Diff: main.cpp

Revision:

0:fac0542384d7

Child:

1:55f3661a2050

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 13 21:28:39 2014 +0000
@@ -0,0 +1,222 @@
+//this is a program built for the master mbed(bed1)
+#include "mbed.h"
+//#include "MKL46Z4.h"
+
+#define mod 0x0000bb80 
+#define duty_cycle 0.5
+#define high_cycle mod*duty_cycle
+#define low_cycle mod-high_cycle
+#define buffer_size 9
+#define BBBbuff_size 30
+
+DigitalOut LED(LED_RED);
+Serial pc(USBTX,USBRX);
+Serial uart(PTE0, PTE1);
+
+static int loop_num=0;
+int state=0;
+uint32_t T1=0;
+uint32_t T2=0;
+uint32_t T3=0;
+uint32_t T4=0;
+int delay=0;
+uint32_t Mod=mod;
+char BBBbuffer[BBBbuff_size];
+bool cmd_received=false;
+int BBBbuff=0;
+char buffer[4];
+
+uint32_t TIME(){return loop_num*Mod+TPM0->CNT;}
+
+void receive_handler(){
+    while( pc.readable() && BBBbuff<BBBbuff_size){
+        BBBbuffer[BBBbuff] =pc.getc();
+        pc.putc(BBBbuffer[BBBbuff]);
+        //pc.printf(& rx_buffer[buff]);
+        if (BBBbuffer[BBBbuff] == '#'){
+            BBBbuffer[BBBbuff] = '\0';
+            cmd_received=true;
+            BBBbuff++;
+            pc.printf("cmd received\n");
+            break;            
+            }
+        BBBbuff++;    
+        }
+        return;
+    }
+void TPM1_IRQHandler(void);
+
+void sycronize(uint32_t Cmd_mod){
+    switch(state){
+    case 0: {
+
+        
+        char* tmp=(char*)&Cmd_mod;
+        uint32_t T1=TIME();
+        pc.printf("T1=%d\n",T1);
+        uart.putc((*tmp));pc.printf("0=%d\n",*tmp);
+        uart.putc((*(tmp+1)));pc.printf("1=%d\n",(*(tmp+1)));   
+        uart.putc((*(tmp+2)));pc.printf("2=%d\n",(*(tmp+2)));  
+        uart.putc((*(tmp+3)));pc.printf("3=%d\n",(*(tmp+3)));  
+        pc.printf("T1 done%d\n");
+        state++;
+        break;}//sending a 5 char command
+    case 1:{
+            buffer[0]=uart.getc();
+            buffer[1]=uart.getc();
+            buffer[2]=uart.getc();
+            buffer[3]=uart.getc();
+            T4=TIME();
+            T2=((int)buffer[0])<<24+((int)buffer[1])<<16+((int)buffer[2])<<8+((int)buffer[3]);         
+            state++;break;
+        }//receiving t2 from slave
+                   
+    case 2:{
+            buffer[0]=uart.getc();
+            buffer[1]=uart.getc();
+            buffer[2]=uart.getc();
+            buffer[3]=uart.getc();
+            //receiveing t3            
+            T3=((int)buffer[0])<<24+((int)buffer[1])<<16+((int)buffer[2])<<8+((int)buffer[3]);
+            
+            delay= (T4-T3+T2-T1)/2;
+            //delay=0x0000ffff;
+            TPM1->MOD=delay;
+            
+            TPM1->CNT=0x0;
+            TPM1->SC=0x00000048;
+            
+            //NVIC_SetVector(TPM1_IRQn, (uint32_t)&TPM1_IRQHandler);
+            //NVIC_SetPriority(TPM0_IRQn, 0);
+            //NVIC_EnableIRQ(TPM1_IRQn);
+            // open tpm1
+            
+            uart.putc(0xff);
+            uart.putc(0xff);
+            uart.putc(0xff);
+            uart.putc(0xff);     
+            state++;
+            break;//}
+        }//receiving t3 from slave, calculate and send transmit command to slave    
+    
+    }
+    }
+void TPM0_IRQHandler(void){
+    
+        //if((TPM0->SC & 0x0080)==0x0080){
+            if(LED){LED=0;}
+            else {LED=1;loop_num++;}
+            pc.printf("MOD=%d",TPM0->MOD);
+            //pc.printf("SC=%d",TPM0->SC);
+            pc.printf("Global_time=%d\n",TIME());
+            //pc.printf(": %d\n",TPM0->CNT);
+            TPM0->SC|= 0x000000c8;
+            NVIC_ClearPendingIRQ(TPM0_IRQn); 
+            //pc.printf("SC_after=%d\n",TPM0->SC);
+            //}//pc.printf("count=%d",TPM0->CNT);
+            return;               
+    }
+
+void TPM1_IRQHandler(void){// time to restart the system
+            TPM0->SC=0x00000040;
+            
+            TPM0->MOD=mod;
+            loop_num=0;//clear clock            
+            //TPM0->SC= 0x000000c8;        
+            TPM0->CNT=0x0;
+            TPM0->SC=0x00000048;
+            NVIC_EnableIRQ(TPM0_IRQn);
+            pc.printf("AfterMOD=%d\n",TPM0->MOD);
+            //LED=1;
+            
+            TPM1->CNT=0x0;
+            pc.printf("SC=%d",TPM1->SC);
+            TPM1->SC= 0x00000080;  
+            TPM1->SC= 0x00000000;
+            pc.printf("SC_after=%d\n",TPM1->SC);
+            pc.printf("Tic-Toc\n");
+            NVIC_DisableIRQ(TPM1_IRQn);
+            NVIC_ClearPendingIRQ(TPM1_IRQn);
+
+            return;               
+    }
+    
+void Syc(uint32_t Cmd_mod){
+    NVIC_DisableIRQ(TPM0_IRQn);
+    NVIC_ClearPendingIRQ(TPM0_IRQn);    
+    state=0; 
+    pc.printf("set=%d\n",state);
+    uart.putc('#');     
+    while(state<3){sycronize(Cmd_mod);}
+      
+    }
+    
+void Initial(){
+    LED=1;
+    SIM->SOPT2=0x07000000;
+    SIM->SCGC6=0x03000000;//enable TPM 0,1
+    TPM0->SC=0x0;
+    //-------------------CnSC-----------------------
+    volatile uint32_t * ptrMyReg;
+    volatile uint32_t prev;
+    ptrMyReg = (volatile uint32_t *) 0x4003800C;//C0SC 
+    prev = *ptrMyReg;
+    prev = prev | 0x00000040;
+    *ptrMyReg = prev;
+    ptrMyReg = (volatile uint32_t *) 0x4003900C;//C1SC
+        prev = *ptrMyReg;
+    prev = prev | 0x00000040;
+    *ptrMyReg = prev;
+    //----------------------------------------------
+    TPM0->CNT=0x0;
+    TPM0->SC=0x00000040;
+    TPM0->MOD=0x0000bb80;
+    TPM0->SC=0x00000048;//0008
+    
+    TPM1->CNT=0x0;
+    TPM1->SC=0x00000040;
+    TPM1->MOD=0x0000ffff;
+    TPM1->SC=0x00000008;//0008
+    }
+int main() {
+
+    cmd_received=false;
+    pc.attach(&receive_handler);    
+    int CMD_MOD=0;
+    Initial();
+    
+    pc.baud(9600);
+    pc.attach(&receive_handler);
+    uart.baud(9600);
+      
+    NVIC_SetVector(TPM0_IRQn, (uint32_t)&TPM0_IRQHandler);
+    NVIC_SetPriority(TPM0_IRQn, 1);
+    NVIC_EnableIRQ(TPM0_IRQn); 
+
+    NVIC_SetVector(TPM1_IRQn, (uint32_t)&TPM1_IRQHandler);
+    NVIC_SetPriority(TPM1_IRQn, 0);
+    NVIC_EnableIRQ(TPM1_IRQn);
+    wait(5);
+    pc.printf("Initial done\n");
+
+    
+    //Syc(48000);
+    
+    while(1){
+        if(cmd_received){
+            pc.printf(BBBbuffer);
+            for(int i=0;i<BBBbuff-1;i++){
+                CMD_MOD*=10;                
+                CMD_MOD+=(BBBbuffer[i]-'0');
+                }
+            cmd_received=false;
+            BBBbuff=0;
+            TPM0->MOD=CMD_MOD;
+            pc.printf("before_syc");
+            Syc(CMD_MOD);    
+            }
+            
+        }
+    
+    
+}
\ No newline at end of file