X-Git-Url: http://pileus.org/git/?p=~andy%2Fcsm213a-hw;a=blobdiff_plain;f=hw2%2Fmain.cpp;fp=hw2%2Fmain.cpp;h=2c2d86d2ce72990fb057b93044e00ccc581976ba;hp=1bc0cda280da2e3effc2cfe5ab90a815989024fa;hb=7809f2b477c2eec8d27e45b3e441002509cfc556;hpb=bdda7dcfdce84ad3900853d6a2fb678d15763bef diff --git a/hw2/main.cpp b/hw2/main.cpp index 1bc0cda..2c2d86d 100644 --- a/hw2/main.cpp +++ b/hw2/main.cpp @@ -5,6 +5,10 @@ #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. @@ -21,469 +25,36 @@ */ /******************* - * 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; -} - -uint64_t time_to_local(uint64_t world) -{ - uint64_t elapsed = world - time_last_world; - return time_last_local + 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 50 Mhz clock 50/1000 = 1/20 (PLL/2) - -// for 48 Mhz clock 48/1000 = 6/125 (FLL) -// for 24 Mhz clock, 24/1000 = 3/125 -// for 12 Mhz clock, 12/1000 = 3/250 -// for 6 Mhz clock, 6/1000 = 3/500 -// for 3 Mhz clock, 3/1000 = 3/1000 - -#define EMIT_PS 1 - -//#if EMIT_PS == 0 -//#define EMIT_CLOCKS(nsec) ((uint16_t)((nsec) / 20)) -//#define EMIT_NSEC(clocks) ((uint16_t)((clocks) * 20)) - -#if EMIT_PS == 0 -#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 6 / 125)) -#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 125 / 6)) -#elif EMIT_PS == 1 -#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 125)) -#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 125 / 3)) -#elif EMIT_PS == 2 -#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 250)) -#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 250 / 3)) -#elif EMIT_PS == 3 -#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 500)) -#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 500 / 3)) -#elif EMIT_PS == 4 -#define EMIT_CLOCKS(nsec) ((uint32_t)((nsec) * 3 / 1000)) -#define EMIT_NSEC(clocks) ((uint32_t)((clocks) * 1000 / 3)) -#endif - -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); - - // Reset PLL Source - //SIM->SOPT2 &= ~SIM_SOPT2_PLLFLLSEL_MASK; - - // Debug print on SOPT2 - // -- mbed may set PLLFLL when configuring UART0 - // SOPT2: u0src=1 tpmsrc=1 USBSRC PLL/2 clkos=0 rtcos - 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 = 0x4000; // tune based on emit_worst - - emit_start = start; - emit_period = period; - emit_due = start + period; - - emit_slack = EMIT_NSEC(slack_clocks); - - time_printf("emit scheduled", emit_due); -} - -void emit_schedule(uint64_t when) -{ - uint64_t local = time_to_local(when) * 3 / 125; - uint32_t width = EMIT_CLOCKS(10000); - - // Disable timer - TPM1->SC = TPM_SC_TOF_MASK; - - __disable_irq(); - - uint64_t now = ((uint64_t)~PIT->LTMR64H << 32) - | ((uint64_t)~PIT->LTMR64L); - uint32_t delta = local - now; - uint32_t start = delta >> (EMIT_PS-1); // convert to clocks - uint32_t stop = start + width; // end time - - // Set transmit time - TPM1->CONTROLS[0].CnV = start; - TPM1->MOD = TPM_MOD_MOD(stop); - - // Start the timer - TPM1->SC = TPM_SC_TOF_MASK - | TPM_SC_PS(EMIT_PS) - | TPM_SC_CMOD(1); - - __enable_irq(); - - // Test - //int64_t cnv = TPM1->CONTROLS[0].CnV; - //int64_t mod = TPM1->MOD; - //int64_t due = local - tdma_time(); - //sirq_printf("%6d -- cnv=%04x mod=%04x due=%04x start=%04x\r\n", - // (int)(cnv - EMIT_CLOCKS(due)), - // (int)cnv, (int)mod, - // (int)EMIT_CLOCKS(due), EMIT_CLOCKS(start)); - - // Clock testing - //uint32_t test_tpm0 = TPM1->CNT; - //uint32_t test_pit0 = ~PIT->CHANNEL[0].CVAL; - //for (int i = 0; i < 100; i++) - // asm("nop"); - //uint32_t test_tpm1 = TPM1->CNT; - //uint32_t test_pit1 = ~PIT->CHANNEL[0].CVAL; - - //uint32_t test_tpm = test_tpm1 - test_tpm0; - //uint32_t test_pit = test_pit1 - test_pit0; - //sirq_printf("pit/tpm: %d - tpm=%08x/%08x=%d pit=%08x/%08x=%d\r\n", - // test_tpm - test_pit, - // test_tpm0, test_tpm1, test_tpm, - // test_pit0, test_pit1, test_pit); - - // Debug output - //time_printf("emitting event", when); -} - -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 * - ************************/ - -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(int msgid, 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(int msgid, 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; -} +// Macros +#define N_ELEM(x) (sizeof(x) / sizeof((x)[0])) -/** - * Handle event message - */ -void serial_handle_event(int msgid, event_msg_t *msg) -{ -} +// 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 * @@ -544,14 +115,14 @@ void task_events(uint64_t local, uint64_t world) #endif if (tdma_stamp(tdma_evt, &event)) - serial_send_event(sirq_bbb, 0, event); + comm_send_event(sirq_bbb, 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(sirq_mbed, local); } void task_leds(uint64_t local, uint64_t world) @@ -574,7 +145,7 @@ void task_debug(uint64_t local, uint64_t world) //sirq_debug(sirq_mbed); - serial_send_event(sirq_bbb, 1, local); + comm_send_event(sirq_bbb, 1, local); #ifdef VERBOSE sirq_printf("background - %6u.%02u -> %u.%02u\r\n", @@ -589,24 +160,6 @@ void task_debug(uint64_t local, uint64_t world) * 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 @@ -624,8 +177,6 @@ void background(void) 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 @@ -636,31 +187,30 @@ int main(int argc, char **argv) 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)serial_handle_init); - msg_register(&parser_dbg, MSG_ID_SYNC, (handler_t)serial_handle_sync); - msg_register(&parser_dbg, MSG_ID_EVENT, (handler_t)serial_handle_event); - msg_register(&parser_bbb, MSG_ID_INIT, (handler_t)serial_handle_init); - msg_register(&parser_mbed, MSG_ID_SYNC, (handler_t)serial_handle_sync); + 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; - - // Setup event generation - emit_init(3, PTE20, PullDown); - // Run background loop while (true) background(); - // Run tests - //test_main(); - return 0; }