#include "serial_dma.h"
#include "timer_dma.h"
+#include "main_time.h"
+#include "main_emit.h"
+#include "main_comm.h"
+
/**
* Mode of operation:
* Devices 1 and 2 synchronize clocks using serial messages.
* 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 *
+ * Tasks Scheduler *
*******************/
-#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 PIT Module
- */
-uint64_t time_to_world(uint64_t local)
-{
- uint64_t elapsed = local - time_last_local;
- 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)
-{
- // todo
-}
-
-/**
- * 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);
- uint64_t error = world > guess ? world - guess :
- guess > world ? guess - world : 0;
- int ahead = guess > world;
-
- 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 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 ? "-" : " ",
- (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));
-}
-
-/************************
- * Serial I/O functions *
- ************************/
+// Macros
+#define N_ELEM(x) (sizeof(x) / sizeof((x)[0]))
+// Task entry
typedef struct {
- int index;
- int state;
- uint8_t buffer[256];
-} parser_t;
-
-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;
-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(sirq_t *port, uint64_t now)
-{
- 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
- 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_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_start(serial_tdma_rcv);
-
- serial_xmt_seq += 1;
- serial_sync_due = 0;
- serial_xmt_local = local;
-}
-
-/**
- * Output external event received message
- * event: id of the received event
- * time: compensated timestamp of the event
- */
-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.%09u\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("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
- + ((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(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;
- }
-}
+ void (*task)(uint64_t, uint64_t);
+ uint64_t period;
+ uint64_t due;
+} task_t;
+
+// Task functions
+void task_serial(uint64_t local, uint64_t world);
+void task_events(uint64_t local, uint64_t world);
+void task_sync(uint64_t local, uint64_t world);
+void task_leds(uint64_t local, uint64_t world);
+void task_emit(uint64_t local, uint64_t world);
+void task_debug(uint64_t local, uint64_t world);
+
+// Task table
+task_t 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
+};
/********************
* Data definitions *
{
while (sirq_ready(sirq_dbg)) {
//sirq_printf("serial recv - dbg\r\n");
- serial_receive(&parser_dbg, sirq_getc(sirq_dbg));
+ msg_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));
+ msg_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));
+ msg_receive(&parser_mbed, sirq_getc(sirq_mbed));
}
}
#endif
if (tdma_stamp(tdma_evt, &event))
- serial_send_event(0, event);
- tdma_stop(tdma_evt);
+ comm_send_event(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);
+ comm_send_sync(local);
}
void task_leds(uint64_t local, uint64_t world)
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);
//sirq_debug(sirq_mbed);
+ comm_send_event(1, local);
+
#ifdef VERBOSE
sirq_printf("background - %6u.%02u -> %u.%02u\r\n",
(uint32_t)(local / NSEC_PER_SEC),
* 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, 1000000000 }, // always
- { task_sync, 0 }, // always
- { task_leds, 100000000 }, // 10hz
- { task_debug, 1000000000 }, // 1hz
-};
-
void background(void)
{
// Debugging
int main(int argc, char **argv)
{
- tdma_init();
-
// 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
+ sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200, 0); // to pc
+ sirq_bbb = sirq_open(SIRQ_UART1, PTE0, PTE1, 115200, 0); // to bbb
+ sirq_mbed = sirq_open(SIRQ_UART2, PTD3, PTD2, 115200, 1); // to mbed
// Setup timers
- tdma_evt = tdma_open(TDMA_CHAN0, 3, PTC9, PullUp); // async event
-
- // mbed time sync
+ tdma_evt = tdma_open(TDMA_CHAN0, 3, PTC9, PullDown); // async event
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
+ // Setup event generation
+ time_init();
+ emit_init(3, PTE20, PullDown);
+ comm_init(sirq_dbg, sirq_bbb, sirq_mbed,
+ tdma_rcv, tdma_xmt);
+
+ // Register messages
+ msg_register(&parser_dbg, MSG_ID_INIT, (handler_t)comm_handle_init);
+ msg_register(&parser_dbg, MSG_ID_SYNC, (handler_t)comm_handle_sync);
+ msg_register(&parser_dbg, MSG_ID_EVENT, (handler_t)comm_handle_event);
+
+ msg_register(&parser_bbb, MSG_ID_INIT, (handler_t)comm_handle_init);
+
+ msg_register(&parser_mbed, MSG_ID_INIT, (handler_t)comm_handle_init);
+ msg_register(&parser_mbed, MSG_ID_SYNC, (handler_t)comm_handle_sync);
+ msg_register(&parser_mbed, MSG_ID_EVENT, (handler_t)comm_handle_event);
// 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)
background();
- // Run tests
- //test_main();
-
return 0;
}
projects / ~andy / csm213a-hw / blobdiff