-#include "mbed.h"\r
-#include "serial_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
- * 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 D2** <<<\r
- * - - - - **D5 D4**\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
-/********\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("tick %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\r\n", (double)tm0 / bus);\r
-}\r
-\r
-void test_uart(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_leds(void)\r
-{\r
- led1 = 1; led2 = 0; wait(0.1);\r
- led1 = 0; led2 = 1; wait(0.1);\r
-}\r
-\r
-void test_irq(void)\r
-{\r
- printf("\r\nirq");\r
-}\r
-\r
-int main(int argc, char **argv)\r
-{\r
- uart0.baud(115200);\r
- uart1.baud(115200);\r
- uart2.baud(115200);\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
- //test_uart();\r
- //test_leds();\r
- test_pit_init();\r
- //test_tpm_init();\r
-\r
- while (1) {\r
- test_uart();\r
- //test_leds();\r
- //test_pit_run();\r
- //test_tpm_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:
+ * 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;
+}
+
+/**
+ * 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);
+
+ time_last_local = local;
+ time_last_world = (guess/2) + (world/2);
+ //time_last_world = (guess * 3 / 4) + (world * 1 / 4);
+ //time_last_world =
+ // (guess - ( guess / 2)) +
+ // (world - (world - world / 2));
+ //time_last_world =
+ // (guess - (guess - guess / 4)) +
+ // (world - ( world / 4));
+
+ world = time_last_world;
+
+//#ifdef VERBOSE
+#if 1
+ uint64_t error = world > guess ? world - guess :
+ guess > world ? guess - world : 0;
+ int ahead = guess > world;
+ sirq_printf("syncing clocks: %6d=%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));
+#endif
+//#endif
+}
+
+void time_printf(const char *label, uint64_t local)
+{
+ uint64_t world = time_to_world(local);
+ sirq_printf("%s -- %d.%09u -> %d.%09u\r\n",
+ label,
+ (int)(local / NSEC_PER_SEC),
+ (int)(local % NSEC_PER_SEC),
+ (int)(world / NSEC_PER_SEC),
+ (int)(world % NSEC_PER_SEC));
+}
+
+/*********************
+ * Signal generation *
+ *********************/
+
+#define EMIT_CLOCKS(nsec) ((uint16_t)((nsec) * 24 / 1000))
+#define EMIT_NSEC(clocks) ((uint16_t)((clocks) * 1000 / 24))
+
+static uint32_t *emit_pcr = 0; // transmit pin name
+
+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 (world time)
+
+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)
+{
+ // Find pin
+ emit_pcr = (uint32_t*)(PORTA_BASE + pin);
+
+ // Enable clocks
+ SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
+ SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
+
+ // Set pin mode
+ emit_pcr[0] = PORT_PCR_ISF_MASK
+ | PORT_PCR_MUX(alt)
+ | mode;
+
+ // Setup Timer/PWM Module
+ TPM1->SC = TPM_SC_TOF_MASK;
+ TPM1->CNT = TPM_CNT_COUNT(0);
+ TPM1->MOD = TPM_MOD_MOD(0xFFFF);
+
+ 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; // ..
+
+ TPM1->STATUS = TPM_STATUS_CH0F_MASK
+ | TPM_STATUS_TOF_MASK;
+
+ TPM1->CONF = TPM_CONF_CSOO_MASK;
+}
+
+void emit_enable(uint64_t start, uint64_t period)
+{
+ const int slack_clocks = 0x8000; // 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
+
+ // Disable timer
+ TPM1->SC = TPM_SC_TOF_MASK;
+
+ // Set transmit time
+ TPM1->CONTROLS[0].CnV = EMIT_CLOCKS(start);
+ TPM1->MOD = TPM_MOD_MOD(EMIT_CLOCKS(stop));
+
+ // Start the timer
+ TPM1->SC = TPM_SC_TOF_MASK
+ | TPM_SC_PS(1)
+ | TPM_SC_CMOD(1);
+
+ // Debug output
+ //sirq_printf("emitting event\r\n");
+}
+
+void emit_transmit(uint64_t local, uint64_t world)
+{
+ static uint64_t prev = 0;
+
+ // Record how how much time we have to reschedule
+ if (prev && (local-prev) > emit_worst)
+ emit_worst = (local-prev);
+ prev = local;
+
+ // Schedule task if needed
+ if (emit_due && emit_period &&
+ world+emit_slack > emit_due) {
+ emit_schedule(emit_due);
+ emit_due += emit_period;
+ }
+}
+
+/************************
+ * 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;
+static uint64_t serial_sync_due = 0;
+
+static tdma_t *serial_tdma_rcv = NULL;
+static tdma_t *serial_tdma_xmt = NULL;
+
+/**
+ * Convert world to local time
+ */
+uint64_t serial_read_time(ntime_t time)
+{
+ return ((uint64_t)time.seconds) * NSEC_PER_SEC
+ + ((uint64_t)time.nanosec);
+}
+
+ntime_t serial_write_time(uint64_t time)
+{
+ ntime_t buf = {};
+ buf.seconds = time / NSEC_PER_SEC;
+ buf.nanosec = time % NSEC_PER_SEC;
+ 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
+ */
+void serial_send_init(uint16_t device, uint64_t local)
+{
+}
+
+/**
+ * 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
+
+ // Message data
+ header_t head;
+ sync_msg_t body;
+
+ // Write header
+ head.header = MSG_HEADER;
+ head.msgid = MSG_ID_SYNC;
+ head.length = sizeof(body);
+ head.cksum = 0; // todo
+
+ tdma_stop(serial_tdma_rcv, 0);
+ tdma_start(serial_tdma_xmt);
+
+ sirq_write(port, &head, sizeof(head));
+
+ tdma_stop(serial_tdma_xmt, 100);
+ tdma_start(serial_tdma_rcv);
+
+ // 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;
+}
+
+/**
+ * Output external event received message
+ * event: id of the received event
+ * time: compensated timestamp of the event
+ */
+void serial_send_event(sirq_t *port, uint16_t event, uint64_t local)
+{
+ time_printf("event received", local);
+
+ // Convert timestamp
+ uint64_t world = time_to_world(local);
+ ntime_t ltime = serial_write_time(local);
+ ntime_t wtime = serial_write_time(world);
+
+ // Message data
+ header_t head = {};
+ event_msg_t body = {};
+
+ // Transmit sync message
+ head.header = MSG_HEADER;
+ head.msgid = MSG_ID_EVENT;
+ head.length = sizeof(body);
+ head.cksum = 0; // todo
+
+ body.device = serial_device_id;
+ body.event = event;
+ body.world = ltime;
+ body.local = wtime;
+
+ // Transmit message to BBB
+ sirq_write(port, &head, sizeof(head));
+ sirq_write(port, &body, sizeof(body));
+}
+
+/**
+ * Handle init message
+ */
+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) {
+ uint64_t start = serial_read_time(msg->start);
+ uint64_t period = serial_read_time(msg->period);
+ emit_enable(start, period);
+ }
+
+ if (msg->valid & MSG_VALID_WORLD) {
+ uint64_t world = serial_read_time(msg->world);
+ uint64_t local = tdma_time();
+ time_ext_init(local, world);
+ }
+
+ if (msg->valid & MSG_VALID_SYNC)
+ serial_sync_due = tdma_time() + serial_sync_delay;
+}
+
+/**
+ * Handle sync message
+ */
+void serial_handle_sync(sync_msg_t *msg)
+{
+ // 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 reference time from message
+ uint64_t reference = serial_read_time(msg->time);
+
+ // 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;
+}
+
+/**
+ * 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_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 *
+ ********************/
+
+// 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(sirq_bbb, 0, event);
+ tdma_stop(tdma_evt, 0);
+ tdma_start(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_emit(uint64_t local, uint64_t world)
+{
+ emit_transmit(local, world);
+}
+
+void task_debug(uint64_t local, uint64_t world)
+{
+ //tdma_debug(tdma_rcv);
+ //tdma_debug(tdma_xmt);
+
+ //sirq_debug(sirq_mbed);
+
+#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, 0 }, // always -- testing
+ { task_sync, 0 }, // always
+ { task_emit, 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();
+ emit_init(3, PTE20, PullDown);
+
+ //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, 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
+
+ // start timers
+ tdma_start(tdma_evt);
+ tdma_start(tdma_rcv);
+ tdma_start(tdma_xmt);
+
+ // Serial timestamping
+ 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
+
+ // 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();
+
+ return 0;
+}
projects / ~andy / csm213a-hw / blobdiff