xively
config.mk
settings.cfg
+control
@rm -f $(PROG).bin $(PROG).elf $(OBJS)
# Rules
-%.o: %.c makefile ../common.mk ../config.mk
+%.o: %.c $(wildcard *.h) makefile ../common.mk ../config.mk
@echo "CC $<"
@$(GCC) $(CFLAGS) $(CPPFLAGS) -c -o $@ $<
-%.o: %.cc makefile ../common.mk ../config.mk
+%.o: %.cc $(wildcard *.h) makefile ../common.mk ../config.mk
@echo "CXX $<"
@$(GXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
-%.o: %.cpp makefile ../common.mk ../config.mk
+%.o: %.cpp $(wildcard *.h) makefile ../common.mk ../config.mk
@echo "CXX $<"
@$(GXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
--- /dev/null
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <arpa/inet.h>
+
+#include <time.h>
+
+#include "messages.h"
+
+void error(char *msg)
+{
+ printf("Error: %s\n", msg);
+ exit(0);
+}
+
+void dump(const char *label, uint8_t *data, int len)
+{
+ int i;
+ printf("%s: ", label);
+ for (i = 0; i < len; i++)
+ printf("%02hhx ", data[i]);
+ printf("\n");
+}
+
+int main(int argc, char **argv)
+{
+ char *device = argv[1];
+ if (!device)
+ error("usage: host /dev/ttyACM0");
+
+ header_t head = {};
+ sync_msg_t body = {};
+
+ struct timespec ts;
+ clock_gettime(CLOCK_REALTIME, &ts);
+
+ head.header = MSG_HEADER;
+ head.msgid = MSG_ID_SYNC;
+ head.length = sizeof(sync_msg_t);
+ head.cksum = 0; // todo
+
+ body.seq = 0;
+ body.time.seconds = ts.tv_sec;
+ body.time.nanosec = ts.tv_nsec;
+
+ dump("head", (uint8_t*)&head, sizeof(head));
+ dump("body", (uint8_t*)&body, sizeof(body));
+
+ FILE *fd = fopen(device, "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);
+
+ printf("wrote %d bytes\n", len);
+
+ return 0;
+}
--- /dev/null
+#!/bin/bash
+
+function install
+{
+ bin=$1
+ dev=$2
+ mnt=$3
+
+ if [ -b "$dev" ]; then
+ echo "Installing: $bin -> $mnt"
+ mount "$mnt"
+ cp "$bin" "$mnt"
+ umount "$mnt"
+ else
+ echo Error: No USB found
+ fi
+}
+
+if [ -z "$1" ] || [ "$1" = "-h" ]; then
+ echo "usage: install.sh image.bin"
+ exit 0
+fi
+
+install "$1" /dev/sdb /mnt/mbed1 &
+install "$1" /dev/sdc /mnt/mbed2 &
+
+wait
+#include "messages.h"
+
#include "mbed.h"
+#include "serial_irq.h"
#include "serial_dma.h"
#include "timer_dma.h"
* Time synchronization is performed in both directions.
*/
-/***********************
- * Message Definitions *
- ***********************/
-
-#define MSG_HEADER 0x1234
-
-typedef enum {
- MSG_ID_SYNC, // Time synchronization
- MSG_ID_EVENT, // Event occurred
-} msgid_t;
-
-typedef struct {
- uint32_t seconds; // Seconds since 1970 (without leap seconds)
- uint32_t nanosec; // Nanoseconds since 'seconds'
-} ntime_t;
-
-typedef struct {
- uint16_t header; // Message Header
- uint16_t mesgid; // Message ID
- uint16_t length; // Body length
- uint16_t cksum; // Body checksum
-} header_t;
-
-typedef struct {
- uint16_t seq; // Current sequence counter
- uint16_t prev; // Sequence of previous message
- ntime_t time; // Time of previous message
-} sync_msg_t;
-
-typedef struct {
- uint16_t device; // Device ID
- uint16_t event; // Event ID
- ntime_t time; // Timestamp
-} event_msg_t;
-
/*******************
* Timer functions *
*******************/
+#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 Timer/PWM Module
+ * stamp: event timestamp from PIT Module
*/
-void time_stamp(ntime_t *time, uint32_t stamp)
+uint64_t time_to_world(uint64_t local)
{
- // todo
+ 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.
- * ours: our internal timestamp for the event
- * ref: reference timestamp from the other device
+ * local: our internal timestamp for the event
+ * world: reference timestamp from the other device
*/
-void time_ext_sync(ntime_t *ours, ntime_t *ref)
+void time_ext_init(uint64_t local, uint64_t world)
{
- // todo
+ 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)
+{
+ sirq_printf("syncing clocks: %d -> %d\r\n",
+ (int)(local/NSEC_PER_SEC),
+ (int)(world/NSEC_PER_SEC));
+
+ time_last_local = local;
+ time_last_world = world;
}
/************************
* Serial I/O functions *
************************/
+typedef struct {
+ int index;
+ int state;
+ uint8_t buffer[256];
+} parser_t;
+
+const uint64_t serial_sync_delay = NSEC_PER_SEC * 2; // 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(void)
+void serial_send_sync(sirq_t *port, uint64_t now)
{
+ if (serial_sync_due == 0 || now < serial_sync_due)
+ return; // not ready
+
+ // Calculate world time
+ 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;
+
+ sirq_write(port, &head, sizeof(head));
+ sirq_write(port, &body, sizeof(body));
+
+ serial_xmt_seq += 1;
+ serial_sync_due = 0;
+
+ // Debug
+ sirq_printf("sync msg transmit\r\n");
+
+ // save transmit time
+ for (int i = 0; i < 1000; i++)
+ asm("nop");
+ int valid = tdma_stamp(serial_tdma_xmt, &serial_xmt_local);
+ if (!valid)
+ sirq_printf("missing sync transmit time\r\n");
+ tdma_reset(serial_tdma_xmt);
}
/**
* event: id of the received event
* time: compensated timestamp of the event
*/
-void serial_send_event(uint16_t event, ntime_t *time)
+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.%u\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("missing sync receive time\r\n");
+ tdma_reset(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(void)
+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;
+ }
}
/********************
DigitalOut led1(LED1);
DigitalOut led2(LED2);
-// UARTs tx rx
-Serial uart0(USBTX, USBRX);
-Serial uart1(PTE0, PTE1);
-Serial uart2(PTD3, PTD2);
+// Message Parsers
+parser_t parser_dbg;
+parser_t parser_bbb;
+parser_t parser_mbed;
-// Serial DMA
-sdma_t *sdma0;
-sdma_t *sdma1;
-sdma_t *sdma2;
+// Serial IRQ
+sirq_t *sirq_dbg;
+sirq_t *sirq_bbb;
+sirq_t *sirq_mbed;
// Timer DMA
-tdma_t *tdma0;
-tdma_t *tdma1;
-tdma_t *tdma2;
-tdma_t *tdma3;
+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");
+ serial_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));
+ }
+
+ while (sirq_ready(sirq_mbed)) {
+ //sirq_printf("serial recv - mbed\r\n");
+ serial_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))
+ serial_send_event(0, event);
+ tdma_reset(tdma_evt);
+}
+
+void task_sync(uint64_t local, uint64_t world)
+{
+ serial_send_sync(sirq_bbb, 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_debug(uint64_t local, uint64_t world)
+{
+ //tdma_debug(tdma_rcv);
+ sirq_printf("background - %6d.%02d -> %d.%02d\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));
+}
/********
* Main *
********/
-void test_main(void);
+#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
+ 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)
{
- uart0.baud(115200);
- uart1.baud(115200);
- uart2.baud(115200);
+ tdma_init();
+
+ // Open serial ports
+ sirq_dbg = sirq_open(SIRQ_UART0, USBTX, USBRX, 115200); // to pc
+ sirq_bbb = sirq_open(SIRQ_UART1, PTD3, PTD2, 115200); // to bbb
+ sirq_mbed = sirq_open(SIRQ_UART2, PTE0, PTE1, 115200); // 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
+
+ // Serial timestamping
+ serial_tdma_rcv = tdma_rcv;
+ serial_tdma_xmt = tdma_xmt;
+
+ // Run background loop
+ printf("hello");
+ while (true)
+ background();
- test_main();
+ // Run tests
+ //test_main();
return 0;
}
PROG = mbed
-OBJS = main.o test.o serial_dma.o timer_dma.o
+UART = /dev/ttyACM0
+OBJS = main.o test.o serial_irq.o serial_dma.o timer_dma.o
CPPFLAGS =
LDFLAGS = -lm
-default: info install
+default: info run
+
+control: control.c
+ gcc -Wall -o control control.c
+
+run: all control install.sh
+ @./install.sh $(PROG).bin
+ @./control $(UART)
+
+terms:
+ term /dev/ttyACM0 &
+ term /dev/ttyACM1 &
dist:
zip mbed.zip makefile ../common.mk *.{c,cpp,h} */*.{cpp,.h}
--- /dev/null
+/***********************
+ * Message Definitions *
+ ***********************/
+
+#include <stdint.h>
+
+#define MSG_HEADER 0x1234
+#define MSG_MAXID 2
+
+#pragma pack(1)
+
+typedef enum {
+ MSG_ID_SYNC, // Time synchronization
+ MSG_ID_EVENT, // Event occurred
+} msgid_t;
+
+typedef struct {
+ uint32_t seconds; // Seconds since 1970 (without leap seconds)
+ uint32_t nanosec; // Nanoseconds since 'seconds'
+} ntime_t;
+
+typedef struct {
+ uint16_t header; // Message Header
+ uint16_t msgid; // Message ID
+ uint16_t length; // Body length
+ uint16_t cksum; // Body checksum
+} header_t;
+
+typedef struct {
+ uint32_t seq; // Current sequence counter
+ ntime_t time; // Time of previous message
+} sync_msg_t;
+
+typedef struct {
+ uint16_t device; // Device ID
+ uint16_t event; // Event ID
+ ntime_t time; // Timestamp
+} event_msg_t;
+
+#pragma pack()
--- /dev/null
+#include <MKL46Z4.h>\r
+\r
+#include <stdint.h>\r
+#include <stdio.h>\r
+#include "serial_api.h"\r
+#include "serial_irq.h"\r
+\r
+/* Defines */\r
+#define SIRQ_LEN 1024\r
+\r
+/* Port structure */\r
+typedef struct {\r
+ int rix;\r
+ int wix;\r
+ uint8_t buf[SIRQ_LEN];\r
+} queue_t;\r
+\r
+struct sirq_t {\r
+ serial_t uart;\r
+ queue_t xmt;\r
+ queue_t rcv;\r
+};\r
+\r
+/* Port data */\r
+static sirq_t sirq_ports[SIRQ_NUM_UART];\r
+\r
+/* Receive handler */\r
+void sirq_handler(uint32_t _port, SerialIrq event)\r
+{\r
+ sirq_t *port = (sirq_t *)_port;\r
+\r
+ // Handle transmit\r
+ if (event == TxIrq && port->xmt.rix != port->xmt.wix) {\r
+ int byte = port->xmt.buf[port->xmt.rix];\r
+ serial_putc(&port->uart, byte);\r
+ port->xmt.rix = (port->xmt.rix+1) % SIRQ_LEN;\r
+ } else {\r
+ serial_irq_set(&port->uart, TxIrq, 0);\r
+ }\r
+\r
+ // Handle receive\r
+ if (event == RxIrq) {\r
+ int byte = serial_getc(&port->uart);\r
+ port->rcv.buf[port->rcv.wix] = byte;\r
+ port->rcv.wix = (port->rcv.wix+1) % SIRQ_LEN;\r
+ }\r
+}\r
+\r
+/* Open port */\r
+sirq_t *sirq_open(sirq_uart_t uart, PinName tx, PinName rx, int baud)\r
+{\r
+ // Allocate port\r
+ sirq_t *port = &sirq_ports[uart];\r
+\r
+ // Configure port\r
+ serial_init(&port->uart, tx, rx);\r
+ serial_baud(&port->uart, baud);\r
+\r
+ // Set IRQ handlers\r
+ serial_irq_handler(&port->uart, sirq_handler, (uint32_t)port);\r
+ serial_irq_set(&port->uart, RxIrq, 1);\r
+\r
+ return port;\r
+}\r
+\r
+/* Write byte to the port */\r
+void sirq_putc(sirq_t *port, int byte)\r
+{\r
+ port->xmt.buf[port->xmt.wix] = byte;\r
+ port->xmt.wix = (port->xmt.wix+1) % SIRQ_LEN;\r
+ serial_irq_set(&port->uart, TxIrq, 1);\r
+}\r
+\r
+/* Read byte from the port */\r
+int sirq_getc(sirq_t *port)\r
+{\r
+ int byte = 0;\r
+ if (port->rcv.rix < port->rcv.wix) {\r
+ byte = port->rcv.buf[port->rcv.rix];\r
+ port->rcv.rix = (port->rcv.rix+1) % SIRQ_LEN;\r
+ }\r
+ return byte;\r
+}\r
+\r
+/* Buffered write */\r
+void sirq_write(sirq_t *port, void *data, int len)\r
+{\r
+ uint8_t *bytes = (uint8_t*)data;\r
+ for (int i = 0; i < len; i++)\r
+ sirq_putc(port, bytes[i]);\r
+}\r
+\r
+/* Check if port is writable */\r
+int sirq_ready(sirq_t *port)\r
+{\r
+ return port->rcv.rix < port->rcv.wix;\r
+}\r
+\r
+/* Write ASCII data to the output queue */\r
+void sirq_vprintf(const char *fmt, va_list ap)\r
+{\r
+ static char buf[512];\r
+ int len = vsnprintf(buf, sizeof(buf), fmt, ap);\r
+ for (int i = 0; i < len; i++)\r
+ sirq_putc(&sirq_ports[0], buf[i]);\r
+}\r
+\r
+void sirq_printf(const char *fmt, ...)\r
+{\r
+ va_list ap;\r
+ va_start(ap, fmt);\r
+ sirq_vprintf(fmt, ap);\r
+ va_end(ap);\r
+}\r
--- /dev/null
+#ifndef SERIAL_IRQ_H
+#define SERIAL_IRQ_H
+
+#include <stdarg.h>
+#include <MKL46Z4.h>
+#include <PinNames.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Sizes */
+#define SIRQ_NUM_UART 3
+
+/* Serial Ports */
+typedef enum {
+ SIRQ_UART0,
+ SIRQ_UART1,
+ SIRQ_UART2,
+} sirq_uart_t;
+
+/* Port */
+typedef struct sirq_t sirq_t;
+
+/* Open */
+sirq_t *sirq_open(sirq_uart_t uart, PinName tx, PinName rx, int baud);
+
+/* Read/Write */
+void sirq_putc(sirq_t *port, int byte);
+int sirq_getc(sirq_t *port);
+void sirq_write(sirq_t *port, void *data, int len);
+
+/* Read In */
+int sirq_ready(sirq_t *port);
+
+/* Print */
+void sirq_vprintf(const char *fmt, va_list ap);
+void sirq_printf(const char *fmt, ...);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
}\r
\r
/* DMA Functions */\r
-tdma_t *tdma_open(tdma_chan_t chan, PinName pin, PinMode mode)\r
+tdma_t *tdma_open(tdma_chan_t chan, int alt, PinName pin, PinMode mode)\r
{\r
int req = pin >= PTD0 ? TDMA_REQ_PTD :\r
pin >= PTC0 ? TDMA_REQ_PTC :\r
| DMA_DCR_DINC_MASK // Dest increment\r
| DMA_DCR_SSIZE(0) // 32-bit access\r
| DMA_DCR_DSIZE(0) // 32-bit access\r
- | DMA_DCR_ERQ_MASK; // Enable port request\r
+ | DMA_DCR_D_REQ_MASK; // Only run once\r
\r
// Setup and enable DMA MUX\r
port->mux->cfg = DMAMUX_CHCFG_SOURCE(req) // Request source\r
\r
// Set pin to generate DMA req\r
port->pin->pcr = PORT_PCR_ISF_MASK // Clear ISR flag\r
- | PORT_PCR_MUX(3) // Pin mapping\r
+ | PORT_PCR_MUX(alt) // Pin mapping\r
| PORT_PCR_IRQC(ircq) // DMA on falling edge\r
| mode; // Pin pull up/down\r
\r
+ // Initial reset\r
+ tdma_reset(port);\r
+\r
return port;\r
}\r
\r
void tdma_reset(tdma_t *port)\r
{\r
+ if (!port)\r
+ return;\r
+\r
// Clear previous time\r
port->time[0] = 0;\r
port->time[1] = 0;\r
\r
+ // Freeze DMA channel\r
+ port->dma->dcr &= ~DMA_DCR_ERQ_MASK;\r
+\r
// Reset DMA channel\r
- port->dma->dsr = DMA_DSR_BCR_DONE_MASK;\r
+ port->dma->dsr = DMA_DSR_BCR_DONE_MASK;\r
\r
// Set addresses and size\r
- port->dma->sar = (uint32_t)&PIT->LTMR64H; // Global timer\r
- port->dma->dar = (uint32_t)&port->time; // Temp timer buffer\r
- port->dma->dsr = DMA_DSR_BCR_BCR(8); // 64-bit timer\r
+ port->dma->sar = (uint32_t)&PIT->LTMR64H; // Global timer\r
+ port->dma->dar = (uint32_t)&port->time; // Temp timer buffer\r
+ port->dma->dsr = DMA_DSR_BCR_BCR(8); // 64-bit timer\r
+\r
+ // Enable port request\r
+ port->dma->dcr |= DMA_DCR_ERQ_MASK;\r
}\r
\r
int tdma_stamp(tdma_t *port, uint64_t *time)\r
{\r
+ uint64_t clocks;\r
+\r
+ if (!port)\r
+ return 0;\r
+\r
if (port->dma->dsr & DMA_DSR_BCR_BCR_MASK)\r
return 0;\r
\r
// Read the timestamp\r
- *time = ((uint64_t)~port->time[0]) << 32\r
- | ((uint64_t)~port->time[1]) << 0;\r
+ clocks = ((uint64_t)~port->time[0]) << 32\r
+ | ((uint64_t)~port->time[1]) << 0;\r
\r
- // Debug output..\r
- //printf(" - sar:%08lx dar:%08lx pcr:%08lx dsr:%08lx time:%08lx:%08lx",\r
- // port->dma->sar, port->dma->dar,\r
- // port->pin->pcr, port->dma->dsr,\r
- // (uint32_t)(*time >> 32), (uint32_t)*time);\r
+ // Convert to nanoseconds\r
+ *time = clocks * 1000 / 24;\r
\r
return 1;\r
}\r
+\r
+uint64_t tdma_time(void)\r
+{\r
+ uint32_t tmh = PIT->LTMR64H;\r
+ uint32_t tml = PIT->LTMR64L;\r
+\r
+ // Read the timestamp\r
+ uint64_t clocks = ((uint64_t)~tmh) << 32\r
+ | ((uint64_t)~tml) << 0;\r
+\r
+ // Convert to nanoseconds\r
+ return clocks * 1000 / 24;\r
+}\r
+\r
+void tdma_debug(tdma_t *port)\r
+{\r
+ int dsr = port->dma->dsr;\r
+ int dcr = port->dma->dcr;\r
+\r
+ printf("dsr: %s %s %s %s %s %s %d\r\n",\r
+ dsr & DMA_DSR_BCR_CE_MASK ? "CE" : "ce",\r
+ dsr & DMA_DSR_BCR_BES_MASK ? "BSE" : "bse",\r
+ dsr & DMA_DSR_BCR_BED_MASK ? "BED" : "bed",\r
+ dsr & DMA_DSR_BCR_REQ_MASK ? "REQ" : "req",\r
+ dsr & DMA_DSR_BCR_BSY_MASK ? "BSY" : "bsy",\r
+ dsr & DMA_DSR_BCR_DONE_MASK ? "DONE" : "done",\r
+ dsr & DMA_DSR_BCR_BCR_MASK);\r
+\r
+ printf("dcr: %s %s %s %s %s %s %s %s ssize=%d:%d mod=%d:%d link=%d:%d:%d\r\n",\r
+ dcr & DMA_DCR_EINT_MASK ? "EINT" : "eint",\r
+ dcr & DMA_DCR_ERQ_MASK ? "ERQ" : "erq",\r
+ dcr & DMA_DCR_CS_MASK ? "CS" : "cs",\r
+ dcr & DMA_DCR_AA_MASK ? "AA" : "aa",\r
+ dcr & DMA_DCR_EADREQ_MASK ? "EADRREQ" : "eadrreq",\r
+ dcr & DMA_DCR_SINC_MASK ? "SINC" : "sinc",\r
+ dcr & DMA_DCR_DINC_MASK ? "DINC" : "dinc",\r
+ dcr & DMA_DCR_D_REQ_MASK ? "DREQ" : "dreq",\r
+ (dcr & DMA_DCR_SSIZE_MASK ) >> DMA_DCR_SSIZE_SHIFT,\r
+ (dcr & DMA_DCR_DSIZE_MASK ) >> DMA_DCR_DSIZE_SHIFT,\r
+ (dcr & DMA_DCR_SMOD_MASK ) >> DMA_DCR_SMOD_SHIFT,\r
+ (dcr & DMA_DCR_DMOD_MASK ) >> DMA_DCR_DMOD_SHIFT,\r
+ (dcr & DMA_DCR_LINKCC_MASK) >> DMA_DCR_LINKCC_SHIFT,\r
+ (dcr & DMA_DCR_LCH1_MASK ) >> DMA_DCR_LCH1_SHIFT,\r
+ (dcr & DMA_DCR_LCH2_MASK ) >> DMA_DCR_LCH2_SHIFT);\r
+}\r
void tdma_init(void);
/* Open */
-tdma_t *tdma_open(tdma_chan_t chan, PinName pin, PinMode mode);
+tdma_t *tdma_open(tdma_chan_t chan, int alt, PinName pin, PinMode mode);
/* Flush/Wait */
void tdma_reset(tdma_t *port);
int tdma_stamp(tdma_t *port, uint64_t *time);
+/* Time */
+uint64_t tdma_time(void);
+
+/* Debug print */
+void tdma_debug(tdma_t *port);
+
#ifdef __cplusplus
}
#endif
projects / ~andy / csm213a-hw / commitdiff