Skip to content

S
Software for White Rabbit PTP Core
Commit 80bf6284 authored by Grzegorz Daniluk's avatar Grzegorz Daniluk
Browse files
Options

testing new softpll

parent 499cc23e
Hide whitespace changes
Inline Side-by-side
Showing with 935 additions and 142 deletions
Makefile
View file @ 80bf6284
PLATFORM = lm32
OBJS_WRC = wrc_main.o dev/uart.o dev/endpoint.o dev/minic.o dev/pps_gen.o dev/syscon.o dev/i2c.o dev/eeprom.o dev/onewire.o dev/softpll.o lib/mprintf.o monitor/monitor.o dev/ep_pfilter.o dev/dna.o
OBJS_WRC = wrc_main.o dev/uart.o dev/endpoint.o dev/syscon.o dev/softpll_ng.o lib/mprintf.o dev/ep_pfilter.o dev/dna.o
D = ptp-noposix
PTPD_CFLAGS = -ffreestanding -DPTPD_FREESTANDING -DWRPC_EXTRA_SLIM -DPTPD_MSBF -DPTPD_DBG
......@@ -9,20 +9,20 @@ PTPD_CFLAGS += -Wall -ggdb -I$D/wrsw_hal \
-include $D/compat.h -include $D/PTPWRd/dep/trace.h -include $D/libposix/ptpd-wrappers.h
PTPD_CFLAGS += -DPTPD_NO_DAEMON -DNEW_SINGLE_WRFSM -DPTPD_TRACE_MASK=0
OBJS_PTPD = $D/PTPWRd/arith.o
OBJS_PTPD += $D/PTPWRd/bmc.o
OBJS_PTPD += $D/PTPWRd/dep/msg.o
OBJS_PTPD += $D/PTPWRd/dep/net.o
OBJS_PTPD += $D/PTPWRd/dep/servo.o
OBJS_PTPD += $D/PTPWRd/dep/sys.o
OBJS_PTPD += $D/PTPWRd/dep/timer.o
OBJS_PTPD += $D/PTPWRd/dep/wr_servo.o
OBJS_PTPD += $D/PTPWRd/protocol.o
OBJS_PTPD += $D/PTPWRd/wr_protocol.o
OBJS_PTPD_FREE = $D/libposix/freestanding-startup.o
OBJS_PTPD_FREE += $D/libposix/freestanding-display.o
OBJS_PTPD_FREE += $D/libposix/wr_nolibs.o
OBJS_PTPD_FREE += $D/libposix/freestanding-wrapper.o
#OBJS_PTPD = $D/PTPWRd/arith.o
#OBJS_PTPD += $D/PTPWRd/bmc.o
#OBJS_PTPD += $D/PTPWRd/dep/msg.o
#OBJS_PTPD += $D/PTPWRd/dep/net.o
#OBJS_PTPD += $D/PTPWRd/dep/servo.o
#OBJS_PTPD += $D/PTPWRd/dep/sys.o
#OBJS_PTPD += $D/PTPWRd/dep/timer.o
#OBJS_PTPD += $D/PTPWRd/dep/wr_servo.o
#OBJS_PTPD += $D/PTPWRd/protocol.o
#OBJS_PTPD += $D/PTPWRd/wr_protocol.o
#OBJS_PTPD_FREE = $D/libposix/freestanding-startup.o
#OBJS_PTPD_FREE += $D/libposix/freestanding-display.o
#OBJS_PTPD_FREE += $D/libposix/wr_nolibs.o
#OBJS_PTPD_FREE += $D/libposix/freestanding-wrapper.o
ifeq ($(PLATFORM), zpu)
CFLAGS_PLATFORM = -abel -Wl,--relax -Wl,--gc-sections
......
dev/softpll_ng.c 0 → 100644
View file @ 80bf6284
#include <stdio.h>
#include <stdlib.h>
#include "board.h"
#include "timer.h"
#include "trace.h"
#include "hw/softpll_regs.h"
#include "irq.h"
volatile int irq_count = 0,eee,yyy,py;
static volatile struct SPLL_WB *SPLL = (volatile struct SPLL_WB *) BASE_SOFTPLL;
/* The includes below contain code (not only declarations) to enable the compiler
to inline functions where necessary and save some CPU cycles */
#include "spll_defs.h"
#include "spll_common.h"
#include "spll_debug.h"
#include "spll_helper.h"
#include "spll_main.h"
#include "spll_ptracker.h"
static struct spll_helper_state helper;
static struct spll_main_state mpll;
void _irq_entry()
{
volatile uint32_t trr;
int src = -1, tag;
if(! (SPLL->CSR & SPLL_TRR_CSR_EMPTY))
{
trr = SPLL->TRR_R0;
src = SPLL_TRR_R0_CHAN_ID_R(trr);
tag = SPLL_TRR_R0_VALUE_R(trr);
helper_update(&helper, tag, src);
mpll_update(&mpll, tag, src);
}
irq_count++;
//TRACE_DEV("%u\n", irq_count);
clear_irq();
}
void spll_init()
{
volatile int dummy;
disable_irq();
n_chan_ref = SPLL_CSR_N_REF_R(SPLL->CSR);
n_chan_out = SPLL_CSR_N_OUT_R(SPLL->CSR);
TRACE_DEV("SPLL_Init: %d ref channels, %d out channels\n", n_chan_ref, n_chan_out);
SPLL->DAC_HPLL = 0;
TRACE_DEV("delay on\n");
timer_delay(1000);
//GD timer_delay(100000);
//GD
helper_init(&helper, 1);
timer_delay(1000);
TRACE_DEV("delay off\n");
SPLL->CSR= 0 ;
SPLL->OCER = 0;
SPLL->RCER = 0;
SPLL->RCGER = 0;
SPLL->DCCR = 0;
SPLL->DEGLITCH_THR = 1000;
while(! (SPLL->TRR_CSR & SPLL_TRR_CSR_EMPTY)) dummy = SPLL->TRR_R0;
dummy = SPLL->PER_HPLL;
SPLL->EIC_IER = 1;
}
int spll_check_lock()
{
return helper.ld.locked ? 1 : 0;
}
#define CHAN_TCXO 8
void spll_test()
{
int i = 0;
volatile int dummy;
TRACE_DEV("running spll_init\n");
spll_init();
TRACE_DEV("spll_init\n");
helper_start(&helper);
TRACE_DEV("helper start\n");
mpll_init(&mpll, 0, 0); //CHAN_TCXO);
enable_irq();
TRACE_DEV("enable irq\n");
// mpll_init(&mpll, 0, CHAN_TCXO);
while(!helper.ld.locked) ;//TRACE("%d\n", helper.phase.ld.locked);
TRACE_DEV("Helper locked, starting main\n");
mpll_start(&mpll);
}
/*
#define CHAN_AUX 7
#define CHAN_EXT 6
int spll_gm_measure_ext_phase()
{
SPLL->CSR = 0;
SPLL->DCCR = SPLL_DCCR_GATE_DIV_W(25);
SPLL->RCGER = (1<<CHAN_AUX);
SPLL->RCGER = (1<<CHAN_EXT);
}
*/
include/hw/softpll_regs.h
View file @ 80bf6284
......@@ -2,17 +2,17 @@
Register definitions for slave core: WR Softcore PLL
* File : softpll_regs.h
* Author : auto-generated by wbgen2 from wr_softpll.wb
* Created : Thu Oct 27 23:54:06 2011
* Author : auto-generated by wbgen2 from spll_wb_slave.wb
* Created : Mon Mar 12 16:02:27 2012
* Standard : ANSI C
THIS FILE WAS GENERATED BY wbgen2 FROM SOURCE FILE wr_softpll.wb
THIS FILE WAS GENERATED BY wbgen2 FROM SOURCE FILE spll_wb_slave.wb
DO NOT HAND-EDIT UNLESS IT'S ABSOLUTELY NECESSARY!
*/
#ifndef __WBGEN2_REGDEFS_WR_SOFTPLL_WB
#define __WBGEN2_REGDEFS_WR_SOFTPLL_WB
#ifndef __WBGEN2_REGDEFS_SPLL_WB_SLAVE_WB
#define __WBGEN2_REGDEFS_SPLL_WB_SLAVE_WB
#include <inttypes.h>
......@@ -33,40 +33,104 @@
/* definitions for register: SPLL Control/Status Register */
/* definitions for field: Tagger enable in reg: SPLL Control/Status Register */
#define SPLL_CSR_TAG_EN_MASK WBGEN2_GEN_MASK(0, 4)
#define SPLL_CSR_TAG_EN_SHIFT 0
#define SPLL_CSR_TAG_EN_W(value) WBGEN2_GEN_WRITE(value, 0, 4)
#define SPLL_CSR_TAG_EN_R(reg) WBGEN2_GEN_READ(reg, 0, 4)
/* definitions for field: Period detector reference select in reg: SPLL Control/Status Register */
#define SPLL_CSR_PER_SEL_MASK WBGEN2_GEN_MASK(0, 6)
#define SPLL_CSR_PER_SEL_SHIFT 0
#define SPLL_CSR_PER_SEL_W(value) WBGEN2_GEN_WRITE(value, 0, 6)
#define SPLL_CSR_PER_SEL_R(reg) WBGEN2_GEN_READ(reg, 0, 6)
/* definitions for field: Tag ready in reg: SPLL Control/Status Register */
#define SPLL_CSR_TAG_RDY_MASK WBGEN2_GEN_MASK(4, 4)
#define SPLL_CSR_TAG_RDY_SHIFT 4
#define SPLL_CSR_TAG_RDY_W(value) WBGEN2_GEN_WRITE(value, 4, 4)
#define SPLL_CSR_TAG_RDY_R(reg) WBGEN2_GEN_READ(reg, 4, 4)
/* definitions for field: Number of reference channels (max: 32) in reg: SPLL Control/Status Register */
#define SPLL_CSR_N_REF_MASK WBGEN2_GEN_MASK(8, 6)
#define SPLL_CSR_N_REF_SHIFT 8
#define SPLL_CSR_N_REF_W(value) WBGEN2_GEN_WRITE(value, 8, 6)
#define SPLL_CSR_N_REF_R(reg) WBGEN2_GEN_READ(reg, 8, 6)
/* definitions for field: Aux clock locking enable in reg: SPLL Control/Status Register */
#define SPLL_CSR_AUX_EN WBGEN2_GEN_MASK(8, 1)
/* definitions for field: Number of output channels (max: 8) in reg: SPLL Control/Status Register */
#define SPLL_CSR_N_OUT_MASK WBGEN2_GEN_MASK(16, 3)
#define SPLL_CSR_N_OUT_SHIFT 16
#define SPLL_CSR_N_OUT_W(value) WBGEN2_GEN_WRITE(value, 16, 3)
#define SPLL_CSR_N_OUT_R(reg) WBGEN2_GEN_READ(reg, 16, 3)
/* definitions for field: Aux clock locked flag (to slave) in reg: SPLL Control/Status Register */
#define SPLL_CSR_AUX_LOCK WBGEN2_GEN_MASK(9, 1)
/* definitions for field: Enable Period Measurement in reg: SPLL Control/Status Register */
#define SPLL_CSR_PER_EN WBGEN2_GEN_MASK(19, 1)
/* definitions for register: HPLL Frequency Error */
/* definitions for register: DMTD Clock Control Register */
/* definitions for register: DMPLL Tag ref */
/* definitions for field: DMTD Clock Gate Divider in reg: DMTD Clock Control Register */
#define SPLL_DCCR_GATE_DIV_MASK WBGEN2_GEN_MASK(0, 6)
#define SPLL_DCCR_GATE_DIV_SHIFT 0
#define SPLL_DCCR_GATE_DIV_W(value) WBGEN2_GEN_WRITE(value, 0, 6)
#define SPLL_DCCR_GATE_DIV_R(reg) WBGEN2_GEN_READ(reg, 0, 6)
/* definitions for register: DMPLL Tag fb */
/* definitions for register: Reference Channel Gating Enable Register */
/* definitions for register: DMPLL Tag aux */
/* definitions for field: Reference Channel Gating Enable in reg: Reference Channel Gating Enable Register */
#define SPLL_RCGER_GATE_SEL_MASK WBGEN2_GEN_MASK(0, 32)
#define SPLL_RCGER_GATE_SEL_SHIFT 0
#define SPLL_RCGER_GATE_SEL_W(value) WBGEN2_GEN_WRITE(value, 0, 32)
#define SPLL_RCGER_GATE_SEL_R(reg) WBGEN2_GEN_READ(reg, 0, 32)
/* definitions for register: HPLL DAC Output */
/* definitions for register: Output Channel Control Register */
/* definitions for register: DMPLL DAC Output */
/* definitions for field: Output Channel HW enable flag in reg: Output Channel Control Register */
#define SPLL_OCCR_OUT_EN_MASK WBGEN2_GEN_MASK(0, 8)
#define SPLL_OCCR_OUT_EN_SHIFT 0
#define SPLL_OCCR_OUT_EN_W(value) WBGEN2_GEN_WRITE(value, 0, 8)
#define SPLL_OCCR_OUT_EN_R(reg) WBGEN2_GEN_READ(reg, 0, 8)
/* definitions for register: AUX DAC Output */
/* definitions for field: Output Channel locked flag in reg: Output Channel Control Register */
#define SPLL_OCCR_OUT_LOCK_MASK WBGEN2_GEN_MASK(8, 8)
#define SPLL_OCCR_OUT_LOCK_SHIFT 8
#define SPLL_OCCR_OUT_LOCK_W(value) WBGEN2_GEN_WRITE(value, 8, 8)
#define SPLL_OCCR_OUT_LOCK_R(reg) WBGEN2_GEN_READ(reg, 8, 8)
/* definitions for register: Reference Channel Enable Register */
/* definitions for register: Output Channel Enable Register */
/* definitions for register: HPLL Period Error */
/* definitions for field: Period error value in reg: HPLL Period Error */
#define SPLL_PER_HPLL_ERROR_MASK WBGEN2_GEN_MASK(0, 16)
#define SPLL_PER_HPLL_ERROR_SHIFT 0
#define SPLL_PER_HPLL_ERROR_W(value) WBGEN2_GEN_WRITE(value, 0, 16)
#define SPLL_PER_HPLL_ERROR_R(reg) WBGEN2_GEN_READ(reg, 0, 16)
/* definitions for field: Period Error Valid in reg: HPLL Period Error */
#define SPLL_PER_HPLL_VALID WBGEN2_GEN_MASK(16, 1)
/* definitions for register: Helper DAC Output */
/* definitions for register: Main DAC Output */
/* definitions for field: DAC value in reg: Main DAC Output */
#define SPLL_DAC_MAIN_VALUE_MASK WBGEN2_GEN_MASK(0, 16)
#define SPLL_DAC_MAIN_VALUE_SHIFT 0
#define SPLL_DAC_MAIN_VALUE_W(value) WBGEN2_GEN_WRITE(value, 0, 16)
#define SPLL_DAC_MAIN_VALUE_R(reg) WBGEN2_GEN_READ(reg, 0, 16)
/* definitions for field: DAC select in reg: Main DAC Output */
#define SPLL_DAC_MAIN_DAC_SEL_MASK WBGEN2_GEN_MASK(16, 4)
#define SPLL_DAC_MAIN_DAC_SEL_SHIFT 16
#define SPLL_DAC_MAIN_DAC_SEL_W(value) WBGEN2_GEN_WRITE(value, 16, 4)
#define SPLL_DAC_MAIN_DAC_SEL_R(reg) WBGEN2_GEN_READ(reg, 16, 4)
/* definitions for register: Deglitcher threshold */
/* definitions for register: Debug FIFO Register - SPLL side */
/* definitions for field: Debug Value in reg: Debug FIFO Register - SPLL side */
#define SPLL_DFR_SPLL_VALUE_MASK WBGEN2_GEN_MASK(0, 31)
#define SPLL_DFR_SPLL_VALUE_SHIFT 0
#define SPLL_DFR_SPLL_VALUE_W(value) WBGEN2_GEN_WRITE(value, 0, 31)
#define SPLL_DFR_SPLL_VALUE_R(reg) WBGEN2_GEN_READ(reg, 0, 31)
/* definitions for field: End-of-Sample in reg: Debug FIFO Register - SPLL side */
#define SPLL_DFR_SPLL_EOS_MASK WBGEN2_GEN_MASK(31, 1)
#define SPLL_DFR_SPLL_EOS_SHIFT 31
#define SPLL_DFR_SPLL_EOS_W(value) WBGEN2_GEN_WRITE(value, 31, 1)
#define SPLL_DFR_SPLL_EOS_R(reg) WBGEN2_GEN_READ(reg, 31, 1)
/* definitions for register: Interrupt disable register */
/* definitions for field: Got a tag in reg: Interrupt disable register */
......@@ -87,27 +151,83 @@
/* definitions for field: Got a tag in reg: Interrupt status register */
#define SPLL_EIC_ISR_TAG WBGEN2_GEN_MASK(0, 1)
/* definitions for register: FIFO 'Debug FIFO Register - Host side' data output register 0 */
/* definitions for field: Value in reg: FIFO 'Debug FIFO Register - Host side' data output register 0 */
#define SPLL_DFR_HOST_R0_VALUE_MASK WBGEN2_GEN_MASK(0, 32)
#define SPLL_DFR_HOST_R0_VALUE_SHIFT 0
#define SPLL_DFR_HOST_R0_VALUE_W(value) WBGEN2_GEN_WRITE(value, 0, 32)
#define SPLL_DFR_HOST_R0_VALUE_R(reg) WBGEN2_GEN_READ(reg, 0, 32)
/* definitions for register: FIFO 'Debug FIFO Register - Host side' data output register 1 */
/* definitions for field: Seq ID in reg: FIFO 'Debug FIFO Register - Host side' data output register 1 */
#define SPLL_DFR_HOST_R1_SEQ_ID_MASK WBGEN2_GEN_MASK(0, 16)
#define SPLL_DFR_HOST_R1_SEQ_ID_SHIFT 0
#define SPLL_DFR_HOST_R1_SEQ_ID_W(value) WBGEN2_GEN_WRITE(value, 0, 16)
#define SPLL_DFR_HOST_R1_SEQ_ID_R(reg) WBGEN2_GEN_READ(reg, 0, 16)
/* definitions for register: FIFO 'Debug FIFO Register - Host side' control/status register */
/* definitions for field: FIFO full flag in reg: FIFO 'Debug FIFO Register - Host side' control/status register */
#define SPLL_DFR_HOST_CSR_FULL WBGEN2_GEN_MASK(16, 1)
/* definitions for field: FIFO empty flag in reg: FIFO 'Debug FIFO Register - Host side' control/status register */
#define SPLL_DFR_HOST_CSR_EMPTY WBGEN2_GEN_MASK(17, 1)
/* definitions for field: FIFO counter in reg: FIFO 'Debug FIFO Register - Host side' control/status register */
#define SPLL_DFR_HOST_CSR_USEDW_MASK WBGEN2_GEN_MASK(0, 13)
#define SPLL_DFR_HOST_CSR_USEDW_SHIFT 0
#define SPLL_DFR_HOST_CSR_USEDW_W(value) WBGEN2_GEN_WRITE(value, 0, 13)
#define SPLL_DFR_HOST_CSR_USEDW_R(reg) WBGEN2_GEN_READ(reg, 0, 13)
/* definitions for register: FIFO 'Tag Readout Register' data output register 0 */
/* definitions for field: Tag value in reg: FIFO 'Tag Readout Register' data output register 0 */
#define SPLL_TRR_R0_VALUE_MASK WBGEN2_GEN_MASK(0, 24)
#define SPLL_TRR_R0_VALUE_SHIFT 0
#define SPLL_TRR_R0_VALUE_W(value) WBGEN2_GEN_WRITE(value, 0, 24)
#define SPLL_TRR_R0_VALUE_R(reg) WBGEN2_GEN_READ(reg, 0, 24)
/* definitions for field: Channel ID in reg: FIFO 'Tag Readout Register' data output register 0 */
#define SPLL_TRR_R0_CHAN_ID_MASK WBGEN2_GEN_MASK(24, 7)
#define SPLL_TRR_R0_CHAN_ID_SHIFT 24
#define SPLL_TRR_R0_CHAN_ID_W(value) WBGEN2_GEN_WRITE(value, 24, 7)
#define SPLL_TRR_R0_CHAN_ID_R(reg) WBGEN2_GEN_READ(reg, 24, 7)
/* definitions for field: Discontinuous bit in reg: FIFO 'Tag Readout Register' data output register 0 */
#define SPLL_TRR_R0_DISC WBGEN2_GEN_MASK(31, 1)
/* definitions for register: FIFO 'Tag Readout Register' control/status register */
/* definitions for field: FIFO empty flag in reg: FIFO 'Tag Readout Register' control/status register */
#define SPLL_TRR_CSR_EMPTY WBGEN2_GEN_MASK(17, 1)
PACKED struct SPLL_WB {
/* [0x0]: REG SPLL Control/Status Register */
uint32_t CSR;
/* [0x4]: REG HPLL Frequency Error */
/* [0x4]: REG DMTD Clock Control Register */
uint32_t DCCR;
/* [0x8]: REG Reference Channel Gating Enable Register */
uint32_t RCGER;
/* [0xc]: REG Output Channel Control Register */
uint32_t OCCR;
/* [0x10]: REG Reference Channel Enable Register */
uint32_t RCER;
/* [0x14]: REG Output Channel Enable Register */
uint32_t OCER;
/* [0x18]: REG HPLL Period Error */
uint32_t PER_HPLL;
/* [0x8]: REG DMPLL Tag ref */
uint32_t TAG_REF;
/* [0xc]: REG DMPLL Tag fb */
uint32_t TAG_FB;
/* [0x10]: REG DMPLL Tag aux */
uint32_t TAG_AUX;
/* [0x14]: REG HPLL DAC Output */
/* [0x1c]: REG Helper DAC Output */
uint32_t DAC_HPLL;
/* [0x18]: REG DMPLL DAC Output */
uint32_t DAC_DMPLL;
/* [0x1c]: REG AUX DAC Output */
uint32_t DAC_AUX;
/* [0x20]: REG Deglitcher threshold */
/* [0x20]: REG Main DAC Output */
uint32_t DAC_MAIN;
/* [0x24]: REG Deglitcher threshold */
uint32_t DEGLITCH_THR;
/* [0x28]: REG Debug FIFO Register - SPLL side */
uint32_t DFR_SPLL;
/* padding to: 16 words */
uint32_t __padding_0[7];
uint32_t __padding_0[5];
/* [0x40]: REG Interrupt disable register */
uint32_t EIC_IDR;
/* [0x44]: REG Interrupt enable register */
......@@ -116,6 +236,16 @@ PACKED struct SPLL_WB {
uint32_t EIC_IMR;
/* [0x4c]: REG Interrupt status register */
uint32_t EIC_ISR;
/* [0x50]: REG FIFO 'Debug FIFO Register - Host side' data output register 0 */
uint32_t DFR_HOST_R0;
/* [0x54]: REG FIFO 'Debug FIFO Register - Host side' data output register 1 */
uint32_t DFR_HOST_R1;
/* [0x58]: REG FIFO 'Debug FIFO Register - Host side' control/status register */
uint32_t DFR_HOST_CSR;
/* [0x5c]: REG FIFO 'Tag Readout Register' data output register 0 */
uint32_t TRR_R0;
/* [0x60]: REG FIFO 'Tag Readout Register' control/status register */
uint32_t TRR_CSR;
};
#endif
include/spll_common.h 0 → 100644
View file @ 80bf6284
/*
White Rabbit Softcore PLL (SoftPLL) - common definitions
Copyright (c) 2010 - 2012 CERN / BE-CO-HT (Tomasz Włostowski)
Licensed under LGPL 2.1.
*/
/* Number of reference/output channels. Currently we support only one SoftPLL instantiation per project,
so these can remain static. */
static int n_chan_ref, n_chan_out;
/* PI regulator state */
typedef struct {
int ki, kp; /* integral and proportional gains (1<<PI_FRACBITS == 1.0f) */
int integrator; /* current integrator value */
int bias; /* DC offset always added to the output */
int anti_windup; /* when non-zero, anti-windup is enabled */
int y_min; /* min/max output range, used by clapming and antiwindup algorithms */
int y_max;
int x, y; /* Current input (x) and output value (y) */
} spll_pi_t;
/* lock detector state */
typedef struct {
int lock_cnt; /* Lock sample counter */
int lock_samples; /* Number of samples below the (threshold) to assume that we are locked */
int delock_samples; /* Accumulated number of samples that causes the PLL go get out of lock.
delock_samples < lock_samples. */
int threshold; /* Error threshold */
int locked; /* Non-zero: we are locked */
} spll_lock_det_t;
/* Processes a single sample (x) with PI control algorithm (pi). Returns the value (y) to
drive the actuator. */
static inline int pi_update(spll_pi_t *pi, int x)
{
int i_new, y;
pi->x = x;
i_new = pi->integrator + x;
y = ((i_new * pi->ki + x * pi->kp) >> PI_FRACBITS) + pi->bias;
/* clamping (output has to be in <y_min, y_max>) and anti-windup:
stop the integrator if the output is already out of range and the output
is going further away from y_min/y_max. */
if(y < pi->y_min)
{
y = pi->y_min;
if((pi->anti_windup && (i_new > pi->integrator)) || !pi->anti_windup)
pi->integrator = i_new;
} else if (y > pi->y_max) {
y = pi->y_max;
if((pi->anti_windup && (i_new < pi->integrator)) || !pi->anti_windup)
pi->integrator = i_new;
} else /* No antiwindup/clamping? */
pi->integrator = i_new;
pi->y = y;
return y;
}
/* initializes the PI controller state. Currently almost a stub. */
static inline void pi_init(spll_pi_t *pi)
{
pi->integrator = 0;
}
/* Lock detector state machine. Takes an error sample (y) and checks if it's withing an acceptable range
(i.e. <-ld.threshold, ld.threshold>. If it has been inside the range for (ld.lock_samples) cyckes, the
FSM assumes the PLL is locked.
Return value:
0: PLL not locked
1: PLL locked
-1: PLL just got out of lock
*/
static inline int ld_update(spll_lock_det_t *ld, int y)
{
if (abs(y) <= ld->threshold)
{
if(ld->lock_cnt < ld->lock_samples)
ld->lock_cnt++;
if(ld->lock_cnt == ld->lock_samples)
{
ld->locked = 1;
return 1;
}
} else {
if(ld->lock_cnt > ld->delock_samples)
ld->lock_cnt--;
if(ld->lock_cnt == ld->delock_samples)
{
ld->lock_cnt= 0;
ld->locked = 0;
return -1;
}
}
return ld->locked;
}
static void ld_init(spll_lock_det_t *ld)
{
ld->locked = 0;
ld->lock_cnt = 0;
}
/* Enables/disables DDMTD tag generation on a given (channel).
Channels (0 ... n_chan_ref - 1) are the reference channels (e.g. transceivers' RX clocks
or a local reference)
Channels (n_chan_ref ... n_chan_out + n_chan_ref-1) are the output channels (local voltage
controlled oscillators). One output (usually the first one) is always used to drive the
oscillator which produces the reference clock for the transceiver. Other outputs can be
used to discipline external oscillators (e.g. on FMCs).
*/
static void spll_enable_tagger(int channel, int enable)
{
if(channel >= n_chan_ref) /* Output channel? */
{
if(enable)
SPLL->OCER |= 1<< (channel - n_chan_ref);
else
SPLL->OCER &= ~ (1<< (channel - n_chan_ref));
} else { /* Reference channel */
if(enable)
SPLL->RCER |= 1<<channel;
else
SPLL->RCER &= ~ (1<<channel);
}
TRACE_DEV("%s: ch %d, OCER 0x%x, RCER 0x%x\n", __FUNCTION__, channel, SPLL->OCER, SPLL->RCER);
}
include/spll_debug.h 0 → 100644
View file @ 80bf6284
/*
White Rabbit Softcore PLL (SoftPLL) - debugging/diagnostic interface
The so-called debug inteface is a large, interrupt-driven FIFO which passes
various realtime parameters (e.g. error value, tags, DAC drive) to an external
application where they can be analyzed. It's very useful for optimizing PI coefficients
and/or lock thresholds.
The data is organized as a stream of samples, where each sample can store a number of parameters.
For example, a stream samples with Y and ERR parameters can be used to evaluate the impact of
integral/proportional gains on the response of the system.
*/
#define DBG_Y 0
#define DBG_ERR 1
#define DBG_TAG 2
#define DBG_REF 5
#define DBG_PERIOD 3
#define DBG_EVENT 4
#define DBG_SAMPLE_ID 6
#define DBG_HELPER 0x20 /* Sample source: Helper PLL */
#define DBG_MAIN 0x0 /* ... : Main PLL */
#define DBG_EVT_START 1 /* PLL has just started */
#define DBG_EVT_LOCKED 2 /* PLL has just become locked */
/* Writes a parameter to the debug FIFO.
value: value of the parameter.
what: type of the parameter and its' source. For example,
- DBG_ERR | DBG_HELPER means that (value) contains the phase error of the helper PLL.
- DBG_EVENT indicates an asynchronous event. (value) must contain the event type (DBG_EVT_xxx)
last: when non-zero, indicates the last parameter in a sample.
*/
static inline void spll_debug(int what, int value, int last)
{
SPLL->DFR_SPLL = (last ? 0x80000000 : 0) | (value & 0xffffff) | (what << 24);
}
include/spll_defs.h 0 → 100644
View file @ 80bf6284
/*
White Rabbit Softcore PLL (SoftPLL) - common definitions
WARNING: These parameters must be in sync with the generics of the HDL instantiation of wr_softpll_ng.
*/
#include <stdio.h>
/* Reference clock frequency, in [Hz] */
#define CLOCK_FREQ 62500000
/* Number of bits in phase tags generated by the DMTDs. Used to sign-extend the tags.
Corresponding VHDL generic: g_tag_bits. */
#define TAG_BITS 22
/* Helper PLL N divider (2**(-N) is the frequency offset). Must be big enough
to offer reasonable PLL bandwidth, and small enough so the offset frequency fits
within the tuning range of the helper oscillator. */
#define HPLL_N 14
/* Fractional bits in PI controller coefficients */
#define PI_FRACBITS 12
/* Max. allowed number of reference channels. Can be used to tweak memory usage. */
#define MAX_CHAN_REF 7
/* Max. allowed number of output channels */
#define MAX_CHAN_OUT 1
/* Max. allowed number of phase trackers */
#define MAX_TRACKERS 6
/* Number of bits of the DAC(s) driving the oscillator(s). Must be the same for
all the outputs. */
#define DAC_BITS 16
\ No newline at end of file
include/spll_helper.h 0 → 100644
View file @ 80bf6284
/* State of the Helper PLL producing a clock (clk_dmtd_i) which is
slightly offset in frequency from the recovered/reference clock (clk_rx_i or clk_ref_i), so the
Main PLL can use it to perform linear phase measurements.
*/
#define SPLL_LOCKED 1
#define SPLL_LOCKING 0
#define HELPER_TAG_WRAPAROUND 100000000
/* Maximum abs value of the phase error. If the error is bigger, it's clamped to this value. */
#define HELPER_ERROR_CLAMP 150000
struct spll_helper_state {
int p_adder; /* anti wrap-around adder */
int p_setpoint, tag_d0;
int ref_src;
int sample_n;
spll_pi_t pi;
spll_lock_det_t ld;
};
static void helper_init(struct spll_helper_state *s, int ref_channel)
{
/* Phase branch PI controller */
s->pi.y_min = 5;
s->pi.y_max = (1 << DAC_BITS) - 5;
s->pi.kp = (int)(0.3 * 32.0 * 16.0);
s->pi.ki = (int)(0.03 * 32.0 * 3.0);
s->pi.anti_windup = 1;
/* Set the bias to the upper end of tuning range. This is to ensure that
the HPLL will always lock on positive frequency offset. */
s->pi.bias = s->pi.y_max;
/* Phase branch lock detection */
s->ld.threshold = 200;
s->ld.lock_samples = 1000;
s->ld.delock_samples = 900;
s->ref_src = ref_channel;
s->p_setpoint = 0;
s->p_adder = 0;
s->sample_n = 0;
s->tag_d0 = -1;
pi_init(&s->pi);
ld_init(&s->ld);
}
static int helper_update(struct spll_helper_state *s, int tag, int source)
{
int err, y;
if(source == s->ref_src)
{
spll_debug(DBG_TAG | DBG_HELPER, tag, 0);
spll_debug(DBG_REF | DBG_HELPER, s->p_setpoint, 0);
if(s->tag_d0 < 0)
{
s->p_setpoint = tag;
s->tag_d0 = tag;
return SPLL_LOCKING;
}
if(s->tag_d0 > tag)
s->p_adder += (1<<TAG_BITS);
err = (tag + s->p_adder) - s->p_setpoint;
TRACE_DEV("hpll 1err=%d\n", err);
if(HELPER_ERROR_CLAMP)
{
if(err < -HELPER_ERROR_CLAMP) err = -HELPER_ERROR_CLAMP;
if(err > HELPER_ERROR_CLAMP) err = HELPER_ERROR_CLAMP;
}
//GD
//TRACE_DEV("hpll 2err=%d\n", err);
if((tag + s->p_adder) > HELPER_TAG_WRAPAROUND && s->p_setpoint > HELPER_TAG_WRAPAROUND)
{
s->p_adder -= HELPER_TAG_WRAPAROUND;
s->p_setpoint -= HELPER_TAG_WRAPAROUND;
}
s->p_setpoint += (1<<HPLL_N);
s->tag_d0 = tag;
y = pi_update(&s->pi, err);
SPLL->DAC_HPLL = y;
spll_debug(DBG_SAMPLE_ID | DBG_HELPER, s->sample_n++, 0);
spll_debug(DBG_Y | DBG_HELPER, y, 0);
spll_debug(DBG_ERR | DBG_HELPER, err, 1);
if(ld_update(&s->ld, err))
return SPLL_LOCKED;
}
return SPLL_LOCKING;
}
static void helper_start(struct spll_helper_state *s)
{
spll_enable_tagger(s->ref_src, 1);
spll_debug(DBG_EVENT | DBG_HELPER, DBG_EVT_START, 1);
}
include/spll_main.h 0 → 100644
View file @ 80bf6284
#define MPLL_TAG_WRAPAROUND 100000000
/* State of the Main PLL */
struct spll_main_state {
int state;
spll_pi_t pi;
spll_lock_det_t ld;
int adder_ref, adder_out, tag_ref, tag_out, tag_ref_d, tag_out_d;
int phase_shift_target;
int phase_shift_current;
int id_ref, id_out; /* IDs of the reference and the output channel */
int sample_n;
};
static void mpll_init(struct spll_main_state *s, int id_ref, int id_out)
{
/* Frequency branch PI controller */
s->pi.y_min = 5;
s->pi.y_max = 65530;
s->pi.anti_windup = 1;
s->pi.bias = 65000;
s->pi.kp = 1100;
s->pi.ki = 30;
/* Freqency branch lock detection */
s->ld.threshold = 120;
s->ld.lock_samples = 400;
s->ld.delock_samples = 390;
s->adder_ref = s->adder_out = 0;
s->tag_ref = -1;
s->tag_out = -1;
s->tag_ref_d = -1;
s->tag_out_d = -1;
s->phase_shift_target = 0;
s->phase_shift_current = 0;
s->id_ref = id_ref;
s->id_out = id_out;
s->sample_n= 0;
pi_init(&s->pi);
ld_init(&s->ld);
}
static void mpll_start(struct spll_main_state *s)
{
spll_enable_tagger(s->id_ref, 1);
spll_enable_tagger(s->id_out, 1);
spll_debug(DBG_EVENT | DBG_MAIN, DBG_EVT_START, 1);
}
static int mpll_update(struct spll_main_state *s, int tag, int source)
{
int err, y, tmp;
if(source == s->id_ref)
s->tag_ref = tag;
if(source == s->id_out)
s->tag_out = tag;
if(s->tag_ref >= 0 && s->tag_out >= 0)
{
if(s->tag_ref_d >= 0 && s->tag_ref_d > s->tag_ref)
s->adder_ref += (1<<TAG_BITS);
if(s->tag_out_d >= 0 && s->tag_out_d > s->tag_out)
s->adder_out += (1<<TAG_BITS);
s->tag_ref_d = s->tag_ref;
s->tag_out_d = s->tag_out;
err = s->adder_ref + s->tag_ref - s->adder_out - s->tag_out;
if(s->adder_ref > MPLL_TAG_WRAPAROUND && s->adder_out > MPLL_TAG_WRAPAROUND)
{
s->adder_ref -= MPLL_TAG_WRAPAROUND;
s->adder_out -= MPLL_TAG_WRAPAROUND;
}
y = pi_update(&s->pi, err);
SPLL->DAC_MAIN = SPLL_DAC_MAIN_VALUE_W(y) | SPLL_DAC_MAIN_DAC_SEL_W(s->id_out);
spll_debug(DBG_MAIN | DBG_REF, s->tag_ref, 0);
spll_debug(DBG_MAIN | DBG_TAG, s->tag_out, 0);
spll_debug(DBG_MAIN | DBG_ERR, err, 0);
spll_debug(DBG_MAIN | DBG_SAMPLE_ID, s->sample_n++, 0);
spll_debug(DBG_MAIN | DBG_Y, y, 1);
s->tag_out = -1;
s->tag_ref = -1;
if(s->phase_shift_current < s->phase_shift_target)
{
s->phase_shift_current++;
s->adder_ref++;
} else if(s->phase_shift_current > s->phase_shift_target) {
s->phase_shift_current--;
s->adder_ref--;
}
if(ld_update(&s->ld, err))
return SPLL_LOCKED;
}
return SPLL_LOCKING;
}
static int mpll_set_phase_shift(struct spll_main_state *s, int desired_shift)
{
s->phase_shift_target = desired_shift;
}
static int mpll_shifter_busy(struct spll_main_state *s)
{
return s->phase_shift_target != s->phase_shift_current;
}
\ No newline at end of file
include/spll_ptracker.h 0 → 100644
View file @ 80bf6284
/* State of a Phase Tracker */
struct spll_ptracker_state {
int id_a, id_b;
int n_avg, acc, avg_count;
int phase_val, ready;
int tag_a, tag_b;
int sample_n;
int preserve_sign;
};
static void ptracker_init(struct spll_ptracker_state *s, int id_a, int id_b, int num_avgs)
{
s->tag_a = s->tag_b = -1;
s->id_a = id_a;
s->id_b = id_b;
s->ready = 0;
s->n_avg = num_avgs;
s->acc = 0;
s->avg_count = 0;
s->sample_n= 0;
s->preserve_sign = 0;
}
static void ptracker_start(struct spll_ptracker_state *s)
{
spll_enable_tagger(s->id_a, 1);
spll_enable_tagger(s->id_b, 1);
}
#define PTRACK_WRAP_LO (1<<(HPLL_N-2))
#define PTRACK_WRAP_HI (3*(1<<(HPLL_N-2)))
static int ptracker_update(struct spll_ptracker_state *s, int tag, int source)
{
if(source == s->id_a)
s->tag_a = tag;
if(source == s->id_b)
s->tag_b = tag;
if(s->tag_a >= 0 && s->tag_b >= 0)
{
int delta = (s->tag_a - s->tag_b) & ((1<<HPLL_N) - 1);
if(s->avg_count == 0)
{
if(delta <= PTRACK_WRAP_LO)
s->preserve_sign = -1;
else if (delta >= PTRACK_WRAP_HI)
s->preserve_sign = 1;
else
s->preserve_sign = 0;
s->acc = delta;
} else {
if(delta <= PTRACK_WRAP_LO && s->preserve_sign > 0)
s->acc += delta + (1<<HPLL_N);
else if (delta >= PTRACK_WRAP_HI && s->preserve_sign < 0)
s->acc += delta - (1<<HPLL_N);
else
s->acc += delta;
s->avg_count++;
if(s->avg_count == s->n_avg)
{
s->phase_val = s->acc / s->n_avg;
s->ready = 1;
s->acc = 0;
s->avg_count = 0;
}
}
s->tag_b = s->tag_a = -1;
}
return SPLL_LOCKING;
}
wrc_main.c
View file @ 80bf6284
......@@ -6,65 +6,65 @@
#include "syscon.h"
#include "uart.h"
#include "endpoint.h"
#include "minic.h"
#include "pps_gen.h"
#include "ptpd.h"
#include "ptpd_netif.h"
#include "i2c.h"
#include "eeprom.h"
#include "onewire.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;
//#include "minic.h"
//#include "pps_gen.h"
//#include "ptpd.h"
//#include "ptpd_netif.h"
//#include "i2c.h"
//#include "eeprom.h"
//#include "onewire.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;
......@@ -200,23 +200,14 @@ void wrc_initialize()
mprintf("wr_core: starting up (press G to launch the GUI and D for extra debug messages)....\n");
//SFP
#if 0
get_sfp_id(sfp_pn);
if( !access_eeprom(sfp_pn, &sfp_alpha, &sfp_deltaTx, &sfp_deltaRx) )
{
mprintf("SFP: alpha=%d, deltaTx=%d, deltaRx=%d\n", sfp_alpha, sfp_deltaTx, sfp_deltaRx);
}
#endif
//Generate MAC address
ow_init();
if( ds18x_read_serial(ds18_id) == 0 )
TRACE_DEV("Found DS18xx sensor: %x:%x:%x:%x:%x:%x:%x:%x\n",
ds18_id[7], ds18_id[6], ds18_id[5], ds18_id[4],
ds18_id[3], ds18_id[2], ds18_id[1], ds18_id[0]);
else
TRACE_DEV("DS18B20 not found\n");
//ow_init();
//if( ds18x_read_serial(ds18_id) == 0 )
// TRACE_DEV("Found DS18xx sensor: %x:%x:%x:%x:%x:%x:%x:%x\n",
// ds18_id[7], ds18_id[6], ds18_id[5], ds18_id[4],
// ds18_id[3], ds18_id[2], ds18_id[1], ds18_id[0]);
//else
// TRACE_DEV("DS18B20 not found\n");
mac_addr[0] = 0x08; //
mac_addr[1] = 0x00; // CERN OUI
......@@ -229,19 +220,19 @@ void wrc_initialize()
ep_init(mac_addr);
ep_enable(1, 1);
minic_init();
pps_gen_init();
//minic_init();
//pps_gen_init();
// for(;;);
// rx_test();
netStartup();
//netStartup();
wr_servo_man_adjust_phase(-11600 + 1700);
//wr_servo_man_adjust_phase(-11600 + 1700);
displayConfigINFO(&rtOpts);
//displayConfigINFO(&rtOpts);
ptpPortDS = ptpdStartup(0, NULL, &ret, &rtOpts, &ptpClockDS);
initDataClock(&rtOpts, &ptpClockDS);
//ptpPortDS = ptpdStartup(0, NULL, &ret, &rtOpts, &ptpClockDS);
//initDataClock(&rtOpts, &ptpClockDS);
}
#define LINK_WENT_UP 1
......@@ -271,7 +262,7 @@ int wrc_check_link()
return rv;
}
int wrc_extra_debug = 0;
int wrc_extra_debug = 1;
int wrc_gui_mode = 0;
void wrc_debug_printf(int subsys, const char *fmt, ...)
......@@ -282,7 +273,7 @@ void wrc_debug_printf(int subsys, const char *fmt, ...)
va_start(ap, fmt);
if(wrc_extra_debug || (!wrc_extra_debug && (subsys & TRACE_SERVO)))
if(wrc_extra_debug )// || (!wrc_extra_debug && (subsys & TRACE_SERVO)))
vprintf(fmt, ap);
va_end(ap);
......@@ -303,7 +294,7 @@ void wrc_handle_input()
wrc_gui_mode = 1 - wrc_gui_mode;
if(!wrc_gui_mode)
{
m_term_clear();
//m_term_clear();
wrc_debug_printf(0, "Exiting GUI mode\n");
}
break;
......@@ -317,7 +308,7 @@ void wrc_handle_input()
case 't':
wrc_enable_tracking = 1 - wrc_enable_tracking;
wr_servo_enable_tracking(wrc_enable_tracking);
//wr_servo_enable_tracking(wrc_enable_tracking);
wrc_debug_printf(0,"Phase tracking %s.\n", wrc_enable_tracking ? "enabled" : "disabled");
break;
......@@ -326,7 +317,7 @@ void wrc_handle_input()
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);
//wr_servo_man_adjust_phase(wrc_man_phase);
break;
......@@ -342,6 +333,11 @@ int main(void)
{
wrc_initialize();
spll_test();
#if 0
for(;;)
{
wrc_handle_input();
......@@ -373,5 +369,7 @@ int main(void)
protocol_nonblock(&rtOpts, ptpPortDS);
}
#endif
}
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment