* 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 *
*******************/
int ahead = guess > world;
time_last_local = local;
- time_last_world = guess/2 + world/2;
+ 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;
- sirq_printf("syncing clocks: %d=%d.%04u -> %d.%04u (err: %s%ld.%09lu)\r\n",
+//#ifdef VERBOSE
+#if 0
+ 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 ? "-" : "",
+ ahead ? "-" : " ",
(int32_t )(error / (int64_t)NSEC_PER_SEC),
(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)
+{
+ 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));
}
/************************
uint8_t buffer[256];
} parser_t;
-const uint64_t serial_sync_delay = NSEC_PER_SEC / 10; // 1hz
+const uint64_t serial_sync_delay = NSEC_PER_SEC / 100; // 1hz
static uint64_t serial_sync_due = 0;
static tdma_t *serial_tdma_rcv = NULL;
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
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_start(serial_tdma_xmt);
sirq_write(port, &head, sizeof(head));
sirq_write(port, &body, sizeof(body));
+ tdma_stop(serial_tdma_xmt);
- serial_xmt_seq += 1;
- serial_sync_due = 0;
+ // 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);
+ }
- // Debug
- //sirq_printf("sync msg transmit\r\n");
+ tdma_start(serial_tdma_rcv);
- // 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);
+ serial_xmt_seq += 1;
+ serial_sync_due = 0;
+ serial_xmt_local = local;
}
/**
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);
+ sirq_printf("sync receive time -- missing\r\n");
+ //else
+ // time_printf("sync receive time ", current);
+ tdma_stop(serial_tdma_rcv);
// Lookup times
uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC
if (tdma_stamp(tdma_evt, &event))
serial_send_event(0, event);
- tdma_reset(tdma_evt);
+ tdma_stop(tdma_evt);
+ tdma_start(tdma_evt);
}
void task_sync(uint64_t local, uint64_t 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),
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
+ tdma_evt = tdma_open(TDMA_CHAN0, 3, PTC9, PullUp); // async event
// mbed time sync
tdma_rcv = tdma_open(TDMA_CHAN2, 3, PTD2, PullUp); // time sync rcv
//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
printf("hello");
while (true)
projects / ~andy / csm213a-hw / blobdiff