From: Andy Spencer <andy753421@gmail.com>
Date: Mon, 10 Mar 2014 02:24:16 +0000 (+0000)
Subject: Update testing code
X-Git-Url: http://pileus.org/git/?p=~andy%2Fcsm213a-hw;a=commitdiff_plain;h=dec03d99cf30468a4d8a5978c74766f61f15c6de

Update testing code
---

diff --git a/hw2/main.cpp b/hw2/main.cpp
index 82f28f7..108000e 100644
--- a/hw2/main.cpp
+++ b/hw2/main.cpp
@@ -86,12 +86,25 @@ void time_ext_init(uint64_t local, uint64_t world)
  */
 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));
+	uint64_t guess = time_to_world(local);
+	uint64_t error = world > guess ? world - guess :
+	                 guess > world ? guess - world : 0;
+	int      ahead = guess > world;
 
 	time_last_local = local;
-	time_last_world = world;
+	time_last_world = guess/2 + world/2;
+
+	world = time_last_world;
+
+	sirq_printf("syncing clocks: %d=%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));
 }
 
 /************************
@@ -104,7 +117,7 @@ typedef struct {
 	uint8_t  buffer[256];
 } parser_t;
 
-const  uint64_t serial_sync_delay = NSEC_PER_SEC * 2; // 1hz
+const  uint64_t serial_sync_delay = NSEC_PER_SEC / 10; // 1hz
 static uint64_t serial_sync_due   = 0;
 
 static tdma_t  *serial_tdma_rcv   = NULL;
@@ -148,7 +161,7 @@ void serial_send_sync(sirq_t *port, uint64_t now)
 	serial_sync_due  = 0;
 
 	// Debug
-	sirq_printf("sync msg transmit\r\n");
+	//sirq_printf("sync msg transmit\r\n");
 
 	// save transmit time
 	for (int i = 0; i < 1000; i++)
@@ -156,6 +169,7 @@ void serial_send_sync(sirq_t *port, uint64_t now)
 	int valid = tdma_stamp(serial_tdma_xmt, &serial_xmt_local);
 	if (!valid)
 		sirq_printf("missing sync transmit time\r\n");
+	tdma_reset(serial_tdma_rcv);
 	tdma_reset(serial_tdma_xmt);
 }
 
@@ -172,7 +186,7 @@ void serial_send_event(uint16_t event, uint64_t local)
 	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",
+	sirq_printf("event received - %08x:%08x - %u.%09u\r\n",
 		(uint32_t)(local >> 32), (uint32_t)local,
 		time.seconds, time.nanosec);
 	// todo
@@ -189,6 +203,7 @@ void serial_handle_sync(sync_msg_t *msg)
 	if (!valid)
 		sirq_printf("missing sync receive time\r\n");
 	tdma_reset(serial_tdma_rcv);
+	tdma_reset(serial_tdma_xmt);
 
 	// Lookup times
 	uint64_t world = ((uint64_t)msg->time.seconds) * NSEC_PER_SEC
@@ -228,11 +243,11 @@ void serial_deliver(int msgid, void *body)
 {
 	switch (msgid) {
 		case MSG_ID_SYNC:
-			sirq_printf("received sync msg\r\n");
+			//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");
+			//sirq_printf("received event msg\r\n");
 			serial_handle_event((event_msg_t*)body);
 			break;
 	}
@@ -349,7 +364,7 @@ void task_events(uint64_t local, uint64_t world)
 
 void task_sync(uint64_t local, uint64_t world)
 {
-	serial_send_sync(sirq_bbb, local);
+	serial_send_sync(sirq_mbed, local);
 }
 
 void task_leds(uint64_t local, uint64_t world)
@@ -363,11 +378,13 @@ void task_leds(uint64_t local, uint64_t world)
 void task_debug(uint64_t local, uint64_t world)
 {
 	//tdma_debug(tdma_rcv);
-	sirq_printf("background - %6d.%02d -> %d.%02d\r\n",
+#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
 }
 
 /********
@@ -412,8 +429,8 @@ int main(int argc, char **argv)
 
 	// 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
+	sirq_bbb   = sirq_open(SIRQ_UART1, PTE0,  PTE1,  115200); // to bbb
+	sirq_mbed  = sirq_open(SIRQ_UART2, PTD3,  PTD2,  115200); // to mbed
 
 
 	// Setup timers