx\r\n", MCG->C8);     // 80
 545         //sirq_printf("MGC - C9    %02hx\r\n", MCG->C9);     // 00
 546         //sirq_printf("MGC - C10   %02hx\r\n", MCG->C10);    // 00
 547
 548         // Run background loop
 549         printf("hello");
 550         while (true)
 551                 background();
 552
 553         // Run tests
 554         //test_main();
 555
 556         return 0;
 557 }