From f3527386d486bf3c3578f4df292d7dc1bc86023a Mon Sep 17 00:00:00 2001
From: Krzysztof Mazur <krzysiek@podlesie.net>
Date: Sat, 7 Oct 2017 11:31:02 +0200
Subject: [PATCH 2/2] add support for event active/led time configuration

The event active/led time must be run-time configurable. Currently
we need only one global event active/led time, so the grader-rt
can keep sending it to all I/O modules, using broadcast. Add support
for that.

Signed-off-by: Krzysztof Mazur <krzysiek@podlesie.net>
---
 include/gcp.h     | 11 ++++++++++
 include/timer.h   |  4 +++-
 src/main.c        | 61 +++++++++++++++++++++++++++++++++++++++++--------------
 src/posix-timer.c |  2 +-
 src/timer.c       |  6 +++---
 5 files changed, 64 insertions(+), 20 deletions(-)

diff --git a/include/gcp.h b/include/gcp.h
index 4279821..ee7ce04 100644
--- a/include/gcp.h
+++ b/include/gcp.h
@@ -125,6 +125,17 @@
 #define GCP_EVENT_OUTPUT_BITS	8
 #define GCP_EVENT_OUTPUT_MASK	((1 << GCP_EVENT_OUTPUT_BITS) - 1)
 
+/*
+ *     1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
+ *    +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+ * 0  |                             time                              |
+ *    +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+ *
+ * time - in microseconds
+ */
+#define GCP_CEVENT_ACTIVE_TIME	0x008
+#define GCP_CEVENT_LED_TIME	0x009
+
 /*
  * Grader periodic scheduling interface
  *
diff --git a/include/timer.h b/include/timer.h
index 9e93588..def9524 100644
--- a/include/timer.h
+++ b/include/timer.h
@@ -20,6 +20,8 @@
 
 #define TICKS_PER_US (GETTIME_FREQUENCY / 1000000UL)
 
+#define time_after(a, b) ((int)((int)(b) - (int)(a)) < 0)
+
 static inline unsigned long us_to_ticks(unsigned long t)
 {
 	return t * TICKS_PER_US;
@@ -30,7 +32,7 @@ static inline unsigned long ticks_to_us(unsigned long t)
 	return (t + TICKS_PER_US/2) / TICKS_PER_US;
 }
 
-unsigned long gettime(void);
+unsigned int gettime(void);
 void timer_init(void);
 
 #endif
diff --git a/src/main.c b/src/main.c
index b40e31b..ddd8309 100644
--- a/src/main.c
+++ b/src/main.c
@@ -64,6 +64,8 @@
 
 /* assumed event delay, used for prediction */
 static unsigned long event_delay;
+static unsigned long event_active_time;
+static unsigned long event_led_time;
 
 #if 1
 #ifdef HAVE_USLEEP
@@ -359,6 +361,16 @@ static void gcp_handle_command(struct tty_struct *tty,
 		ret = gcp_psched(cmd, arg, gcp_resp_frame, t, pos);
 	} else if (cmd == GCP_CADD_EVENT) {
 		ret = gcp_add_event(cmd, arg, gcp_resp_frame);
+	} else if (cmd == GCP_CEVENT_ACTIVE_TIME) {
+		if (arg)
+			event_active_time = arg;
+		gcp_resp_frame[0] = cpu_to_le32(event_active_time);
+		ret = 0;
+	} else if (cmd == GCP_CEVENT_LED_TIME) {
+		if (arg)
+			event_led_time = arg;
+		gcp_resp_frame[0] = cpu_to_le32(event_led_time);
+		ret = 0;
 	} else if (cmd == GCP_CECHO) {
 		gcp_resp_frame[0] = cpu_to_le32(arg);
 		ret = 0;
@@ -385,18 +397,39 @@ out:
 int encoder_init(void);
 unsigned long encoder_get_pos(void);
 
-#if 0
-static void diagnostic(struct tty_struct *tty)
+static void diagnostics(struct tty_struct *tty)
 {
+	static unsigned int i;
 	u32 frame[2];
 	u32 hdr;
+	u32 value;
+
+	i = !i;
+	switch (i) {
+	case 0:
+		if (!event_active_time)
+			return;
+		hdr = (GCP_NODE_BROADCAST << GCP_NODE_SHIFT);
+		hdr |= (GCP_PROTO_SEQCMD << GCP_PROTO_SHIFT);
+		hdr |= (GCP_CEVENT_ACTIVE_TIME << GCP_SEQCMD_CMD_SHIFT);
+		hdr |= GCP_SEQCMD_RST;
+		value = event_active_time;
+		break;
+	case 1:
+		if (!event_led_time)
+			return;
+		hdr = (GCP_NODE_BROADCAST << GCP_NODE_SHIFT);
+		hdr |= (GCP_PROTO_SEQCMD << GCP_PROTO_SHIFT);
+		hdr |= (GCP_CEVENT_LED_TIME << GCP_SEQCMD_CMD_SHIFT);
+		hdr |= GCP_SEQCMD_RST;
+		value = event_led_time;
+		break;
+	}
 
-	frame[GCP_PAYLOAD] = cpu_to_le32(0);
-	hdr = GCP_SEQCMD_RST | (GCP_CGET << GCP_SEQCMD_CMD_SHIFT);
+	frame[GCP_PAYLOAD] = cpu_to_le32(value);
 	frame[GCP_HEADER] = cpu_to_le32(hdr);
 	grtp_xmit(tty, (void *) frame);
 }
-#endif
 
 struct vest {
 	unsigned long prev_pos;
@@ -449,14 +482,14 @@ unsigned long v_estimate(struct vest *p, unsigned long pos, unsigned long t)
 
 int main(void)
 {
-//	struct tty_struct *control;
+	struct tty_struct *control;
 	struct tty_struct *pipe_tty;
 	struct tty_struct *tty;
 	struct tty_struct *tty0;
 	struct tty_struct *tty2;
 	struct tty_struct *tty0_raw;
-//	unsigned long diag_next;
-	unsigned long t;
+	unsigned int diag_next;
+	unsigned int t;
 	unsigned int pev_sync_old = 0;
 	struct vest vest_state = {};
 
@@ -484,7 +517,7 @@ int main(void)
 
 	local_irq_disable();
 	pipe_tty = tty_pipe();
-//	control = grtp_init(pipe_tty, NULL);
+	control = grtp_init(pipe_tty, NULL);
 
 	tty = serial_init(3);
 	tty2 = grtp_init(tty, data_frame_handler);
@@ -498,7 +531,7 @@ int main(void)
 	local_irq_enable();
 
 	t = gettime();
-//	diag_next = t;
+	diag_next = t;
 	vest_state.prev_t = t;
 
 	for (;;) {
@@ -530,12 +563,10 @@ int main(void)
 
 		ev = event_schedule(predicted_pos);
 
-#if 0
-		if ((long) diag_next - (long) t >= 0) {
-			diagnostic(control);
-			diag_next += 0x40000000;
+		if (time_after(t, diag_next)) {
+			diagnostics(control);
+			diag_next += us_to_ticks(500000);
 		}
-#endif
 
 		c = -1;
 		if (!ev) {
diff --git a/src/posix-timer.c b/src/posix-timer.c
index b0600a3..bd89b24 100644
--- a/src/posix-timer.c
+++ b/src/posix-timer.c
@@ -22,7 +22,7 @@ void timer_init(void)
 {
 }
 
-unsigned long gettime(void)
+unsigned int gettime(void)
 {
 	static unsigned long long prev_t;
 	static unsigned long jiffies;
diff --git a/src/timer.c b/src/timer.c
index d3d6933..7228253 100644
--- a/src/timer.c
+++ b/src/timer.c
@@ -38,10 +38,10 @@ static void systick_write(u32 x, unsigned int reg)
 	writel(x, (u8 *) SYSTICK_BASE + reg);
 }
 
-unsigned long gettime(void)
+unsigned int gettime(void)
 {
-	static unsigned long et;
-	static unsigned long oldt;
+	static unsigned int et;
+	static unsigned int oldt;
 	unsigned long t;
 
 	t = -(systick_read(SYST_CVR) << 8);
-- 
2.14.1