implemented precision timestamps in report messages

comm/event_reports.c

@@ -0,0 +1,53 @@
+//
+// Created by MightyPork on 2018/01/27.
+//
+
+#include "platform.h"
+#include "messages.h"
+#include "event_reports.h"
+
+static uint8_t evt_buf[10];
+
+bool EventReport_Start(EventReport *report)
+{
+    assert_param(report->timestamp != 0);
+
+    TF_Msg msg;
+    TF_ClearMsg(&msg);
+    msg.len = (TF_LEN) (report->length + 1 /*callsign*/ + 1 /*type*/ + 8 /*checksum*/);
+    msg.type = MSG_UNIT_REPORT;
+    if (!TF_Send_Multipart(comm, &msg)) {
+        dbg("!! Err sending event");
+        return false;
+    }
+
+    PayloadBuilder pb = pb_start(evt_buf, 10, NULL);
+    pb_u8(&pb, report->unit->callsign);
+    pb_u8(&pb, report->type);
+    pb_u64(&pb, report->timestamp);
+    assert_param(pb.ok);
+    TF_Multipart_Payload(comm, evt_buf, 10);
+
+    return true;
+}
+
+void EventReport_Data(const uint8_t *buff, uint16_t len)
+{
+    TF_Multipart_Payload(comm, buff, len);
+}
+
+void EventReport_End(void)
+{
+    TF_Multipart_Close(comm);
+}
+
+bool EventReport_Send(EventReport *report)
+{
+    assert_param(report->data != NULL);
+
+    if (!EventReport_Start(report)) return false;
+    EventReport_Data(report->data, report->length);
+    EventReport_End();
+
+    return true;
+}

comm/event_reports.h

@@ -0,0 +1,32 @@
+//
+// Created by MightyPork on 2018/01/27.
+//
+
+#ifndef GEX_F072_EVENT_REPORTS_H
+#define GEX_F072_EVENT_REPORTS_H
+
+#ifndef GEX_MESSAGES_H
+#error "Include messages.h instead!"
+#endif
+
+#include <TinyFrame.h>
+#include "framework/unit.h"
+
+/**
+ * Event report object
+ */
+typedef struct event_report_ {
+    Unit *unit;         //!< Reporting unit
+    uint8_t type;       //!< Report type (if unit has multiple reports, otherwise 0)
+    uint64_t timestamp; //!< Microsecond timestamp of the event, captured as close as possible to the IRQ
+    uint16_t length;    //!< Payload length
+    uint8_t *data;      //!< Data if using the EventReport_Send() function, otherwise NULL and data is sent using EventReport_Data()
+} EventReport;
+
+bool EventReport_Send(EventReport *report);
+
+bool EventReport_Start(EventReport *report);
+void EventReport_Data(const uint8_t *buff, uint16_t len);
+void EventReport_End(void);
+
+#endif //GEX_F072_EVENT_REPORTS_H

comm/messages.h

@@ -49,6 +49,7 @@ extern TinyFrame *comm;
 #include "msg_responses.h"
 #include "msg_bulkread.h"
 #include "msg_bulkwrite.h"
+#include "event_reports.h"
 
 /**
  * Initialize TinyFrame and set up listeners

framework/unit_base.h

@@ -13,3 +13,8 @@
 #include "utils/malloc_safe.h"
 #include "payload_builder.h"
 #include "payload_parser.h"
+#include "utils/avrlibc.h"
+#include "tasks/task_msg.h"
+#include "platform/timebase.h"
+#include "platform/irq_dispatcher.h"
+#include "comm/messages.h"

platform/status_led.c

@@ -16,7 +16,7 @@ static uint32_t effect_time = 0;
 // counter of idle ticks since last indicator
 // used to allow or disallow heartbeat blink (to avoid interference)
 static uint32_t indicator_idle_ms = 0;
-#define IDLE_FOR_HEARTBEAT_MS 3000
+#define IDLE_FOR_HEARTBEAT_MS (3000-60)
 #define HB_MAX_SAFE_IVAL 500
 
 static uint32_t hb_elapsed = 0;
@@ -86,8 +86,7 @@ void Indicator_Tick(void)
     if (active_effect == STATUS_NONE) {
         indicator_idle_ms++;
 
-        if (hb_elapsed < HB_MAX_SAFE_IVAL && indicator_idle_ms > IDLE_FOR_HEARTBEAT_MS &&
-            (indicator_idle_ms % 10 == 0)) {
+        if (hb_elapsed < HB_MAX_SAFE_IVAL && indicator_idle_ms > IDLE_FOR_HEARTBEAT_MS && (indicator_idle_ms % 10 == 0)) {
             Indicator_Effect(STATUS_HEARTBEAT);
         }
     }

platform/timebase.h

@@ -11,6 +11,8 @@
 #ifndef GEX_F072_TIMEBASE_H
 #define GEX_F072_TIMEBASE_H
 
+#include "platform.h"
+
 /**
  * Precision timer: get microtime as uint64_t
  * This timestamp should be monotonously increasing with a precision of ±0.5µs

tasks/sched_queue.h

@@ -9,6 +9,7 @@
 
 #include "platform.h"
 #include <TinyFrame.h>
+#include "framework/unit.h"
 
 /**
  * Queued job typedef
@@ -26,27 +27,13 @@ typedef void (*ScheduledJobCb) (Job *job);
 struct sched_que_item {
     /** The callback */
     ScheduledJobCb cb;
-    /** Data word 1 */
-    union {
-        TF_ID frame_id; // typically used to pass frame id to the callback
-        void *data1; // arbitrary pointer or int
-        uint32_t d32_1; // passing a number
-    };
-    /** Data word 2 */
-    union {
-        uint32_t d32; // passing a number
-        uint32_t d32_2; // passing a number
-        uint8_t *buf; // uchar buffer
-        const uint8_t *cbuf; // const uchar buffer
-        const char *str; // string
-        void *data2; // arbitrary pointer
-    };
-    /** Data word 3 */
-    union {
-        uint32_t len; // typically length of the buffer
-        void *data3; // arbitrary pointer
-        uint32_t d32_3; // passing a number
-    };
+
+    // Fields for data
+    Unit *unit;
+    uint64_t timestamp;
+    uint32_t data1;
+    uint32_t data2;
+    uint32_t data3;
 };
 
 /**

units/digital_in/unit_din.c

@@ -3,11 +3,7 @@
 //
 
 #include "unit_base.h"
-#include "platform/irq_dispatcher.h"
-#include "comm/messages.h"
 #include "unit_din.h"
-#include "tasks/task_msg.h"
-#include "utils/avrlibc.h"
 
 /** Private data structure */
 struct priv {
@@ -168,18 +164,19 @@ static error_t DI_preInit(Unit *unit)
  */
 static void ID_SendTriggerReportToMaster(Job *job)
 {
-    Unit *unit = job->data1;
-
     PayloadBuilder pb = pb_start(unit_tmp512, UNIT_TMP_LEN, NULL);
-    pb_u8(&pb, unit->callsign);
-    pb_u8(&pb, 0x00); // report type "Trigger"
-    {
-        pb_u16(&pb, (uint16_t) job->d32_2); // packed, 1 on the triggering pin
-        pb_u16(&pb, (uint16_t) job->d32_3); // packed, snapshot
-        // the snapshot can be used to capture the other input pins
-    }
+    pb_u16(&pb, (uint16_t) job->data1); // packed, 1 on the triggering pin
+    pb_u16(&pb, (uint16_t) job->data2); // packed, snapshot
     assert_param(pb.ok);
-    com_send_pb(MSG_UNIT_REPORT, &pb);
+
+    EventReport event = {
+        .unit = job->unit,
+        .timestamp = job->timestamp,
+        .data = pb.start,
+        .length = (uint16_t) pb_length(&pb),
+    };
+
+    EventReport_Send(&event);
 }
 
 /**
@@ -189,6 +186,8 @@ static void ID_SendTriggerReportToMaster(Job *job)
  */
 static void DI_handleExti(void *arg)
 {
+    const uint64_t ts = PTIM_GetMicrotime();
+
     Unit *unit = arg;
     struct priv *priv = unit->data;
     const uint16_t snapshot = (uint16_t) priv->port->IDR;
@@ -215,9 +214,10 @@ static void DI_handleExti(void *arg)
 
     if (trigger_map != 0) {
         Job j = {
-            .data1 = unit,
-            .d32_2 = pinmask_pack(trigger_map, priv->pins),
-            .d32_3 = pinmask_pack(snapshot, priv->pins),
+            .unit = unit,
+            .timestamp = ts,
+            .data1 = pinmask_pack(trigger_map, priv->pins),
+            .data2 = pinmask_pack(snapshot, priv->pins),
             .cb = ID_SendTriggerReportToMaster
         };
         scheduleJob(&j);

units/usart/unit_usart.c

@@ -2,31 +2,28 @@
 // Created by MightyPork on 2018/01/02.
 //
 
-#include "platform.h"
-#include "comm/messages.h"
 #include "unit_base.h"
 #include "unit_usart.h"
-#include "tasks/task_msg.h"
 
 #define UUSART_INTERNAL
 #include "_internal.h"
 
 static void UUSART_SendReceivedDataToMaster(Job *job)
 {
-    Unit *unit = job->data1;
+    Unit *unit = job->unit;
     struct priv *priv = unit->data;
 
-    uint32_t readpos = job->d32;
-    uint32_t count = job->len;
-
-    // TODO use TF's Multipart sending
-    // TODO add API for building reports
-    PayloadBuilder pb = pb_start(unit_tmp512, UNIT_TMP_LEN, NULL);
-    pb_u8(&pb, unit->callsign);
-    pb_u8(&pb, 0x00); // report type "Data received"
-    pb_buf(&pb, (uint8_t *) (priv->rx_buffer + readpos), count);
-    assert_param(pb.ok);
-    com_send_pb(MSG_UNIT_REPORT, &pb);
+    uint16_t readpos = (uint16_t) job->data1;
+    uint16_t count = (uint16_t) job->data2;
+
+    EventReport event = {
+        .unit = job->unit,
+        .timestamp = job->timestamp,
+        .data = (uint8_t *) (priv->rx_buffer + readpos),
+        .length = count,
+    };
+
+    EventReport_Send(&event);
 }
 
 /**
@@ -37,6 +34,8 @@ static void UUSART_SendReceivedDataToMaster(Job *job)
  */
 void UUSART_DMA_HandleRxFromIRQ(Unit *unit, uint16_t endpos)
 {
+    const uint64_t ts = PTIM_GetMicrotime();
+
     assert_param(unit);
     struct priv *priv = unit->data;
     assert_param(priv);
@@ -47,11 +46,11 @@ void UUSART_DMA_HandleRxFromIRQ(Unit *unit, uint16_t endpos)
     uint16_t count = (endpos - readpos);
 
     // We defer it to the job queue
-    // FIXME this can starve the shared queue if full duplex is used, we need a second higher priority queue for those report jobs
     Job j = {
-        .data1 = unit,
-        .d32 = priv->rx_buf_readpos,
-        .len = count,
+        .unit = unit,
+        .timestamp = ts,
+        .data1 = priv->rx_buf_readpos,
+        .data2 = count,
         .cb = UUSART_SendReceivedDataToMaster
     };
     scheduleJob(&j);

utils/payload_builder.c

@@ -86,6 +86,36 @@ bool pb_u32(PayloadBuilder *pb, uint32_t word)
     return true;
 }
 
+/** Write uint64_t to the buffer. */
+bool pb_u64(PayloadBuilder *pb, uint64_t word)
+{
+    pb_check_capacity(pb, 4);
+    if (!pb->ok) return false;
+
+    if (pb->bigendian) {
+        *pb->current++ = (uint8_t) ((word >> 56) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 48) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 40) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 32) & 0xFF);
+
+        *pb->current++ = (uint8_t) ((word >> 24) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 16) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 8) & 0xFF);
+        *pb->current++ = (uint8_t) (word & 0xFF);
+    } else {
+        *pb->current++ = (uint8_t) (word & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 8) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 16) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 24) & 0xFF);
+
+        *pb->current++ = (uint8_t) ((word >> 32) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 40) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 48) & 0xFF);
+        *pb->current++ = (uint8_t) ((word >> 56) & 0xFF);
+    }
+    return true;
+}
+
 /** Write int8_t to the buffer. */
 bool pb_i8(PayloadBuilder *pb, int8_t byte)
 {
@@ -104,8 +134,20 @@ bool pb_i32(PayloadBuilder *pb, int32_t word)
     return pb_u32(pb, ((union conv32){.i32 = word}).u32);
 }
 
+/** Write int64_t to the buffer. */
+bool pb_i64(PayloadBuilder *pb, int64_t word)
+{
+    return pb_u64(pb, ((union conv64){.i64 = word}).u64);
+}
+
 /** Write 4-byte float to the buffer. */
 bool pb_float(PayloadBuilder *pb, float f)
 {
     return pb_u32(pb, ((union conv32){.f32 = f}).u32);
 }
+
+/** Write 8-byte float to the buffer. */
+bool pb_double(PayloadBuilder *pb, double f)
+{
+    return pb_u64(pb, ((union conv64){.f64 = f}).u64);
+}

utils/payload_builder.h

@@ -98,6 +98,9 @@ bool pb_u16(PayloadBuilder *pb, uint16_t word);
 /** Write uint32_t to the buffer. */
 bool pb_u32(PayloadBuilder *pb, uint32_t word);
 
+/** Write uint64_t to the buffer */
+bool pb_u64(PayloadBuilder *pb, uint64_t word);
+
 /** Write int8_t to the buffer. */
 bool pb_i8(PayloadBuilder *pb, int8_t byte);
 
@@ -113,7 +116,13 @@ bool pb_i16(PayloadBuilder *pb, int16_t word);
 /** Write int32_t to the buffer. */
 bool pb_i32(PayloadBuilder *pb, int32_t word);
 
+/** Write int64_t to the buffer. */
+bool pb_i64(PayloadBuilder *pb, int64_t word);
+
 /** Write 4-byte float to the buffer. */
 bool pb_float(PayloadBuilder *pb, float f);
 
+/** Write 8-byte float to the buffer. */
+bool pb_double(PayloadBuilder *pb, double f);
+
 #endif // PAYLOAD_BUILDER_H

utils/payload_parser.c

@@ -56,6 +56,37 @@ uint32_t pp_u32(PayloadParser *pp)
     return x;
 }
 
+uint64_t pp_u64(PayloadParser *pp)
+{
+    pp_check_capacity(pp, 4);
+    if (!pp->ok) return 0;
+
+    uint64_t x = 0;
+
+    if (pp->bigendian) {
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 56);
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 48);
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 40);
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 32);
+
+        x |= (uint64_t) (*pp->current++ << 24);
+        x |= (uint64_t) (*pp->current++ << 16);
+        x |= (uint64_t) (*pp->current++ << 8);
+        x |= *pp->current++;
+    } else {
+        x |= *pp->current++;
+        x |= (uint64_t) (*pp->current++ << 8);
+        x |= (uint64_t) (*pp->current++ << 16);
+        x |= (uint64_t) (*pp->current++ << 24);
+
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 32);
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 40);
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 48);
+        x |= (uint64_t) ((uint64_t) *pp->current++ << 56);
+    }
+    return x;
+}
+
 const uint8_t *pp_tail(PayloadParser *pp, uint32_t *length)
 {
     int32_t len = (int) (pp->end - pp->current);
@@ -89,12 +120,24 @@ int32_t pp_i32(PayloadParser *pp)
     return ((union conv32) {.u32 = pp_u32(pp)}).i32;
 }
 
+/** Read int364_t from the payload. */
+int64_t pp_i64(PayloadParser *pp)
+{
+    return ((union conv64) {.u64 = pp_u64(pp)}).i64;
+}
+
 /** Read 4-byte float from the payload. */
 float pp_float(PayloadParser *pp)
 {
     return ((union conv32) {.u32 = pp_u32(pp)}).f32;
 }
 
+/** Read 8-byte float from the payload. */
+double pp_double(PayloadParser *pp)
+{
+    return ((union conv64) {.u64 = pp_u64(pp)}).f64;
+}
+
 /** Read a zstring */
 uint32_t pp_string(PayloadParser *pp, char *buffer, uint32_t maxlen)
 {

utils/payload_parser.h

@@ -101,6 +101,9 @@ uint16_t pp_u16(PayloadParser *pp);
 /** Read uint32_t from the payload. */
 uint32_t pp_u32(PayloadParser *pp);
 
+/** Read uint64_t from the payload. */
+uint64_t pp_u64(PayloadParser *pp);
+
 /** Read int8_t from the payload. */
 int8_t pp_i8(PayloadParser *pp);
 
@@ -116,9 +119,15 @@ int16_t pp_i16(PayloadParser *pp);
 /** Read int32_t from the payload. */
 int32_t pp_i32(PayloadParser *pp);
 
+/** Read int64_t from the payload. */
+int64_t pp_i64(PayloadParser *pp);
+
 /** Read 4-byte float from the payload. */
 float pp_float(PayloadParser *pp);
 
+/** Read 8-byte float from the payload. */
+double pp_double(PayloadParser *pp);
+
 /**
  * Parse a zero-terminated string
  *

utils/type_coerce.h

@@ -29,4 +29,10 @@ union conv32 {
     float f32;
 };
 
+union conv64 {
+    uint64_t u64;
+    int64_t i64;
+    double f64;
+};
+
 #endif // TYPE_COERCE_H