+#include "messages.h"
+
#include "mbed.h"
+#include "serial_irq.h"
#include "serial_dma.h"
#include "timer_dma.h"
* Time synchronization is performed in both directions.
*/
-/***********************
- * Message Definitions *
- ***********************/
-
-#define MSG_HEADER 0x1234
-
-typedef enum {
- MSG_ID_SYNC, // Time synchronization
- MSG_ID_EVENT, // Event occurred
-} msgid_t;
-
-typedef struct {
- uint32_t seconds; // Seconds since 1970 (without leap seconds)
- uint32_t nanosec; // Nanoseconds since 'seconds'
-} ntime_t;
-
-typedef struct {
- uint16_t header; // Message Header
- uint16_t mesgid; // Message ID
- uint16_t length; // Body length
- uint16_t cksum; // Body checksum
-} header_t;
-
-typedef struct {
- uint16_t seq; // Current sequence counter
- uint16_t prev; // Sequence of previous message
- ntime_t time; // Time of previous message
-} sync_msg_t;
-
-typedef struct {
- uint16_t device; // Device ID
- uint16_t event; // Event ID
- ntime_t time; // Timestamp
-} event_msg_t;
-
/*******************
* 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 Timer/PWM Module
+ * stamp: event timestamp from PIT Module
*/
-void time_stamp(ntime_t *time, uint32_t stamp)
+uint64_t time_to_world(uint64_t local)
{
- // todo
+ 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.
- * ours: our internal timestamp for the event
- * ref: reference timestamp from the other device
+ * local: our internal timestamp for the event
+ * world: reference timestamp from the other device
*/
-void time_ext_sync(ntime_t *ours, ntime_t *ref)
+void time_ext_init(uint64_t local, uint64_t world)
{
- // todo
+ 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)
+{
+ sirq_printf("syncing clocks: %d -> %d\r\n",
+ (int)(local/NSEC_PER_SEC),
+ (int)(world/NSEC_PER_SEC));
+
+ time_last_local = local;
+ time_last_world = world;
}
/************************
* 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 * 2; // 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(void)
+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_xmt);
}
/**
* event: id of the received event
* time: compensated timestamp of the event
*/
-void serial_send_event(uint16_t event, ntime_t *time)
+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.%u\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);
+
+ // 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(void)
+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;
+ }
}
/********************
DigitalOut led1(LED1);
DigitalOut led2(LED2);
-// UARTs tx rx
-Serial uart0(USBTX, USBRX);
-Serial uart1(PTE0, PTE1);
-Serial uart2(PTD3, PTD2);
+// Message Parsers
+parser_t parser_dbg;
+parser_t parser_bbb;
+parser_t parser_mbed;
-// Serial DMA
-sdma_t *sdma0;
-sdma_t *sdma1;
-sdma_t *sdma2;
+// Serial IRQ
+sirq_t *sirq_dbg;
+sirq_t *sirq_bbb;
+sirq_t *sirq_mbed;
// Timer DMA
-tdma_t *tdma0;
-tdma_t *tdma1;
-tdma_t *tdma2;
-tdma_t *tdma3;
+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_bbb, 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);
+ sirq_printf("background - %6d.%02d -> %d.%02d\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));
+}
/********
* Main *
********/
-void test_main(void);
+#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)
{
- uart0.baud(115200);
- uart1.baud(115200);
- uart2.baud(115200);
+ tdma_init();
+
+ // Open serial ports
+ sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc
+ sirq_bbb = sirq_open(SIRQ_UART1, PTD3, PTD2, 115200); // to bbb
+ sirq_mbed = sirq_open(SIRQ_UART2, PTE0, PTE1, 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();
- test_main();
+ // Run tests
+ //test_main();
return 0;
}
projects / ~andy / csm213a-hw / blobdiff