Cleanup and test messages and events

Add new message definitions to control and makefile

Debug stuff without actually testing using an external device or scope

diff --git a/hw2/control.c b/hw2/control.c
index fa54a9716f8bf3223c3722a8f60cf7953f00fb7a..ad97c75b887cdc47c265abede86b0b0024197793 100644 (file)
--- a/hw2/control.c
+++ b/hw2/control.c
@@ -1,7 +1,6 @@
 #include <stdio.h>
 #include <stdlib.h>
-
-#include <arpa/inet.h>
+#include <string.h>
 
 #include <time.h>
 
@@ -24,35 +23,57 @@ void dump(const char *label, uint8_t *data, int len)
 
 int main(int argc, char **argv)
 {
-       char *device = argv[1];
-       if (!device)
-               error("usage: host /dev/ttyACM0");
+       if (argc < 3)
+               error("usage: host /dev/ttyACM0 0 sync");
 
-       header_t   head = {};
-       sync_msg_t body = {};
+       // Parse args
+       char *opt_tty    = argv[1];
+       int   opt_device = atoi(argv[2]);
+       int   opt_sync   = argv[3] && !strcmp(argv[3], "sync") ?
+                          MSG_VALID_SYNC : 0;
 
+       // Lookup current wall-clock time
        struct timespec ts;
        clock_gettime(CLOCK_REALTIME, &ts);
 
+       // Message buffers
+       header_t   head = {};
+       init_msg_t body = {};
+
+       // Set message header
        head.header = MSG_HEADER;
-       head.msgid  = MSG_ID_SYNC;
-       head.length = sizeof(sync_msg_t);
+       head.msgid  = MSG_ID_INIT;
+       head.length = sizeof(init_msg_t);
        head.cksum  = 0; // todo
 
-       body.seq    = 0;
-       body.time.seconds = ts.tv_sec;
-       body.time.nanosec = ts.tv_nsec;
+       // Set valid flags
+       body.valid  = MSG_VALID_DEVICE
+                   | MSG_VALID_START
+                   | MSG_VALID_PERIOD
+                   | MSG_VALID_WORLD
+                   | opt_sync;
 
-       dump("head", (uint8_t*)&head, sizeof(head));
-       dump("body", (uint8_t*)&body, sizeof(body));
+       // Set message body
+       body.device         = opt_device;
+       body.world.seconds  = ts.tv_sec;
+       body.world.nanosec  = ts.tv_nsec;
+       body.start.seconds  = ts.tv_sec;
+       body.start.nanosec  = ts.tv_nsec;
+       body.period.seconds = 1;
+       body.period.nanosec = 0;
 
-       FILE *fd = fopen(device, "a+");
+       // Transmit message
+       FILE *fd = fopen(opt_tty, "a+");
        if (!fd) error("opening device");
        int len = 0;
        len += fwrite(&head, 1, sizeof(head), fd);
        len += fwrite(&body, 1, sizeof(body), fd);
        fclose(fd);
 
+       // Debug output
+       dump("head", (uint8_t*)&head, sizeof(head));
+       dump("body", (uint8_t*)&body, sizeof(body));
+
        printf("wrote %d bytes\n", len);
 
        return 0;

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

diff --git a/hw2/makefile b/hw2/makefile
index b32f808bd8aab647de4043adab4be95f2f069788..07982822dc6d5f9c0c50a8310a621a3e61e6e3f5 100644 (file)
--- a/hw2/makefile
+++ b/hw2/makefile
@@ -1,18 +1,20 @@
-PROG = mbed
-UART = /dev/ttyACM0
-OBJS = main.o test.o serial_irq.o serial_dma.o timer_dma.o
+PROG  = mbed
+UART0 = /dev/ttyACM0
+UART1 = /dev/ttyACM1
+OBJS  = main.o test.o serial_irq.o serial_dma.o timer_dma.o
 
 CPPFLAGS =
 LDFLAGS  = -lm
 
 default: info run
 
-control: control.c
-       gcc -Wall -o control control.c
+control: control.c messages.h
+       gcc -Wall -o $@ $<
 
 run: all control install.sh
        @./install.sh $(PROG).bin
-       @./control $(UART)
+       @./control $(UART0) 0
+       @./control $(UART1) 1 sync
 
 terms:
        term /dev/ttyACM0 &

diff --git a/hw2/messages.h b/hw2/messages.h
index e18166bd66b987dc37d588ae700f9355550b5852..af40683c9628f79a340fd49069cdf60bc1d76b07 100644 (file)
--- a/hw2/messages.h
+++ b/hw2/messages.h
@@ -6,10 +6,11 @@
 
 #define MSG_HEADER       0x1234
 
-#define MSG_VALID_DEVICE 0x0001
-#define MSG_VALID_START  0x0002
-#define MSG_VALID_PERIOD 0x0004
-#define MSG_VALID_WORLD  0x0008
+#define MSG_VALID_DEVICE 0x0001  // device id is valid
+#define MSG_VALID_WORLD  0x0002  // world time is valid
+#define MSG_VALID_START  0x0004  // start time is valid
+#define MSG_VALID_PERIOD 0x0008  // period is valid
+#define MSG_VALID_SYNC   0x8000  // begin time sync
 
 #pragma pack(1)