return time_last_world + elapsed;
}
+uint64_t time_to_local(uint64_t world)
+{
+ uint64_t elapsed = world - time_last_world;
+ return time_last_local + elapsed;
+}
+
/**
* Synchronize the timer internal state with updates
* from an external time sync message.
* Signal generation *
*********************/
-#define EMIT_CLOCKS(nsec) ((uint16_t)((nsec) * 24 / 1000))
-#define EMIT_NSEC(clocks) ((uint16_t)((clocks) * 1000 / 24))
+// for 50 Mhz clock 50/1000 = 1/20 (PLL/2)
+
+// for 48 Mhz clock 48/1000 = 6/125 (FLL)
+// for 24 Mhz clock, 24/1000 = 3/125
+// for 12 Mhz clock, 12/1000 = 3/250
+// for 6 Mhz clock, 6/1000 = 3/500
+// for 3 Mhz clock, 3/1000 = 3/1000
+
+#define EMIT_PS 1
+
+//#if EMIT_PS == 0
+//#define EMIT_CLOCKS(nsec) ((uint16_t)((nsec) / 20))
+//#define EMIT_NSEC(clocks) ((uint16_t)((clocks) * 20))
+
+#if EMIT_PS == 0
+#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 6 / 125))
+#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 125 / 6))
+#elif EMIT_PS == 1
+#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 125))
+#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 125 / 3))
+#elif EMIT_PS == 2
+#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 250))
+#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 250 / 3))
+#elif EMIT_PS == 3
+#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 500))
+#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 500 / 3))
+#elif EMIT_PS == 4
+#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 1000))
+#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 1000 / 3))
+#endif
static uint32_t *emit_pcr = 0; // transmit pin name
SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
+ // Reset PLL Source
+ //SIM->SOPT2 &= ~SIM_SOPT2_PLLFLLSEL_MASK;
+
+ // Debug print on SOPT2
+ // -- mbed may set PLLFLL when configuring UART0
+ // SOPT2: u0src=1 tpmsrc=1 USBSRC PLL/2 clkos=0 rtcos
+ sirq_printf("SOPT2: u0src=%d tpmsrc=%d %s %s clkos=%d %s\r\n",
+ (SIM->SOPT2 & SIM_SOPT2_UART0SRC_MASK) >> SIM_SOPT2_UART0SRC_SHIFT,
+ (SIM->SOPT2 & SIM_SOPT2_TPMSRC_MASK) >> SIM_SOPT2_TPMSRC_SHIFT,
+ (SIM->SOPT2 & SIM_SOPT2_UART0SRC_MASK) ? "USBSRC" : "usbsrc",
+ (SIM->SOPT2 & SIM_SOPT2_PLLFLLSEL_MASK) ? "PLL/2" : "FLL",
+ (SIM->SOPT2 & SIM_SOPT2_CLKOUTSEL_MASK) >> SIM_SOPT2_CLKOUTSEL_SHIFT,
+ (SIM->SOPT2 & SIM_SOPT2_RTCCLKOUTSEL_MASK) ? "RTCOS" : "rtcos");
+
// Set pin mode
emit_pcr[0] = PORT_PCR_ISF_MASK
| PORT_PCR_MUX(alt)
void emit_enable(uint64_t start, uint64_t period)
{
- const int slack_clocks = 0x8000; // tune based on emit_worst
+ const int slack_clocks = 0x4000; // tune based on emit_worst
emit_start = start;
emit_period = period;
emit_due = start + period;
- // TODO - tune slack time
- // TODO - check clock power
- // TODO - TPM clock source
emit_slack = EMIT_NSEC(slack_clocks);
time_printf("emit scheduled", emit_due);
void emit_schedule(uint64_t when)
{
- uint64_t now = time_to_world(tdma_time());
- uint64_t start = when - now; // transmit time
- uint64_t stop = start + 100000; // 100 us pulse
+ uint64_t local = time_to_local(when) * 3 / 125;
+ uint32_t width = EMIT_CLOCKS(10000);
// Disable timer
TPM1->SC = TPM_SC_TOF_MASK;
+ __disable_irq();
+
+ uint64_t now = ((uint64_t)~PIT->LTMR64H << 32)
+ | ((uint64_t)~PIT->LTMR64L);
+ uint32_t delta = local - now;
+ uint32_t start = delta >> (EMIT_PS-1); // convert to clocks
+ uint32_t stop = start + width; // end time
+
// Set transmit time
- TPM1->CONTROLS[0].CnV = EMIT_CLOCKS(start);
- TPM1->MOD = TPM_MOD_MOD(EMIT_CLOCKS(stop));
+ TPM1->CONTROLS[0].CnV = start;
+ TPM1->MOD = TPM_MOD_MOD(stop);
// Start the timer
TPM1->SC = TPM_SC_TOF_MASK
- | TPM_SC_PS(1)
+ | TPM_SC_PS(EMIT_PS)
| TPM_SC_CMOD(1);
+ __enable_irq();
+
+ // Test
+ //int64_t cnv = TPM1->CONTROLS[0].CnV;
+ //int64_t mod = TPM1->MOD;
+ //int64_t due = local - tdma_time();
+ //sirq_printf("%6d -- cnv=%04x mod=%04x due=%04x start=%04x\r\n",
+ // (int)(cnv - EMIT_CLOCKS(due)),
+ // (int)cnv, (int)mod,
+ // (int)EMIT_CLOCKS(due), EMIT_CLOCKS(start));
+
+ // Clock testing
+ //uint32_t test_tpm0 = TPM1->CNT;
+ //uint32_t test_pit0 = ~PIT->CHANNEL[0].CVAL;
+ //for (int i = 0; i < 100; i++)
+ // asm("nop");
+ //uint32_t test_tpm1 = TPM1->CNT;
+ //uint32_t test_pit1 = ~PIT->CHANNEL[0].CVAL;
+
+ //uint32_t test_tpm = test_tpm1 - test_tpm0;
+ //uint32_t test_pit = test_pit1 - test_pit0;
+ //sirq_printf("pit/tpm: %d - tpm=%08x/%08x=%d pit=%08x/%08x=%d\r\n",
+ // test_tpm - test_pit,
+ // test_tpm0, test_tpm1, test_tpm,
+ // test_pit0, test_pit1, test_pit);
+
// Debug output
- //sirq_printf("emitting event\r\n");
+ //time_printf("emitting event", when);
}
void emit_transmit(uint64_t local, uint64_t world)
* Serial I/O functions *
************************/
-typedef struct {
- int index;
- int state;
- uint8_t buffer[256];
-} parser_t;
-
static uint32_t serial_device_id = 0;
const uint64_t serial_sync_delay = NSEC_PER_SEC / 100;
*/
void serial_send_event(sirq_t *port, 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);
/**
* Handle init message
*/
-void serial_handle_init(init_msg_t *msg)
+void serial_handle_init(int msgid, init_msg_t *msg)
{
sirq_printf("initialize: %s %s %s %s %s\r\n",
msg->valid & MSG_VALID_DEVICE ? "DEV" : "dev",
/**
* Handle sync message
*/
-void serial_handle_sync(sync_msg_t *msg)
+void serial_handle_sync(int msgid, sync_msg_t *msg)
{
// Read receive timestamp
uint64_t local = 0, world = 0;
/**
* Handle event message
*/
-void serial_handle_event(event_msg_t *msg)
+void serial_handle_event(int msgid, event_msg_t *msg)
{
}
-/**
- * Deliver message
- */
-void serial_deliver(int msgid, void *body)
-{
- switch (msgid) {
- case MSG_ID_INIT:
- //sirq_printf("received init msg\r\n");
- serial_handle_init((init_msg_t*)body);
- break;
- 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_MAX_ID) {
- 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 *
********************/
{
while (sirq_ready(sirq_dbg)) {
//sirq_printf("serial recv - dbg\r\n");
- serial_receive(&parser_dbg, sirq_getc(sirq_dbg));
+ msg_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));
+ msg_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));
+ msg_receive(&parser_mbed, sirq_getc(sirq_mbed));
}
}
int main(int argc, char **argv)
{
tdma_init();
- emit_init(3, PTE20, PullDown);
-
- //pin = 1;
// Open serial ports
sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc
// 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
+ // Register messages
+ msg_register(&parser_dbg, MSG_ID_INIT, (handler_t)serial_handle_init);
+ msg_register(&parser_dbg, MSG_ID_SYNC, (handler_t)serial_handle_sync);
+ msg_register(&parser_dbg, MSG_ID_EVENT, (handler_t)serial_handle_event);
+ msg_register(&parser_bbb, MSG_ID_INIT, (handler_t)serial_handle_init);
+ msg_register(&parser_mbed, MSG_ID_SYNC, (handler_t)serial_handle_sync);
// start timers
tdma_start(tdma_evt);
serial_tdma_rcv = tdma_rcv;
serial_tdma_xmt = tdma_xmt;
- // Test clocks
- //MCG->C1 = 0x05; // was 0x1A
- //MCG->C2 = 0x2C; // was 0x24
- //MCG->C3 = 0x91; // was 0x91
- //MCG->C4 = 0x10; // was 0x10
- //MCG->C5 = 0x01; // was 0x01
- //MCG->C6 = 0x40; // was 0x40
- //MCG->S = 0x6E; // was 0x6E
- //MCG->SC = 0x02; // was 0x02
- //MCG->ATCVH = 0x00; // was 0x00
- //MCG->ATCVL = 0x00; // was 0x00
- //MCG->C7 = 0x00; // was 0x00
- //MCG->C8 = 0x80; // was 0x80
- //MCG->C9 = 0x00; // was 0x00
- //MCG->C10 = 0x00; // was 0x00
-
- //sirq_printf("MGC - C1 %02hx\r\n", MCG->C1); // 1A
- //sirq_printf("MGC - C2 %02hx\r\n", MCG->C2); // 24
- //sirq_printf("MGC - C3 %02hx\r\n", MCG->C3); // 91
- //sirq_printf("MGC - C4 %02hx\r\n", MCG->C4); // 10
- //sirq_printf("MGC - C5 %02hx\r\n", MCG->C5); // 01
- //sirq_printf("MGC - C6 %02hx\r\n", MCG->C6); // 40
- //sirq_printf("MGC - S %02hx\r\n", MCG->S); // 6E
- //sirq_printf("MGC - SC %02hx\r\n", MCG->SC); // 02
- //sirq_printf("MGC - ATCVH %02hx\r\n", MCG->ATCVH); // 00
- //sirq_printf("MGC - ATCVL %02hx\r\n", MCG->ATCVL); // 00
- //sirq_printf("MGC - C7 %02hx\r\n", MCG->C7); // 00
- //sirq_printf("MGC - C8 %02hx\r\n", MCG->C8); // 80
- //sirq_printf("MGC - C9 %02hx\r\n", MCG->C9); // 00
- //sirq_printf("MGC - C10 %02hx\r\n", MCG->C10); // 00
+ // Setup event generation
+ emit_init(3, PTE20, PullDown);
// Run background loop
while (true)
background();
- // Performance testing
- //uint64_t prev = 0, due = 0;
- //uint64_t worst[10] = {};
- //int count = 0;
- //while (true) {
- // uint64_t local = tdma_time();
- // if (prev && (local-prev) > worst[count])
- // worst[count] = (local-prev);
- // prev = local;
- // if (local > due) {
- // if (count == 5) {
- // static char str[] = "background background background\r\n";
- // sirq_write(sirq_dbg, str, sizeof(str));
- // }
- // if (count == 9) {
- // sirq_printf("background\r\n");
- // for (int i = 0; i < 10; i++) {
- // sirq_printf(" worst[%d] = 0.%09u\r\n",
- // i, worst[i]);
- // worst[i] = 0;
- // }
- // }
- // due += NSEC_PER_SEC;
- // count = (count + 1) % 10;
- // }
- //}
-
// Run tests
//test_main();
projects / ~andy / csm213a-hw / blobdiff