-#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"
+
+#include "main_time.h"
+#include "main_emit.h"
+#include "main_comm.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.
+ */
+
+/*******************
+ * Tasks Scheduler *
+ *******************/
+
+// Macros
+#define N_ELEM(x) (sizeof(x) / sizeof((x)[0]))
+
+// Task entry
+typedef struct {
+ 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 *
+ ********************/
+
+// 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");
+ msg_receive(&parser_dbg, sirq_getc(sirq_dbg));
+ }
+
+ while (sirq_ready(sirq_bbb)) {
+ //sirq_printf("serial recv - bbb\r\n");
+ msg_receive(&parser_bbb, sirq_getc(sirq_bbb));
+ }
+
+ while (sirq_ready(sirq_mbed)) {
+ //sirq_printf("serial recv - mbed\r\n");
+ msg_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))
+ comm_send_event(0, event);
+ tdma_stop(tdma_evt, 0);
+ tdma_start(tdma_evt);
+}
+
+void task_sync(uint64_t local, uint64_t world)
+{
+ comm_send_sync(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);
+
+ comm_send_event(1, local);
+
+#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 *
+ ********/
+
+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)
+{
+ // Open serial ports
+ 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, 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
+
+ // 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);
+
+ // Run background loop
+ while (true)
+ background();
+
+ return 0;
+}
projects / ~andy / csm213a-hw / blobdiff