#include "mbed.h"\r
+#include "serial_dma.h"\r
+#include "timer_dma.h"\r
\r
+/**\r
+ * Mode of operation:\r
+ * Devices 1 and 2 synchronize clocks using serial messages.\r
+ *\r
+ * 1. Each serial message timestamped using the hardware timer capture\r
+ * registers in both the sender and receiver.\r
+ * 2. The sender transmits the send timestamp during the next time-sync\r
+ * message.\r
+ * 3. The receiver then compares the senders timestamp with it's own\r
+ * timestamp for the corresponding messages and calculates an offset.\r
+ * 4. The offset is used to compensate the receivers local clock.\r
+ *\r
+ * Time synchronization is performed in both directions.\r
+ *\r
+ *\r
+ * Only port A, C, and D can do aysnc DMA (p. 67)\r
+ *\r
+ * DMA Channel Allocation:\r
+ * Ch Trigger Description\r
+ * 0 gpio timestamp (async event)\r
+ * 1 uart1 transmit\r
+ * 2 uart2 tx timestamp (time sync xmt)\r
+ * 3 uart2 rx timestamp (time sync rcv)\r
+ *\r
+ * Uart Sources:\r
+ * UART 0 UART 1 UART 2\r
+ * xmt rcv xmt rcv xmt rcv\r
+ * --- --- --- --- --- ---\r
+ * A2 A1 --A19 A18-- - -\r
+ * A14 A15 - - - -\r
+ * B17 B16 - - - -\r
+ * - - **C4 C3-- - -\r
+ * D7 D6 - - **D3/3 D2/3** <<<\r
+ * - - - - **D5/3 D4/3**\r
+ * E20 E21 E0 E1 E16 E17\r
+ * - - - - E22 E23\r
+ *\r
+ * Pinout\r
+ * A1 B18 E30 C1\r
+ * A2 B19 B20 C2\r
+ * D3 C0 E23 B3\r
+ * A12 C4 E22 B2\r
+ * A4 C6 E21 B1\r
+ * A5 C7 E20 B0\r
+ * C8 C10\r
+ * C9 C11 E2 P5-9V\r
+ * E3 GND\r
+ * A13 C13 E6 GND\r
+ * D2 C16 E16 P5V-USB\r
+ * D4 A7 E17 P3V3\r
+ * D6 A6 E18 RST\r
+ * D7 A14 E19 P3V3\r
+ * D5 A15 E31 SDA/D5\r
+ * GND A15\r
+ * VREFH A17\r
+ * E0 B9\r
+ * E1 --\r
+ */\r
+\r
+/* Trigger select options */\r
+\r
+#define TMP_CONF_TRGSEL_EXTRG 0x0 // 0b0000 External trigger pin input (EXTRG_IN)\r
+#define TMP_CONF_TRGSEL_CMP0 0x1 // 0b0001 CMP0 output\r
+#define TMP_CONF_TRGSEL_PIT0 0x4 // 0b0100 PIT trigger 0\r
+#define TMP_CONF_TRGSEL_PIT1 0x5 // 0b0101 PIT trigger 1\r
+#define TMP_CONF_TRGSEL_TPM0 0x8 // 0b1000 TPM0 overflow\r
+#define TMP_CONF_TRGSEL_TPM1 0x9 // 0b1001 TPM1 overflow\r
+#define TMP_CONF_TRGSEL_TPM2 0xA // 0b1010 TPM2 overflow\r
+#define TMP_CONF_TRGSEL_RTCA 0xC // 0b1100 RTC alarm\r
+#define TMP_CONF_TRGSEL_RTCS 0xD // 0b1101 RTC seconds\r
+#define TMP_CONF_TRGSEL_LPTMR 0xE // 0b1110 LPTMR trigger\r
+\r
+/***********************\r
+ * Message Definitions *\r
+ ***********************/\r
+\r
+#define MSG_HEADER 0x1234\r
+\r
+typedef enum {\r
+ MSG_ID_SYNC, // Time synchronization\r
+ MSG_ID_EVENT, // Event occurred\r
+} msgid_t;\r
+\r
+typedef struct {\r
+ uint32_t seconds; // Seconds since 1970 (without leap seconds)\r
+ uint32_t nanosec; // Nanoseconds since 'seconds'\r
+} ntime_t;\r
+\r
+typedef struct {\r
+ uint16_t header; // Message Header\r
+ uint16_t mesgid; // Message ID\r
+ uint16_t length; // Body length\r
+ uint16_t cksum; // Body checksum\r
+} header_t;\r
+\r
+typedef struct {\r
+ uint16_t seq; // Current sequence counter\r
+ uint16_t prev; // Sequence of previous message\r
+ ntime_t time; // Time of previous message\r
+} sync_msg_t;\r
+\r
+typedef struct {\r
+ uint16_t device; // Device ID\r
+ uint16_t event; // Event ID\r
+ ntime_t time; // Timestamp\r
+} event_msg_t;\r
+\r
+/*******************\r
+ * Timer functions *\r
+ *******************/\r
+\r
+/**\r
+ * Generate time stamp for an async event:\r
+ * time: drift compensated wall-clock time\r
+ * stamp: event timestamp from Timer/PWM Module\r
+ */\r
+void time_stamp(ntime_t *time, uint32_t stamp)\r
+{\r
+ // todo\r
+}\r
+\r
+/**\r
+ * Compensate the Real-Time-Clock oscillator for\r
+ * temperature and drift errors. Called at 1Hz and\r
+ * synchronous to the RTC 1Hz output.\r
+ */\r
+void time_rtc_comp(void)\r
+{\r
+ // todo\r
+}\r
+\r
+/**\r
+ * Synchronize the timer internal state with updates\r
+ * from an external time sync message.\r
+ * ours: our internal timestamp for the event\r
+ * ref: reference timestamp from the other device\r
+ */\r
+void time_ext_sync(ntime_t *ours, ntime_t *ref)\r
+{\r
+ // todo\r
+}\r
+\r
+/************************\r
+ * Serial I/O functions *\r
+ ************************/\r
+\r
+/**\r
+ * Output time sync message\r
+ */\r
+void serial_send_sync(void)\r
+{\r
+}\r
+\r
+/**\r
+ * Output external event received message\r
+ * event: id of the received event\r
+ * time: compensated timestamp of the event\r
+ */\r
+void serial_send_event(uint16_t event, ntime_t *time)\r
+{\r
+}\r
+\r
+/**\r
+ * Process serial receive messages\r
+ */\r
+void serial_receive(void)\r
+{\r
+}\r
+\r
+/***********************\r
+ * Timestamp functions *\r
+ ***********************/\r
+\r
+//void stamp() {\r
+//}\r
+\r
+/********************\r
+ * Data definitions *\r
+ ********************/\r
+\r
+// LEDs\r
DigitalOut led1(LED1);\r
DigitalOut led2(LED2);\r
\r
+// UARTs tx rx\r
+Serial uart0(USBTX, USBRX);\r
+Serial uart1(PTE0, PTE1);\r
+Serial uart2(PTD3, PTD2);\r
+\r
+// Serial DMA\r
+sdma_t *sdma0;\r
+sdma_t *sdma1;\r
+sdma_t *sdma2;\r
+\r
+// Timer DMA\r
+tdma_t *tdma0;\r
+tdma_t *tdma1;\r
+tdma_t *tdma2;\r
+tdma_t *tdma3;\r
+\r
+/********\r
+ * Main *\r
+ ********/\r
+\r
+void test_tpm_init(void)\r
+{\r
+ // EXTRG_IN - PTB8 - alt 3\r
+ // PTC0 - alt 3\r
+ // PTC6 - alt 3\r
+\r
+ // Setup System Integration Module\r
+ SIM_Type *sim = SIM;\r
+\r
+ sim->SCGC5 |= SIM_SCGC5_PORTA_MASK\r
+ | SIM_SCGC5_PORTB_MASK\r
+ | SIM_SCGC5_PORTC_MASK\r
+ | SIM_SCGC5_PORTD_MASK\r
+ | SIM_SCGC5_PORTE_MASK\r
+ | SIM_SCGC5_LPTMR_MASK;\r
+\r
+ sim->SCGC6 |= SIM_SCGC6_TPM0_MASK\r
+ | SIM_SCGC6_TPM1_MASK\r
+ | SIM_SCGC6_TPM2_MASK\r
+ | SIM_SCGC6_DAC0_MASK\r
+ | SIM_SCGC6_ADC0_MASK\r
+ | SIM_SCGC6_PIT_MASK\r
+ | SIM_SCGC6_DMAMUX_MASK\r
+ | SIM_SCGC6_RTC_MASK;\r
+\r
+ sim->SOPT2 |= SIM_SOPT2_TPMSRC(1);\r
+\r
+ sim->SOPT4 = SIM_SOPT4_TPM1CLKSEL_MASK\r
+ | SIM_SOPT4_TPM1CH0SRC(3);\r
+\r
+ printf("SOPT2:%08lx SCGC5:%08lx SCGC6:%08lx\r\n",\r
+ sim->SOPT2, sim->SCGC5, sim->SCGC6);\r
+ //SOPT2:05010000 SCGC5:00003f83 SCGC6:07800001\r
+\r
+ //sim->SOPT7 |= SIM_SOPT7_ADC0TRGSEL(TMP_CONF_TRGSEL_EXTRG);\r
+\r
+ // Setup Port Control\r
+ PORT_Type *port = PORTC;\r
+\r
+ PORTE->PCR[25] = PORT_PCR_ISF_MASK\r
+ | PORT_PCR_IRQC(0x1)\r
+ | PORT_PCR_MUX(3) ;\r
+\r
+ port->PCR[0] = PORT_PCR_ISF_MASK\r
+ | PORT_PCR_IRQC(0x1)\r
+ | PORT_PCR_MUX(3)\r
+ | PORT_PCR_PE_MASK;\r
+\r
+ // Setup Timer/PWM Module\r
+ volatile TPM_Type *tpm = TPM1;\r
+\r
+ tpm->SC = TPM_SC_PS(0x7)\r
+ | TPM_SC_TOF_MASK;\r
+\r
+ tpm->CNT = TPM_CNT_COUNT(0);\r
+\r
+ tpm->MOD = TPM_CNT_COUNT(0xFFFF);\r
+\r
+ tpm->CONTROLS[1].CnV = 0x1234;\r
+ tpm->CONTROLS[1].CnSC = TPM_CnSC_CHF_MASK\r
+ | TPM_CnSC_CHIE_MASK\r
+ | TPM_CnSC_ELSA_MASK;\r
+\r
+ //tpm->CONTROLS[0].CnSC = TPM_CnSC_CHF_MASK\r
+ // | TPM_CnSC_CHIE_MASK\r
+ // | TPM_CnSC_MSB_MASK\r
+ // | TPM_CnSC_MSA_MASK\r
+ // | TPM_CnSC_ELSB_MASK\r
+ // | TPM_CnSC_ELSA_MASK;\r
+\r
+ tpm->STATUS = TPM_STATUS_CH0F_MASK\r
+ | TPM_STATUS_CH1F_MASK\r
+ | TPM_STATUS_CH2F_MASK\r
+ | TPM_STATUS_CH3F_MASK\r
+ | TPM_STATUS_CH4F_MASK\r
+ | TPM_STATUS_CH5F_MASK\r
+ | TPM_STATUS_TOF_MASK;\r
+\r
+ tpm->CONF = TPM_CONF_TRGSEL(TMP_CONF_TRGSEL_EXTRG)\r
+ | TPM_CONF_CSOO_MASK\r
+ | TPM_CONF_CSOT_MASK\r
+ | TPM_CONF_GTBEEN_MASK\r
+ | TPM_CONF_DBGMODE_MASK;\r
+\r
+ tpm->SC = TPM_SC_CMOD(1)\r
+ | TPM_SC_PS(0x7)\r
+ | TPM_SC_TOF_MASK;\r
+\r
+ printf("test - %02lx %08lx\r\n", tpm->CONTROLS[1].CnSC, tpm->CONTROLS[1].CnV); wait(0.1);\r
+}\r
+\r
+void test_tpm_run(void)\r
+{\r
+ //static DigitalIn pin(PTC0);\r
+ //static DigitalIn pin(PTC2);\r
+ //static int pin = 0;\r
+\r
+ printf("PTC0:%08lx GPCR:%08lx:%08lx - SC:%04lx CNT:%04lx MOD:%04lx STATUS:%04lx CONF:%08lx - CnSC:%02lx CnV:%04lx\r\n",\r
+ PORTC->PCR[0], PORTC->GPCHR, PORTC->GPCLR,\r
+ TPM1->SC, TPM1->CNT, TPM1->MOD, TPM1->STATUS, TPM1->CONF,\r
+ TPM1->CONTROLS[1].CnSC, TPM1->CONTROLS[1].CnV);\r
+ TPM1->SC |= TPM_STATUS_TOF_MASK;\r
+ TPM1->STATUS |= TPM_STATUS_TOF_MASK;\r
+}\r
+\r
+void test_pit_init(void)\r
+{\r
+ //printf("test_pit_init\r\n");\r
+\r
+ // Enable\r
+ SIM->SCGC6 |= SIM_SCGC6_PIT_MASK;\r
+ PIT->MCR = 0;\r
+\r
+ // Channel 0\r
+ PIT->CHANNEL[0].LDVAL = 0xFFFFFFFF;\r
+ PIT->CHANNEL[0].TCTRL = 0;\r
+\r
+ // Channel 1\r
+ PIT->CHANNEL[1].LDVAL = 0xFFFFFFFF;\r
+ PIT->CHANNEL[1].TCTRL = PIT_TCTRL_CHN_MASK;\r
+\r
+ // Start timers\r
+ PIT->CHANNEL[0].TCTRL |= PIT_TCTRL_TEN_MASK;\r
+ PIT->CHANNEL[1].TCTRL |= PIT_TCTRL_TEN_MASK;\r
+\r
+}\r
+\r
+void test_pit_run(void)\r
+{\r
+ register volatile uint32_t *tmh asm("r4") = &PIT->LTMR64H;\r
+ register volatile uint32_t *tml asm("r5") = &PIT->LTMR64L;\r
+\r
+ register uint32_t hi0 asm("r0"), lo0 asm("r1");\r
+ register uint32_t hi1 asm("r2"), lo1 asm("r3");\r
+\r
+ asm("ldr %0, [%4]\n\t" // Two clocks per load\r
+ "ldr %1, [%5]\n\t"\r
+ "ldr %2, [%4]\n\t"\r
+ "ldr %3, [%5]\n\t"\r
+ : "=r"(hi0), "=r"(lo0), "=r"(hi1), "=r"(lo1)\r
+ : "r"(tmh), "r"(tml));\r
+\r
+ uint64_t tm0 = ~((uint64_t)hi0 << 32 | lo0);\r
+ uint64_t tm1 = ~((uint64_t)hi1 << 32 | lo1);\r
+ double bus = 24E6; // 24 MHz bus clock\r
+\r
+ printf(" - pit");\r
+ printf(" %08lx:%08lx", (uint32_t)(tm0>>32), (uint32_t)tm0);\r
+ printf(" %08lx:%08lx", (uint32_t)(tm1>>32), (uint32_t)tm1);\r
+ printf(" %08lx", (uint32_t)(tm1-tm0));\r
+ printf(" %f", (double)tm0 / bus);\r
+}\r
+\r
+void test_sdma_init(void)\r
+{\r
+ sdma0 = sdma_open(SDMA_UART0, SDMA_CHANNEL0, SDMA_CHANNEL1);\r
+ sdma1 = sdma_open(SDMA_UART1, SDMA_CHANNEL0, SDMA_CHANNEL1);\r
+ sdma2 = sdma_open(SDMA_UART2, SDMA_CHANNEL2, SDMA_CHANNEL3);\r
+\r
+ sdma_pinmap(sdma1, PTE0, PTE1);\r
+ sdma_pinmap(sdma2, PTD3, PTD2);\r
+}\r
+\r
+void test_sdma_run(void)\r
+{\r
+ char xmt[32] = "hello, world";\r
+ char rcv[32] = {};\r
+\r
+ uint64_t tm1, tm2;\r
+\r
+ sdma_write(sdma1, xmt, strlen(xmt));\r
+ sdma_flush(sdma1, &tm1);\r
+\r
+ sdma_read(sdma2, rcv, strlen(xmt));\r
+ sdma_wait(sdma2, &tm2);\r
+\r
+ printf("send: [%s] -> [%s] ", xmt, rcv);\r
+ printf("time: %08lx / %08lx ", (uint32_t)tm1, (uint32_t)tm2);\r
+ printf("tag: dir:%08lx in:%08lx\r\n",\r
+ FPTD->PDDR, FPTD->PDIR);\r
+\r
+ (void)xmt; (void)rcv;\r
+ (void)tm1; (void)tm2;\r
+}\r
+\r
+void test_tdma_init(void)\r
+{\r
+ tdma_init();\r
+\r
+ tdma0 = tdma_open(TDMA_CHAN0, PTA1, PullNone);\r
+ tdma1 = tdma_open(TDMA_CHAN1, PTC1, PullNone);\r
+ tdma2 = tdma_open(TDMA_CHAN2, PTD3, PullUp);\r
+ tdma3 = tdma_open(TDMA_CHAN3, PTD2, PullUp);\r
+}\r
+\r
+void test_tdma_run(void)\r
+{\r
+ static uint32_t time0[2];\r
+ static uint32_t time1[2];\r
+ static uint32_t time2[2];\r
+ static uint32_t time3[2];\r
+\r
+ tdma_stamp(tdma0, (uint64_t*)&time0);\r
+ tdma_stamp(tdma1, (uint64_t*)&time1);\r
+ tdma_stamp(tdma2, (uint64_t*)&time2);\r
+ tdma_stamp(tdma3, (uint64_t*)&time3);\r
+\r
+ tdma_reset(tdma0);\r
+ tdma_reset(tdma1);\r
+ tdma_reset(tdma2);\r
+ tdma_reset(tdma3);\r
+\r
+ printf(" - timer:");\r
+ printf(" %08lx:%08lx", time0[1], time0[0]);\r
+ printf(" %08lx:%08lx", time1[1], time1[0]);\r
+ printf(" %08lx:%08lx", time2[1], time2[0]);\r
+ printf(" %08lx:%08lx", time3[1], time3[0]);\r
+ //printf(" do:%08lx", FPTD->PDOR);\r
+ //printf(" di:%08lx", FPTD->PDIR);\r
+ //printf(" dd:%08lx", FPTD->PDDR);\r
+}\r
+\r
+void test_leds(void)\r
+{\r
+ led1 = 1; led2 = 0; wait(0.1);\r
+ led1 = 0; led2 = 1; wait(0.1);\r
+}\r
+\r
int main(int argc, char **argv)\r
{\r
- while (1) {\r
- led1 = 1; led2 = 0; wait(0.1);\r
- led1 = 0; led2 = 1; wait(0.1);\r
- }\r
+ uart0.baud(115200);\r
+ uart1.baud(115200);\r
+ uart2.baud(115200);\r
+\r
+ printf("init\r\n");\r
+ //test_tpm_init();\r
+ //test_pit_init();\r
+ //test_sdma_init();\r
+ test_tdma_init();\r
+\r
+ printf("run\r\n");\r
+ for (int i = 0; true; i++) {\r
+ printf("%8d", i);\r
+ //test_leds();\r
+ //test_tpm_run();\r
+ //test_pit_run();\r
+ //test_sdma_run();\r
+ test_tdma_run();\r
+ printf("\r\n");\r
+ }\r
}\r
projects / ~andy / csm213a-hw / blobdiff