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Commit 257e51c8 authored by Torben Petersen's avatar Torben Petersen
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Worked on self-calibration for Inga Nodes. Still got some bugs

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software/main.c
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...@@ -35,6 +35,11 @@ ...@@ -35,6 +35,11 @@
#include "net/gnrc/netif/ieee802154.h" #include "net/gnrc/netif/ieee802154.h"
#include "periph/i2c.h" #include "periph/i2c.h"
#include "at86rf2xx.h"
#include "at86rf2xx_params.h"
#define ENABLE_DEBUG (1)
#include "debug.h"
#define SEND_INTERVAL (1) #define SEND_INTERVAL (1)
#define RCV_QUEUE_SIZE (8) #define RCV_QUEUE_SIZE (8)
#define MAX_PAYLOAD_LENGTH (32) #define MAX_PAYLOAD_LENGTH (32)
...@@ -56,13 +61,39 @@ char send_thread_stack[512+256]; ...@@ -56,13 +61,39 @@ char send_thread_stack[512+256];
#endif #endif
#ifdef BOARD_TELOSB #ifdef BOARD_TELOSB
#include "board.h" #include "board.h"
#include "stdio_uart.h" #include "stdio_uart.h"
#define CALIBRATION_SLEEP_TIME 1
extern void msp430_init_dco(void); extern void msp430_init_dco(void);
char calib_thread_stack[512+256]; char calib_thread_stack[512+256];
#endif
#if defined(BOARD_INGA_BLUE) || defined(BOARD_INGA_RED)
#include "board.h"
#include "stdio_uart.h"
//#define CLOCK_SECOND 1
//#define CLOCK_CALIB_WAIT() _delay_us(1)
#define CLOCK_CALIB_FRQ_XTAL 32768UL
#define CLOCK_CALIB_FRQ_REF_CNT (uint16_t)((CLOCK_CORECLOCK / CLOCK_CALIB_FRQ_XTAL) * 100)
#define CALIBRATION_SLEEP_TIME 1 #define CALIBRATION_SLEEP_TIME 1
char calib_thread_stack[512+256];
void clock_init_timer(void);
uint8_t clock_s(uint8_t seconds);
uint16_t clock_get_tcnt1(void);
void clock_calibrate(void);
#endif #endif
//static msg_t dump_thread_msg_queue[RCV_QUEUE_SIZE]; //static msg_t dump_thread_msg_queue[RCV_QUEUE_SIZE];
//static msg_t send_thread_msg_queue[RCV_QUEUE_SIZE]; //static msg_t send_thread_msg_queue[RCV_QUEUE_SIZE];
...@@ -518,8 +549,7 @@ void *send_thread(void *arg) ...@@ -518,8 +549,7 @@ void *send_thread(void *arg)
#ifdef BOARD_TELOSB #ifdef BOARD_TELOSB
void *calib_thread(void *arg) void *calib_thread(void *arg) {
{
int *intPoint = (int*)arg; int *intPoint = (int*)arg;
printf("Got int: %d\n", *intPoint); printf("Got int: %d\n", *intPoint);
while(1) while(1)
...@@ -534,6 +564,299 @@ void *calib_thread(void *arg) ...@@ -534,6 +564,299 @@ void *calib_thread(void *arg)
} }
#endif #endif
#if defined(BOARD_INGA_BLUE) || defined(BOARD_INGA_RED)
volatile uint8_t clock_flag = 0;
uint16_t clock_tcnt1 = 0;
void clock_init_timer(void){
/* Init Timer 2*/
ASSR = (1 << AS2);
//TIMSK2 |= (1 << TOV2);
TCCR2B |= (1 << CS22) | (1 << CS20);
/* Init Timer 1*/
TCCR1B |= (1 << CS12); //prescaler = 256
OCR1A = 31248;//15624;//31248; // bei 8mhz //Compare Register is set to 1s
TIMSK1 |= (1 << OCIE1A); //enable compare interrupt
TCNT1 = 0;
sei();
}
uint8_t clock_s(uint8_t seconds){
if(clock_flag >= seconds){
clock_flag = 0;
return 1;
}else{
return 0;
}
}
uint16_t clock_get_tcnt1(void){
return clock_tcnt1;
}
void clock_calibrate(void) {
cli();
uint8_t tries = 50;
uint8_t bak_timsk2, bak_tccr2b, bak_tccr1b, bak_assr;
uint16_t min = 0xFFFF;
uint8_t min_osccal = 0;
uint16_t ticks;
/* backup timer register */
bak_timsk2 = TIMSK2;
TIMSK2 = 0x00;
/* backup timer register */
bak_assr = ASSR;
ASSR = 0x00;
ASSR |= (1 << AS2); //CLK_SRC für TIMER2 ist externer Quarz
while (ASSR & ((1 << TCN2UB)|(1 << OCR2AUB)|(1 << TCR2AUB)|(1<< TCR2BUB))){
;
}
/* backup timer register */
bak_tccr2b = TCCR2B;
TCCR2B = 0x00;
bak_tccr1b = TCCR1B;
TCCR2B = 0x00;
TCCR2B = 1 << CS20; //No Prescaler
TCCR1B = 1 << CS10; //No Prescaler
//OSCCAL = 74;
/**
for (unsigned int i = 0xFFFF; i > 0; i--) {
__asm__("nop");
}
**/
//uint8_t ticks2 = 0;
do {
/* get counter values */
ticks = 0;
TCNT2 = 0;
TCNT1 = 0;
//OC2RA = 100;
while (TCNT2 < 100) {
ticks = TCNT1;
}
ticks = TCNT1;
//ticks2 = TCNT2;
//DEBUG("Counted Ticks: %ul\n", ticks);
//DEBUG("Ref Ticks: %d\n", ticks2);
if (ticks > CLOCK_CALIB_FRQ_REF_CNT) {
if((ticks - CLOCK_CALIB_FRQ_REF_CNT) < min){
min_osccal = OSCCAL;
//DEBUG("Seting min_osccal to: %#08x\n", OSCCAL);
}
//DEBUG("Tuning down. Current Reg Val: %#08x\n", OSCCAL);
OSCCAL--;
} else if (ticks < CLOCK_CALIB_FRQ_REF_CNT) {
if((CLOCK_CALIB_FRQ_REF_CNT - ticks) < min){
min_osccal = OSCCAL;
//DEBUG("Seting min_osccal to: %#08x\n", OSCCAL);
}
//DEBUG("Tuning up. Current Reg Val: %#08x\n", OSCCAL);
OSCCAL++;
} else if (ticks == CLOCK_CALIB_FRQ_REF_CNT) {
//DEBUG("Perfect. Ending calib. Attempts left: %d\n", tries);
tries = 1;
min_osccal = OSCCAL;
}
for (unsigned int i = 0x2FFF; i > 0; i--) {
__asm__("nop");
}
}while (--tries);
OSCCAL = min_osccal;
DEBUG("Setting OSCCAl to Value %d\n", OSCCAL);
for (unsigned int i = 0xFF; i > 0; i--) {
__asm__("nop");
}
DEBUG("Counted Ticks: %ul\n", ticks);
//CLOCK_CALIB_WAIT();
/* restore registers */
ASSR = bak_assr;
TIMSK2 = bak_timsk2;
TCCR2B = bak_tccr2b;
TCCR1B = bak_tccr1b;
for (unsigned int i = 0xFFFF; i > 0; i--) { /* Delay for XTAL to settle */
__asm__("nop");
}
sei();
}
void clock_calibrate_2(void) {
at86rf2xx_t at86rf2xx_dev;
at86rf2xx_setup(&at86rf2xx_dev, &at86rf2xx_params[0]);
cli();
at86rf233_disable_irq(&at86rf2xx_dev);
uint8_t tries = 50;
uint8_t bak_timsk2, bak_tccr2b, bak_tccr2a, bak_tccr1b, bak_assr, bak_ddrd, bak_portd;
//uint16_t min = 0xFFFF;
//uint8_t min_osccal = 0;
uint16_t ticks;
/* backup timer register */
bak_timsk2 = TIMSK2;
TIMSK2 = 0x00;
/* backup timer register */
bak_assr = ASSR;
ASSR = 0x00;
ASSR |= (1 << AS2); //CLK_SRC für TIMER2 ist externer Quarz
while (ASSR & ((1 << TCN2UB)|(1 << OCR2AUB)|(1 << TCR2AUB)|(1<< TCR2BUB))){
;
}
/* backup timer register */
bak_tccr2b = TCCR2B;
TCCR2B = 0x00;
bak_tccr2a = TCCR2A;
TCCR2A = 0x00; //set OC2B off
bak_tccr1b = TCCR1B;
TCCR1B = 0x00;
TCCR1B |= 1 << ICES1; //Activate Input Capture on positive/rising edge
TCCR1B |= 1 << ICNC1; //Activate Noise Canceler
OCR2B = 100;
//set D6 to output and set on 0. Save D6
bak_ddrd = DDRD;
bak_portd = PORTD;
DDRD |= 1 << PD6;
PORTD &= ~(1 << PD6);
TCCR1B |= 1 << CS10; //No Prescaler
DEBUG("PIND init: %d\n", PIND);
do {
//clear Flag for ICF1
if(TIFR1 & (1 << ICF1)) {
TIFR1 |= 1 << ICF1;
}
//clear Flag for OCR2B
if(TIFR2 & (1 << OCF2B)){
TIFR2 |= 1 << OCF2B;
}
PORTD &= (~(1 << PD6)); /*Set pin D6 back to 0 */
//DEBUG("Entering while, %d %d\n", TIFR2, TIFR1);
//DEBUG("PIND before: %d\n", PIND);
TCCR2A = 0x30; //set OC2B on Compare Match
TCNT2 = 0;
//DEBUG("PIND before while: %d\n", PIND);
//Turn on Timer
//TCCR1B |= 1 << CS10; //No Prescaler
TCNT1 = 0;
TCCR2B |= 1 << CS20; //No Prescaler
while ((!(TIFR2 & (1 << OCF2B))) || (!(TIFR1 & (1 << ICF1)))); /* Check for both flags */
/**
DEBUG("Reg T2 Val: %d\n", TIFR2);
DEBUG("Reg T1 Val: %d\n", TIFR1);
DEBUG("DDRD: %d\n", DDRD);
DEBUG("PIND: %d\n", PIND);
DEBUG("TCCR1A: %d\n", TCCR1A);
DEBUG("TCCR1B: %d\n", TCCR1B);
DEBUG("TCCR2A: %d\n", TCCR2A);
DEBUG("TCCR2B: %d\n", TCCR2B);
DEBUG("-------->\n");
**/
ticks = ICR1;
TCCR2B &= 0b11111000; //Off
//TCCR1B &= 0b11111000; //Off
//DEBUG("Count: %d\n", TCNT2);
//DEBUG("PIND before: %d\n", PIND);
TCCR2A = 0x00; //set OC2B into Port-Mode
//DEBUG("Reg T2 Val after flag2: %d\n", TIFR2);
//DEBUG("Reg T1 Val after flag2: %d\n", TIFR1);
//DEBUG("PIND after: %d\n", PIND);
DEBUG("Counted Ticks: %ul\n", ticks);
DEBUG("----->\n");
/*CLOCK_CALIB_FRQ_REF_CNT = 24400*/
if (ticks > CLOCK_CALIB_FRQ_REF_CNT) {
/**
if((ticks - CLOCK_CALIB_FRQ_REF_CNT) < min){
min_osccal = OSCCAL;
}
**/
//OSCCAL--;
} else if (ticks < CLOCK_CALIB_FRQ_REF_CNT) {
/**
if((CLOCK_CALIB_FRQ_REF_CNT - ticks) < min){
min_osccal = OSCCAL;
}
**/
//OSCCAL++;
} else if (ticks == CLOCK_CALIB_FRQ_REF_CNT) {
tries = 1;
//min_osccal = OSCCAL;
}
/**
for (unsigned int i = 0xFFFF; i > 0; i--) {
__asm__("nop");
}
for (unsigned int i = 0xFFFF; i > 0; i--) {
__asm__("nop");
}
**/
}while (--tries);
//OSCCAL = min_osccal;
DEBUG("Setting OSCCAl to Value %d\n", OSCCAL);
for (unsigned int i = 0xFF; i > 0; i--) {
__asm__("nop");
}
DEBUG("Counted Ticks: %ul\n", ticks);
/* restore registers */
ASSR = bak_assr;
TIMSK2 = bak_timsk2;
TCCR2A = bak_tccr2a;
TCCR2B = bak_tccr2b;
TCCR1B = bak_tccr1b;
DDRD = bak_ddrd;
PORTD = bak_portd;
for (unsigned int i = 0xFFFF; i > 0; i--) { /* Delay for XTAL to settle */
__asm__("nop");
}
sei();
at86rf233_enable_irq(&at86rf2xx_dev);
}
void *calib_thread(void *arg) {
int *intPoint = (int*)arg;
printf("Got int: %d\n", *intPoint);
while(1)
{
xtimer_sleep(CALIBRATION_SLEEP_TIME);
clock_calibrate_2();
/*calibrate xtimer and stdio again*/
xtimer_init();
stdio_init();
DEBUG("calib complete\n");
}
}
#endif
int main(void) int main(void)
{ {
(void) puts("Welcome to RIOT!"); (void) puts("Welcome to RIOT!");
...@@ -543,8 +866,15 @@ int main(void) ...@@ -543,8 +866,15 @@ int main(void)
//int res = i2c_init(I2C_DEV(0)); //int res = i2c_init(I2C_DEV(0));
#if defined(BOARD_INGA_BLUE) || defined(BOARD_INGA_RED) #if defined(BOARD_INGA_BLUE) || defined(BOARD_INGA_RED)
puts("This is an inga"); puts("This is an inga");
//Get dev for Radio
at86rf2xx_t at86rf2xx_dev;
at86rf2xx_setup(&at86rf2xx_dev, &at86rf2xx_params[0]);
at86rf233_disable_irq(&at86rf2xx_dev);
int i = 5;
thread_create(calib_thread_stack, sizeof(calib_thread_stack), 1, THREAD_CREATE_STACKTEST, calib_thread, &i, "calib_thread");
i2c_init(I2C_DEV(0)); i2c_init(I2C_DEV(0));
#endif #endif
#if defined (BOARD_TELOSB) #if defined (BOARD_TELOSB)
puts("This is a telosb"); puts("This is a telosb");
int i = 5; int i = 5;
...@@ -569,7 +899,9 @@ int main(void) ...@@ -569,7 +899,9 @@ int main(void)
printf("line_buf from %p to %p\n", line_buf, line_buf + sizeof(line_buf)); printf("line_buf from %p to %p\n", line_buf, line_buf + sizeof(line_buf));
printf("serialbuffer: from %p to %p\n", serialbuffer, serialbuffer+sizeof(serialbuffer)); printf("serialbuffer: from %p to %p\n", serialbuffer, serialbuffer+sizeof(serialbuffer));
printf("serialbuffer2: from %p to %p\n", serialbuffer2, serialbuffer2+sizeof(serialbuffer2)); printf("serialbuffer2: from %p to %p\n", serialbuffer2, serialbuffer2+sizeof(serialbuffer2));
printf("OSCCAL Val: %d\n", OSCCAL);
at86rf233_disable_irq(&at86rf2xx_dev);
//at86rf233_enable_irq(&at86rf2xx_dev);
shell_run(eval_shell_commands, line_buf, SHELL_BUFFER_SIZE); shell_run(eval_shell_commands, line_buf, SHELL_BUFFER_SIZE);
return 0; return 0;
......
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