-#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
- 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
+#include "messages.h"
+
+#include "mbed.h"
+#include "serial_irq.h"
+#include "serial_dma.h"
+#include "timer_dma.h"
+
+/**
+ * Mode of operation:
+ * Devices 1 and 2 synchronize clocks using serial messages.
+ *
+ * 1. Each serial message timestamped using the hardware timer capture
+ * registers in both the sender and receiver.
+ * 2. The sender transmits the send timestamp during the next time-sync
+ * message.
+ * 3. The receiver then compares the senders timestamp with it's own
+ * timestamp for the corresponding messages and calculates an offset.
+ * 4. The offset is used to compensate the receivers local clock.
+ *
+ * Time synchronization is performed in both directions.
+ */
+
+/*******************
+ * Timer functions *
+ *******************/
+
+#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);
+ uint64_t error = world > guess ? world - guess :
+ guess > world ? guess - world : 0;
+ int ahead = guess > world;
+
+ time_last_local = local;
+ time_last_world = guess/2 + world/2;
+
+ world = time_last_world;
+
+ sirq_printf("syncing clocks: %d=%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));
+}
+
+/************************
+ * Serial I/O functions *
+ ************************/
+
+typedef struct {
+ int index;
+ int state;
+ uint8_t buffer[256];
+} parser_t;
+
+const uint64_t serial_sync_delay = NSEC_PER_SEC / 10; // 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;
+
+/**
+ * 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
+
+ // Calculate world time
+ 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;
+
+ sirq_write(port, &head, sizeof(head));
+ sirq_write(port, &body, sizeof(body));
+
+ serial_xmt_seq += 1;
+ serial_sync_due = 0;
+
+ // Debug
+ //sirq_printf("sync msg transmit\r\n");
+
+ // save transmit time
+ for (int i = 0; i < 1000; i++)
+ asm("nop");
+ int valid = tdma_stamp(serial_tdma_xmt, &serial_xmt_local);
+ if (!valid)
+ sirq_printf("missing sync transmit time\r\n");
+ tdma_reset(serial_tdma_rcv);
+ tdma_reset(serial_tdma_xmt);
+}
+
+/**
+ * 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)
+{
+ 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);
+
+ sirq_printf("event received - %08x:%08x - %u.%09u\r\n",
+ (uint32_t)(local >> 32), (uint32_t)local,
+ time.seconds, time.nanosec);
+ // todo
+}
+
+/**
+ * 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("missing sync receive time\r\n");
+ tdma_reset(serial_tdma_rcv);
+ tdma_reset(serial_tdma_xmt);
+
+ // Lookup times
+ uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC
+ + ((uint64_t)msg->time.nanosec);
+
+ // Initialize
+ if (msg->seq == 0) {
+ uint64_t local = tdma_time();
+ time_ext_init(local, world);
+ }
+
+ // 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_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_MAXID) {
+ 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;
+ }
+}
+
+/********************
+ * Data definitions *
+ ********************/
+
+// LEDs
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+// Message Parsers
+parser_t parser_dbg;
+parser_t parser_bbb;
+parser_t parser_mbed;
+
+// Serial IRQ
+sirq_t *sirq_dbg;
+sirq_t *sirq_bbb;
+sirq_t *sirq_mbed;
+
+// Timer DMA
+tdma_t *tdma_evt;
+tdma_t *tdma_rcv;
+tdma_t *tdma_xmt;
+
+/*********
+ * Tasks *
+ *********/
+
+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));
+ }
+
+ while (sirq_ready(sirq_bbb)) {
+ //sirq_printf("serial recv - bbb\r\n");
+ serial_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));
+ }
+}
+
+void task_events(uint64_t local, uint64_t world)
+{
+ uint64_t event = 0;
+
+#ifdef VERBOSE
+ if (tdma_stamp(tdma_evt, &event)) {
+ sirq_printf("event received - evt\r\n");
+ if (tdma_stamp(tdma_rcv, &event))
+ sirq_printf("event received - rcv\r\n");
+ if (tdma_stamp(tdma_xmt, &event))
+ sirq_printf("event received - xmt\r\n");
+#endif
+
+ if (tdma_stamp(tdma_evt, &event))
+ serial_send_event(0, event);
+ tdma_reset(tdma_evt);
+}
+
+void task_sync(uint64_t local, uint64_t world)
+{
+ serial_send_sync(sirq_mbed, local);
+}
+
+void task_leds(uint64_t local, uint64_t world)
+{
+ static uint32_t which = 0;
+ led1 = (which == 0);
+ led2 = (which == 1);
+ which ^= 1;
+}
+
+void task_debug(uint64_t local, uint64_t world)
+{
+ //tdma_debug(tdma_rcv);
+#ifdef VERBOSE
+ sirq_printf("background - %6u.%02u -> %u.%02u\r\n",
+ (uint32_t)(local / NSEC_PER_SEC),
+ (uint32_t)(local % NSEC_PER_SEC / 10000000),
+ (uint32_t)(world / NSEC_PER_SEC),
+ (uint32_t)(world % NSEC_PER_SEC / 10000000));
+#endif
+}
+
+/********
+ * 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, 1000000000 }, // always
+ { task_sync, 0 }, // always
+ { task_leds, 100000000 }, // 10hz
+ { task_debug, 1000000000 }, // 1hz
+};
+
+void background(void)
+{
+ // Debugging
+ uint64_t local = tdma_time();
+ uint64_t world = time_to_world(local);
+
+ // Run the scheduler
+ for (unsigned i = 0; i < N_ELEM(tasks); i++) {
+ if (local >= tasks[i].due) {
+ tasks[i].task(local, world);
+ tasks[i].due += tasks[i].period;
+ }
+ }
+}
+
+int main(int argc, char **argv)
+{
+ tdma_init();
+
+ // 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
+
+
+ // 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
+
+ // Serial timestamping
+ serial_tdma_rcv = tdma_rcv;
+ serial_tdma_xmt = tdma_xmt;
+
+ // Run background loop
+ printf("hello");
+ while (true)
+ background();
+
+ // Run tests
+ //test_main();
+
+ return 0;
+}
projects / ~andy / csm213a-hw / blobdiff