#include <stdio.h>
#include <inttypes.h>
#include <stdarg.h>
#include "gpio.h"
#include "uart.h"
#include "endpoint.h"
#include "minic.h"
#include "pps_gen.h"
#include "ptpd.h"
#include "ptpd_netif.h"
RunTimeOpts rtOpts = {
.announceInterval = DEFAULT_ANNOUNCE_INTERVAL,
.syncInterval = DEFAULT_SYNC_INTERVAL,
.clockQuality.clockAccuracy = DEFAULT_CLOCK_ACCURACY,
.clockQuality.clockClass = DEFAULT_CLOCK_CLASS,
.clockQuality.offsetScaledLogVariance = DEFAULT_CLOCK_VARIANCE,
.priority1 = DEFAULT_PRIORITY1,
.priority2 = DEFAULT_PRIORITY2,
.domainNumber = DEFAULT_DOMAIN_NUMBER,
.currentUtcOffset = DEFAULT_UTC_OFFSET,
.noResetClock = DEFAULT_NO_RESET_CLOCK,
.noAdjust = NO_ADJUST,
.inboundLatency.nanoseconds = DEFAULT_INBOUND_LATENCY,
.outboundLatency.nanoseconds = DEFAULT_OUTBOUND_LATENCY,
.s = DEFAULT_DELAY_S,
.ap = DEFAULT_AP,
.ai = DEFAULT_AI,
.max_foreign_records = DEFAULT_MAX_FOREIGN_RECORDS,
#ifdef WRPC_SLAVE
.slaveOnly = TRUE,
#else
.slaveOnly = FALSE,
#endif
/**************** White Rabbit *************************/
.autoPortDiscovery = FALSE, /*if TRUE: automagically discovers how many ports we have (and how many up-s); else takes from .portNumber*/
.portNumber = 1,
.calPeriod = WR_DEFAULT_CAL_PERIOD,
.E2E_mode = TRUE,
.wrStateRetry = WR_DEFAULT_STATE_REPEAT,
.wrStateTimeout= WR_DEFAULT_STATE_TIMEOUT_MS,
.deltasKnown = TRUE, //WR_DEFAULT_DELTAS_KNOWN,
.knownDeltaTx = 0,//WR_DEFAULT_DELTA_TX,
.knownDeltaRx = 0,//WR_DEFAULT_DELTA_RX,
/*SLAVE only or MASTER only*/
#ifdef WRPC_SLAVE
.primarySource = FALSE,
.wrConfig = WR_S_ONLY,
.masterOnly = FALSE,
#endif
#ifdef WRPC_MASTER
.primarySource = TRUE,
.wrConfig = WR_M_ONLY,
.masterOnly = TRUE,
#endif
/********************************************************/
};
static PtpPortDS *ptpPortDS;
static PtpClockDS ptpClockDS;
volatile int count = 0;
uint32_t tag_prev;
uint32_t tics_last;
void test_transition()
{
int phase = 0;
softpll_enable();
while(!softpll_check_lock()) timer_delay(1000);
for(;;)
{ struct hw_timestamp hwts;
uint8_t buf_hdr[18], buf[128];
if(minic_rx_frame(buf_hdr, buf, 128, &hwts) > 0)
{
printf("phase %d ahead %d\n", phase, hwts.ahead);
phase+=100;
softpll_set_phase(phase);
timer_delay(10);
}
}
}
int last_btn0;
int button_pressed()
{
int p;
int btn0 = gpio_in(GPIO_PIN_BTN1);
p=!btn0 && last_btn0;
last_btn0 = btn0;
return p;
}
int enable_tracking = 1;
void rx_test()
{
uint8_t mac[]= {0x1, 0x1b, 0x19, 0,0,0};
uint16_t buf[100];
wr_socket_t *sock;
wr_sockaddr_t addr;
memcpy(addr.mac, mac, 6);
addr.ethertype = 0x88f7;
ptpd_netif_init();
sock = ptpd_netif_create_socket(PTPD_SOCK_RAW_ETHERNET, 0, &addr);
mprintf("Sock @ %x\n", sock);
wrc_extra_debug = 0;
for(;;)
{
update_rx_queues();
int n = ptpd_netif_recvfrom(sock, &addr, buf, sizeof(buf), NULL);
if(n>0)
{
uint16_t sum = 0 ,i, rx;
rx=n;
n= buf[0];
for(i=1;i<n;i++) sum+=buf[i];
mprintf("%x %x\n", sum, buf[n]);
if(sum != buf[n])
{
mprintf("****************** ERR: rxed %d size %d\n", rx, n);
}
}
timer_delay(10);
mprintf(".");
}
}
void wrc_initialize()
{
int ret;
uint32_t dna_lo, dna_hi;
uint8_t mac_addr[6];
uart_init();
uart_write_string(__FILE__ " is up (compiled on "
__DATE__ " " __TIME__ ")\n");
mprintf("wr_core: starting up (press G to launch the GUI and D for extra debug messages)....\n");
dna_read(&dna_lo, &dna_hi);
mac_addr[0] = 0;
mac_addr[1] = 0x50;
mac_addr[2] = (dna_lo >> 24) & 0xff;
mac_addr[3] = (dna_lo >> 16) & 0xff;
mac_addr[4] = (dna_lo >> 8) & 0xff;
mac_addr[5] = (dna_lo >> 0) & 0xff;
mprintf("wr_core: local MAC address: %02x:%02x:%02x:%02x:%02x:%02x\n", mac_addr[0],mac_addr[1],mac_addr[2],mac_addr[3],mac_addr[4],mac_addr[5]);
ep_init(mac_addr);
ep_enable(1, 1);
minic_init();
pps_gen_init();
// for(;;);
// rx_test();
netStartup();
gpio_dir(GPIO_PIN_BTN1, 0);
gpio_dir(GPIO_PIN_LED_LINK, 1);
gpio_out(GPIO_PIN_LED_LINK, 0);
gpio_dir(GPIO_PIN_LED_STATUS, 1);
wr_servo_man_adjust_phase(-11600 + 1700);
displayConfigINFO(&rtOpts);
ptpPortDS = ptpdStartup(0, NULL, &ret, &rtOpts, &ptpClockDS);
initDataClock(&rtOpts, &ptpClockDS);
}
#define LINK_WENT_UP 1
#define LINK_WENT_DOWN 2
#define LINK_UP 3
#define LINK_DOWN 4
int wrc_check_link()
{
static int prev_link_state = -1;
int link_state = ep_link_up();
int rv = 0;
if(!prev_link_state && link_state)
{
TRACE_DEV("Link up.\n");
gpio_out(GPIO_PIN_LED_LINK, 1);
rv = LINK_WENT_UP;
} else if(prev_link_state && !link_state)
{
TRACE_DEV("Link down.\n");
gpio_out(GPIO_PIN_LED_LINK, 0);
rv = LINK_WENT_DOWN;
} else rv = (link_state ? LINK_UP : LINK_DOWN);
prev_link_state = link_state;
return rv;
}
int wrc_extra_debug = 1;
int wrc_gui_mode = 0;
void wrc_debug_printf(int subsys, const char *fmt, ...)
{
va_list ap;
if(wrc_gui_mode) return;
va_start(ap, fmt);
if(wrc_extra_debug || (!wrc_extra_debug && (subsys & TRACE_SERVO)))
vprintf(fmt, ap);
va_end(ap);
}
static int wrc_enable_tracking = 1;
int wrc_man_phase = 0;
void wrc_handle_input()
{
if(uart_poll())
{
int x = uart_read_byte();
switch(x)
{
case 'g':
wrc_gui_mode = 1 - wrc_gui_mode;
if(!wrc_gui_mode)
{
m_term_clear();
wrc_debug_printf(0, "Exiting GUI mode\n");
}
break;
case 'd':
wrc_extra_debug = 1 - wrc_extra_debug;
wrc_debug_printf(0,"Verbose debug %s.\n", wrc_extra_debug ? "enabled" : "disabled");
break;
case 't':
wrc_enable_tracking = 1 - wrc_enable_tracking;
wr_servo_enable_tracking(wrc_enable_tracking);
wrc_debug_printf(0,"Phase tracking %s.\n", wrc_enable_tracking ? "enabled" : "disabled");
break;
case '+':
case '-':
wrc_man_phase += (x=='+' ? 100 : -100);
wrc_debug_printf(0,"Manual phase adjust: %d\n", wrc_man_phase);
wr_servo_man_adjust_phase(wrc_man_phase);
break;
}
}
}
extern volatile int irq_cnt;
int main(void)
{
int rx, tx;
int link_went_up, link_went_down;
int prev_link_state= 0, link_state;
int16_t ret;
wrc_initialize();
for(;;)
{
wrc_handle_input();
if(wrc_gui_mode)
wrc_mon_gui();
int l_status = wrc_check_link();
switch (l_status)
{
case LINK_WENT_UP:
// mprintf("**********************************S\n");
/* kill_sockets();
netStartup();
ptpPortDS = ptpdStartup(0, NULL, &ret, &rtOpts, &ptpClockDS);
initDataClock(&rtOpts, &ptpClockDS);
protocol_restart(&rtOpts, &ptpClockDS);*/
break;
case LINK_UP:
// softpll_check_lock();
update_rx_queues();
break;
case LINK_WENT_DOWN:
softpll_disable();
break;
}
// mprintf(".");
protocol_nonblock(&rtOpts, ptpPortDS);
}
}