Cleanup and test messages and events

[~andy/csm213a-hw] / hw2 / main.cpp

diff --git a/hw2/main.cpp b/hw2/main.cpp
index d4c0b046737222fb00127e02c68619fc32c76359..aafb879c15a3bafff45921359745cc9a7a59d078 100644 (file)
--- a/hw2/main.cpp
+++ b/hw2/main.cpp
@@ -127,16 +127,6 @@ void time_ext_sync(uint64_t local, uint64_t world)
                        (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)
@@ -156,9 +146,9 @@ void time_printf(const char *label, uint64_t local)
 
 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_worst  = 0; // worst-case latency in task table
@@ -206,12 +196,12 @@ void emit_enable(uint64_t start, uint64_t period)
 
        emit_slack  = 10000; // tune based on emit_worst
 
-       time_printf("scheuled emit - ", emit_due);
+       time_printf("emit scheduled", emit_due);
 }
 
 void emit_schedule(uint64_t when)
 {
-       uint64_t now   = tdma_time();
+       uint64_t now   = time_to_world(tdma_time());
        uint16_t delay = (uint16_t)(when-now);
 
        // Clear pending flags
@@ -227,6 +217,9 @@ void emit_schedule(uint64_t when)
        // Start the timer
        TPM0->SC               = TPM_SC_TOF_MASK
                               | TPM_SC_CMOD(1);
+
+       // Debug
+       //sirq_printf("emitting event\r\n");
 }
 
 void emit_transmit(void)
@@ -234,15 +227,18 @@ void emit_transmit(void)
        static uint64_t prev;
 
        // Get a fresh timestamp
-       uint64_t world = tdma_time();
+       uint64_t world = time_to_world(tdma_time());
 
        // Record how how much time we have to reschedule
        if (prev && world - prev > emit_worst)
                emit_worst = prev;
 
        // 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;
+       }
 }
 
 /************************
@@ -400,11 +396,22 @@ void serial_send_event(uint16_t event, uint64_t local)
  */
 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);
@@ -415,6 +422,9 @@ void serial_handle_init(init_msg_t *msg)
                uint64_t local = tdma_time();
                time_ext_init(local, world);
        }
+
+       if (msg->valid & MSG_VALID_SYNC)
+               serial_sync_due = tdma_time() + serial_sync_delay;
 }
 
 /**
@@ -661,6 +671,7 @@ void background(void)
 int main(int argc, char **argv)
 {
        tdma_init();
+       emit_init(4, PTC1, PullDown);
 
        // Open serial ports
        sirq_dbg   = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc