#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.
*/
/*******************
- * 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:
- * 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;
-}
-
-/**
- * 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);
-
- 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 1
- uint64_t error = world > guess ? world - guess :
- guess > world ? guess - world : 0;
- int ahead = guess > world;
- 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
-}
-
-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));
-}
-
-/*********************
- * Signal generation *
- *********************/
-
-// for 24 Mhz clock, 24/1000 = 3/125
-// for 48 Mhz clock 48/1000 = 6/125
-// for 50 Mhz clock 50/1000 = 1/20 (FLL/2)
-#define EMIT_CLOCKS(nsec) ((uint16_t)((nsec) / 20))
-#define EMIT_NSEC(clocks) ((uint16_t)((clocks) * 20))
-
-static uint32_t *emit_pcr = 0; // transmit pin name
-
-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 (world time)
-
-static uint32_t emit_slack = 0; // how far ahead we need to schedule, in us
-static uint32_t emit_worst = 0; // worst-case latency in task table
-
-void emit_init(int alt, PinName pin, PinMode mode)
-{
- // Find pin
- emit_pcr = (uint32_t*)(PORTA_BASE + pin);
-
- // Enable clocks
- SIM->SCGC6 |= SIM_SCGC6_TPM1_MASK;
- SIM->SOPT2 |= SIM_SOPT2_TPMSRC(1);
-
- // Debug print on SOPT2
- // -- mbed may set PLLFLL when configuring UART0
- sirq_printf("SOPT2: u0src=%d tpmsrc=%d %s %s clkos=%d %s\r\n",
- (SIM->SOPT2 & SIM_SOPT2_UART0SRC_MASK) >> SIM_SOPT2_UART0SRC_SHIFT,
- (SIM->SOPT2 & SIM_SOPT2_TPMSRC_MASK) >> SIM_SOPT2_TPMSRC_SHIFT,
- (SIM->SOPT2 & SIM_SOPT2_UART0SRC_MASK) ? "USBSRC" : "usbsrc",
- (SIM->SOPT2 & SIM_SOPT2_PLLFLLSEL_MASK) ? "PLL/2" : "FLL",
- (SIM->SOPT2 & SIM_SOPT2_CLKOUTSEL_MASK) >> SIM_SOPT2_CLKOUTSEL_SHIFT,
- (SIM->SOPT2 & SIM_SOPT2_RTCCLKOUTSEL_MASK) ? "RTCOS" : "rtcos");
-
- // Set pin mode
- emit_pcr[0] = PORT_PCR_ISF_MASK
- | PORT_PCR_MUX(alt)
- | mode;
-
- // Setup Timer/PWM Module
- TPM1->SC = TPM_SC_TOF_MASK;
- TPM1->CNT = TPM_CNT_COUNT(0);
- TPM1->MOD = TPM_MOD_MOD(0xFFFF);
-
- TPM1->CONTROLS[0].CnSC = TPM_CnSC_CHF_MASK // clear flag
- | TPM_CnSC_MSB_MASK // set output highon match,
- | TPM_CnSC_ELSB_MASK // cleared on overflow
- | TPM_CnSC_ELSA_MASK; // ..
-
- TPM1->STATUS = TPM_STATUS_CH0F_MASK
- | TPM_STATUS_TOF_MASK;
-
- TPM1->CONF = TPM_CONF_CSOO_MASK;
-}
-
-void emit_enable(uint64_t start, uint64_t period)
-{
- const int slack_clocks = 0x8000; // tune based on emit_worst
-
- emit_start = start;
- emit_period = period;
- emit_due = start + period;
-
- // TODO - tune slack time
- // TODO - check clock power
- // TODO - TPM clock source
- emit_slack = EMIT_NSEC(slack_clocks);
-
- time_printf("emit scheduled", emit_due);
-}
-
-void emit_schedule(uint64_t when)
-{
- uint64_t now = time_to_world(tdma_time());
- uint64_t start = when - now; // transmit time
- uint64_t stop = start + 100000; // 100 us pulse
-
- // Disable timer
- TPM1->SC = TPM_SC_TOF_MASK;
-
- // Set transmit time
- TPM1->CONTROLS[0].CnV = EMIT_CLOCKS(start);
- TPM1->MOD = TPM_MOD_MOD(EMIT_CLOCKS(stop));
-
- // Start the timer
- TPM1->SC = TPM_SC_TOF_MASK
- | TPM_SC_PS(0)
- | TPM_SC_CMOD(1);
-
- // Clock testing
- uint32_t test_tpm0 = TPM1->SC;
- uint32_t test_pit0 = PIT->CHANNEL[1].CVAL;
- for (int i = 0; i < 1000; i++)
- asm("nop");
- uint32_t test_tpm1 = TPM1->SC;
- uint32_t test_pit1 = PIT->CHANNEL[1].CVAL;
- uint32_t test_tpm = test_tpm0 - test_tpm0;
- uint32_t test_pit = test_pit1 - test_pit0;
- sirq_printf("pit/tpm: tpm=%04hx/%04hx=%d pit=%08x/%08x=%d\r\n",
- test_tpm0, test_tpm1, test_tpm,
- test_pit0, test_pit1, test_pit);
-
- // Debug output
- //sirq_printf("emitting event\r\n");
-}
-
-void emit_transmit(uint64_t local, uint64_t world)
-{
- static uint64_t prev = 0;
-
- // Record how how much time we have to reschedule
- if (prev && (local-prev) > emit_worst)
- emit_worst = (local-prev);
- prev = local;
-
- // Schedule task if needed
- if (emit_due && emit_period &&
- world+emit_slack > emit_due) {
- emit_schedule(emit_due);
- emit_due += emit_period;
- }
-}
-
-/************************
- * 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;
-
-static uint32_t serial_device_id = 0;
-
-const uint64_t serial_sync_delay = NSEC_PER_SEC / 100;
-static uint64_t serial_sync_due = 0;
-
-static tdma_t *serial_tdma_rcv = NULL;
-static tdma_t *serial_tdma_xmt = NULL;
-
-/**
- * Convert world to local time
- */
-uint64_t serial_read_time(ntime_t time)
-{
- return ((uint64_t)time.seconds) * NSEC_PER_SEC
- + ((uint64_t)time.nanosec);
-}
-
-ntime_t serial_write_time(uint64_t time)
-{
- ntime_t buf = {};
- buf.seconds = time / NSEC_PER_SEC;
- buf.nanosec = time % NSEC_PER_SEC;
- return buf;
-}
-
-int serial_time_stamp(tdma_t *port, uint64_t *local, uint64_t *world,
- const char *msg)
-{
- int valid = tdma_stamp(port, local);
- *world = time_to_world(*local);
-
- if (!valid)
- sirq_printf("%s -- missing\r\n", msg);
- //else
- // time_printf(msg, current);
-
- return valid;
-}
-
-/**
- * Output initialization message init message
- */
-void serial_send_init(uint16_t device, uint64_t local)
-{
-}
-
-/**
- * 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
-
- // Message data
- header_t head;
- sync_msg_t body;
-
- // Write header
- head.header = MSG_HEADER;
- head.msgid = MSG_ID_SYNC;
- head.length = sizeof(body);
- head.cksum = 0; // todo
-
- tdma_stop(serial_tdma_rcv, 0);
- tdma_start(serial_tdma_xmt);
-
- sirq_write(port, &head, sizeof(head));
-
- tdma_stop(serial_tdma_xmt, 100);
- tdma_start(serial_tdma_rcv);
-
- // Save transmit time
- uint64_t local = 0, world = 0;
- serial_time_stamp(serial_tdma_xmt, &local, &world,
- "sync time transmit");
-
- // Debug output
- //sirq_printf("sync time transmit\r\n");
- //time_printf(" local", local);
- //time_printf(" world", world);
-
- // Write body with updated time and send
- body.time = serial_write_time(world);
-
- sirq_write(port, &body, sizeof(body));
-
- // Queue next transmit time
- serial_sync_due = 0;
-}
-
-/**
- * Output external event received message
- * event: id of the received event
- * time: compensated timestamp of the event
- */
-void serial_send_event(sirq_t *port, uint16_t event, uint64_t local)
-{
- time_printf("event received", local);
-
- // Convert timestamp
- uint64_t world = time_to_world(local);
- ntime_t ltime = serial_write_time(local);
- ntime_t wtime = serial_write_time(world);
-
- // Message data
- header_t head = {};
- event_msg_t body = {};
-
- // Transmit sync message
- head.header = MSG_HEADER;
- head.msgid = MSG_ID_EVENT;
- head.length = sizeof(body);
- head.cksum = 0; // todo
-
- body.device = serial_device_id;
- body.event = event;
- body.world = wtime;
- body.local = ltime;
-
- // Transmit message to BBB
- sirq_write(port, &head, sizeof(head));
- sirq_write(port, &body, sizeof(body));
-}
-
-/**
- * Handle init message
- */
-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) {
- uint64_t start = serial_read_time(msg->start);
- uint64_t period = serial_read_time(msg->period);
- emit_enable(start, period);
- }
-
- if (msg->valid & MSG_VALID_WORLD) {
- uint64_t world = serial_read_time(msg->world);
- uint64_t local = tdma_time();
- time_ext_init(local, world);
- }
-
- if (msg->valid & MSG_VALID_SYNC)
- serial_sync_due = tdma_time() + serial_sync_delay;
-}
-
-/**
- * Handle sync message
- */
-void serial_handle_sync(sync_msg_t *msg)
-{
- // Read receive timestamp
- uint64_t local = 0, world = 0;
- serial_time_stamp(serial_tdma_rcv, &local, &world,
- "sync time receive ");
- tdma_stop(serial_tdma_rcv, 0);
-
- // Lookup reference time from message
- uint64_t reference = serial_read_time(msg->time);
-
- // Debug output
- //sirq_printf("sync time receive\r\n");
- //time_printf(" local", local);
- //time_printf(" world", world);
- //time_printf(" ref ", reference);
-
- // Synchronize the clocks
- time_ext_sync(local, reference);
-
- // Queue transmit to other board
- serial_sync_due = tdma_time() + serial_sync_delay;
-}
-
-/**
- * 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_INIT:
- //sirq_printf("received init msg\r\n");
- serial_handle_init((init_msg_t*)body);
- break;
- 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_MAX_ID) {
- 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(sirq_bbb, 0, event);
+ 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)
//sirq_debug(sirq_mbed);
- serial_send_event(sirq_bbb, 1, local);
+ comm_send_event(1, local);
#ifdef VERBOSE
sirq_printf("background - %6u.%02u -> %u.%02u\r\n",
* 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, 0 }, // always -- testing
- { task_sync, 0 }, // always
- { task_emit, 0 }, // always
- { task_leds, 100000000 }, // 10hz
- { task_debug, 1000000000 }, // 1hz
-};
-
void background(void)
{
// Debugging
int main(int argc, char **argv)
{
- tdma_init();
- emit_init(3, PTE20, PullDown);
-
- //pin = 1;
-
// 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, 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
+ // 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_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;
-
- // configure crystal oscilator for high gain operation
- MCG->C2 |= MCG_C2_HGO0_MASK;
-
- // 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
while (true)
background();
- // Performance testing
- //uint64_t prev = 0, due = 0;
- //uint64_t worst[10] = {};
- //int count = 0;
- //while (true) {
- // uint64_t local = tdma_time();
- // if (prev && (local-prev) > worst[count])
- // worst[count] = (local-prev);
- // prev = local;
- // if (local > due) {
- // if (count == 5) {
- // static char str[] = "background background background\r\n";
- // sirq_write(sirq_dbg, str, sizeof(str));
- // }
- // if (count == 9) {
- // sirq_printf("background\r\n");
- // for (int i = 0; i < 10; i++) {
- // sirq_printf(" worst[%d] = 0.%09u\r\n",
- // i, worst[i]);
- // worst[i] = 0;
- // }
- // }
- // due += NSEC_PER_SEC;
- // count = (count + 1) % 10;
- // }
- //}
-
- // Run tests
- //test_main();
-
return 0;
}
projects / ~andy / csm213a-hw / blobdiff