* Time synchronization is performed in both directions.
*/
-/****************
- * Testing vars *
- ****************/
-
-uint32_t test_xmt_enab = 0;
-uint64_t test_xmt_time0 = 0;
-uint64_t test_xmt_time1 = 0;
-
-uint32_t test_rcv_enab = 0;
-uint64_t test_rcv_time = 0;
-
/*******************
* Timer functions *
*******************/
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
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)
+uint64_t time_to_local(uint64_t world)
{
- // todo
+ uint64_t elapsed = world - time_last_world;
+ return time_last_local + elapsed;
}
/**
(uint32_t)(error % (int64_t)NSEC_PER_SEC));
#endif
//#endif
-
- // .000000284
- // .000000253
- // .000000264
- // .000000451
- // .000000284
- // .000000267
- // .000000223
- // .000000326
-
}
void time_printf(const char *label, uint64_t local)
* Signal generation *
*********************/
+// 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
-static uint64_t emit_start = 0; // transmit start time
+static uint64_t emit_start = 0; // transmit start time (world time)
static uint64_t emit_period = 0; // transmit period
-static uint64_t emit_due = 0; // next transmit time
+static uint64_t emit_due = 0; // next transmit (world time)
-static uint32_t emit_slack = 0; // how far ahead we need to schedule
+static uint32_t emit_slack = 0; // how far ahead we need to schedule, in us
static uint32_t emit_worst = 0; // worst-case latency in task table
void emit_init(int alt, PinName pin, PinMode mode)
emit_pcr = (uint32_t*)(PORTA_BASE + pin);
// Enable clocks
- SIM->SCGC6 |= SIM_SCGC6_TPM0_MASK;
-
+ SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
- SIM->SOPT4 |= SIM_SOPT4_TPM1CLKSEL_MASK;
+
+ // 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
| mode;
// Setup Timer/PWM Module
- TPM0->SC = TPM_SC_TOF_MASK
- | TPM_SC_PS(1); // 24 MHz clock ?
- TPM0->CNT = TPM_CNT_COUNT(0);
- TPM0->MOD = TPM_MOD_MOD(0xFFFF);
-
- TPM0->CONTROLS[0].CnSC = TPM_CnSC_CHF_MASK // clear flag
- | TPM_CnSC_MSB_MASK // pulse output on match
- | TPM_CnSC_MSA_MASK // ..
- | TPM_CnSC_ELSA_MASK; // pulse high
+ TPM1->SC = TPM_SC_TOF_MASK;
+ TPM1->CNT = TPM_CNT_COUNT(0);
+ TPM1->MOD = TPM_MOD_MOD(0xFFFF);
- TPM0->CONTROLS[0].CnV = 0xFFFF; // time delay
+ TPM1->CONTROLS[0].CnSC = TPM_CnSC_CHF_MASK // clear flag
+ | TPM_CnSC_MSB_MASK // set output highon match,
+ | TPM_CnSC_ELSB_MASK // cleared on overflow
+ | TPM_CnSC_ELSA_MASK; // ..
- TPM0->STATUS = TPM_STATUS_CH0F_MASK
+ TPM1->STATUS = TPM_STATUS_CH0F_MASK
| TPM_STATUS_TOF_MASK;
- TPM0->CONF = TPM_CONF_CSOO_MASK;
+ TPM1->CONF = TPM_CONF_CSOO_MASK;
}
void emit_enable(uint64_t start, uint64_t period)
{
+ const int slack_clocks = 0x4000; // tune based on emit_worst
+
emit_start = start;
emit_period = period;
emit_due = start + period;
- emit_slack = 10000; // tune based on emit_worst
+ emit_slack = EMIT_NSEC(slack_clocks);
- time_printf("scheuled emit - ", emit_due);
+ time_printf("emit scheduled", emit_due);
}
void emit_schedule(uint64_t when)
{
- uint64_t now = tdma_time();
- uint16_t delay = (uint16_t)(when-now);
-
- // Clear pending flags
- //emit_pcr[0] |= PORT_PCR_ISF_MASK
+ uint64_t local = time_to_local(when) * 3 / 125;
+ uint32_t width = EMIT_CLOCKS(10000);
// Disable timer
- TPM0->SC = TPM_SC_TOF_MASK;
+ 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
- TPM0->CNT = TPM_CNT_COUNT(0);
- TPM0->CONTROLS[0].CnV = delay;
+ TPM1->CONTROLS[0].CnV = start;
+ TPM1->MOD = TPM_MOD_MOD(stop);
// Start the timer
- TPM0->SC = TPM_SC_TOF_MASK
+ TPM1->SC = TPM_SC_TOF_MASK
+ | 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
+ //time_printf("emitting event", when);
}
-void emit_transmit(void)
+void emit_transmit(uint64_t local, uint64_t world)
{
- static uint64_t prev;
-
- // Get a fresh timestamp
- uint64_t world = tdma_time();
+ static uint64_t prev = 0;
// Record how how much time we have to reschedule
- if (prev && world - prev > emit_worst)
- emit_worst = prev;
+ if (prev && (local-prev) > emit_worst)
+ emit_worst = (local-prev);
+ prev = local;
// Schedule task if needed
- if (world+emit_slack > emit_due)
+ if (emit_due && emit_period &&
+ world+emit_slack > emit_due) {
emit_schedule(emit_due);
+ emit_due += emit_period;
+ }
}
/************************
static uint32_t serial_device_id = 0;
-const uint64_t serial_sync_delay = NSEC_PER_SEC / 100; // 1hz
+const uint64_t serial_sync_delay = NSEC_PER_SEC / 100;
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;
-
/**
* Convert world to local time
*/
return buf;
}
+int serial_time_stamp(tdma_t *port, uint64_t *local, uint64_t *world,
+ const char *msg)
+{
+ int valid = tdma_stamp(port, local);
+ *world = time_to_world(*local);
+
+ if (!valid)
+ sirq_printf("%s -- missing\r\n", msg);
+ //else
+ // time_printf(msg, current);
+
+ return valid;
+}
+
/**
* Output initialization message init message
*/
if (serial_sync_due == 0 || now < serial_sync_due)
return; // not ready
- //sirq_printf("sending sync\r\n");
-
- // Calculate world time
- uint64_t local = 0;
- uint64_t world = time_to_world(serial_xmt_local);
-
// Message data
header_t head;
sync_msg_t body;
- // Transmit sync message
+ // Write header
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;
-
- tdma_stop(serial_tdma_rcv);
-
- test_xmt_enab = 1;
- test_xmt_time0 = 0;
- test_xmt_time1 = 0;
-
+ tdma_stop(serial_tdma_rcv, 0);
tdma_start(serial_tdma_xmt);
+
sirq_write(port, &head, sizeof(head));
- sirq_write(port, &body, sizeof(body));
- tdma_stop(serial_tdma_xmt);
-
- // save transmit time
- //local = test_xmt_time1;
- int valid = tdma_stamp(serial_tdma_xmt, &local);
- if (!valid) {
- sirq_printf("sync transmit time -- missed\r\n");
- } else {
- //time_printf("sync transmit time ", local);
- //time_printf("sync transmit test0", test_xmt_time0);
- //time_printf("sync transmit test1", test_xmt_time1);
- }
+ tdma_stop(serial_tdma_xmt, 100);
tdma_start(serial_tdma_rcv);
- serial_xmt_seq += 1;
+ // Save transmit time
+ uint64_t local = 0, world = 0;
+ serial_time_stamp(serial_tdma_xmt, &local, &world,
+ "sync time transmit");
+
+ // Debug output
+ //sirq_printf("sync time transmit\r\n");
+ //time_printf(" local", local);
+ //time_printf(" world", world);
+
+ // Write body with updated time and send
+ body.time = serial_write_time(world);
+
+ sirq_write(port, &body, sizeof(body));
+
+ // Queue next transmit time
serial_sync_due = 0;
- serial_xmt_local = local;
}
/**
* event: id of the received event
* time: compensated timestamp of the event
*/
-void serial_send_event(uint16_t event, uint64_t local)
+void serial_send_event(sirq_t *port, uint16_t event, uint64_t local)
{
-// uint64_t world = time_to_world(local);
-
- // Message data
-#if 0
- header_t head;
- event_msg_t body;
+ //time_printf("event received", local);
- ntime_t time = {};
- time.seconds = (uint32_t)(world / NSEC_PER_SEC);
- time.nanosec = (uint32_t)(world % NSEC_PER_SEC);
+ // Convert timestamp
+ uint64_t world = time_to_world(local);
+ ntime_t ltime = serial_write_time(local);
+ ntime_t wtime = serial_write_time(world);
- sirq_printf("event received - %08x:%08x - %u.%09u\r\n",
- (uint32_t)(local >> 32), (uint32_t)local,
- time.seconds, time.nanosec);
+ // Message data
+ header_t head = {};
+ event_msg_t body = {};
// Transmit sync message
head.header = MSG_HEADER;
- head.msgid = MSG_ID_SYNC;
+ head.msgid = MSG_ID_EVENT;
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;
-
- tdma_stop(serial_tdma_rcv);
+ body.device = serial_device_id;
+ body.event = event;
+ body.world = wtime;
+ body.local = ltime;
- test_xmt_enab = 1;
- test_xmt_time0 = 0;
- test_xmt_time1 = 0;
-
- tdma_start(serial_tdma_xmt);
+ // Transmit message to BBB
sirq_write(port, &head, sizeof(head));
sirq_write(port, &body, sizeof(body));
- tdma_stop(serial_tdma_xmt);
-#endif
}
/**
*/
void serial_handle_init(init_msg_t *msg)
{
+ sirq_printf("initialize: %s %s %s %s %s\r\n",
+ msg->valid & MSG_VALID_DEVICE ? "DEV" : "dev",
+ msg->valid & MSG_VALID_START ? "START" : "start",
+ msg->valid & MSG_VALID_PERIOD ? "PERIOD" : "period",
+ msg->valid & MSG_VALID_WORLD ? "WORLD" : "world",
+ msg->valid & MSG_VALID_SYNC ? "SYNC" : "sync");
+ sirq_printf(" dev -- %d\r\n", msg->device);
+ time_printf(" start ", serial_read_time(msg->start));
+ time_printf(" period", serial_read_time(msg->period));
+ time_printf(" world ", serial_read_time(msg->world));
+
if (msg->valid & MSG_VALID_DEVICE)
serial_device_id = msg->device;
- if ((msg->valid & MSG_VALID_START) ||
- (msg->valid & MSG_VALID_PERIOD)) {
+ if (msg->valid & MSG_VALID_START ||
+ msg->valid & MSG_VALID_PERIOD) {
uint64_t start = serial_read_time(msg->start);
uint64_t period = serial_read_time(msg->period);
emit_enable(start, period);
uint64_t local = tdma_time();
time_ext_init(local, world);
}
+
+ if (msg->valid & MSG_VALID_SYNC)
+ serial_sync_due = tdma_time() + serial_sync_delay;
}
/**
*/
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("sync receive time -- missing\r\n");
- //else
- // time_printf("sync receive time ", current);
- tdma_stop(serial_tdma_rcv);
+ // Read receive timestamp
+ uint64_t local = 0, world = 0;
+ serial_time_stamp(serial_tdma_rcv, &local, &world,
+ "sync time receive ");
+ tdma_stop(serial_tdma_rcv, 0);
- // Lookup times
- uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC
- + ((uint64_t)msg->time.nanosec);
+ // Lookup reference time from message
+ uint64_t reference = serial_read_time(msg->time);
- // Valid times timestamp
- if (serial_prev_seq == (msg->seq-1)) {
- uint64_t local = serial_prev_local;
- time_ext_sync(local, world);
- }
+ // Debug output
+ //sirq_printf("sync time receive\r\n");
+ //time_printf(" local", local);
+ //time_printf(" world", world);
+ //time_printf(" ref ", reference);
+
+ // Synchronize the clocks
+ time_ext_sync(local, reference);
// Queue transmit to other board
serial_sync_due = tdma_time() + serial_sync_delay;
-
- // Update states
- serial_prev_local = current;
- serial_prev_seq = msg->seq;
}
/**
#endif
if (tdma_stamp(tdma_evt, &event))
- serial_send_event(0, event);
- tdma_stop(tdma_evt);
+ serial_send_event(sirq_bbb, 0, event);
+ tdma_stop(tdma_evt, 0);
tdma_start(tdma_evt);
}
void task_emit(uint64_t local, uint64_t world)
{
- emit_transmit();
+ emit_transmit(local, world);
}
void task_debug(uint64_t local, uint64_t world)
//sirq_debug(sirq_mbed);
+ //serial_send_event(sirq_bbb, 1, local);
+
#ifdef VERBOSE
sirq_printf("background - %6u.%02u -> %u.%02u\r\n",
(uint32_t)(local / NSEC_PER_SEC),
uint64_t due;
} tasks[] = {
{ task_serial, 0 }, // always
- { task_events, 1000000000 }, // always -- testing
+ { task_events, 0 }, // always -- testing
{ task_sync, 0 }, // always
{ task_emit, 0 }, // always
{ task_leds, 100000000 }, // 10hz
{
tdma_init();
+ //pin = 1;
+
// 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, PullUp); // async event
+ 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
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
- printf("hello");
while (true)
background();
projects / ~andy / csm213a-hw / blobdiff