switch to stlink, blinky

15 files changed, 194 insertions, 82 deletions

diff --git a/Makefile.include b/Makefile.include
index 7a60f2f..9225b89 100644
--- a/Makefile.include
+++ b/Makefile.include
@@ -31,7 +31,7 @@ ARCH_FLAGS	= -mthumb -mcpu=cortex-m4 $(FP_FLAGS)
 OOCD		?= openocd
 #OOCD_INTERFACE	?= cmsis-dap
 #OOCD_BOARD	?= arch_max
-OOCD_INTERFACE  ?= j-link
+OOCD_INTERFACE  ?= stlink-v2
 OOCD_BOARD      ?= stm32f407vet6
 
 ################################################################################
diff --git a/Makefile.rules b/Makefile.rules
index fe31837..29294bb 100644
--- a/Makefile.rules
+++ b/Makefile.rules
@@ -207,7 +207,7 @@ ifeq ($(OOCD_SERIAL),)
 		    -c "init" -c "reset init" \
 		    -c "flash write_image erase $(*).hex" \
 		    -c "reset" \
-		    -c "shutdown" $(NULL)
+		    -c "shutdown" $(NULL) 
 else
 %.flash: %.hex
 	@printf "  FLASH   $<\n"
diff --git a/app/Makefile b/app/Makefile
index e8ae217..c325681 100644
--- a/app/Makefile
+++ b/app/Makefile
@@ -109,4 +109,4 @@ tidy:
 	astyle -A3 -s2 --attach-extern-c -L -c -w -Y -m0 -f -p  -H -U -k3 -xj -xd ${CSRCS} ${HSRCS} 
 
 slog:
-	sympathy -d /dev/ttyUSB6 -b 38400 -L ../log -w 132x59 -s 
+	sympathy -d /dev/ttyUSB5 -b 38400 -L ../log -w 132x59 -s 
diff --git a/app/dcf77.c b/app/dcf77.c
index 909188b..2a952cd 100644
--- a/app/dcf77.c
+++ b/app/dcf77.c
@@ -72,7 +72,7 @@ static void process_bits (uint64_t abs)
 
   if (bits[17]) dcf77_time.s -= 3600; /*CEST*/
 
-  dcf77_last_happy = abs - (int64_t) 60 * (int64_t) HZ;
+  dcf77_last_happy = make_happy (abs, 60);
 
   pll_set_offset (dcf77_time, abs);
 
diff --git a/app/gps.c b/app/gps.c
index b3c322d..39bb13f 100644
--- a/app/gps.c
+++ b/app/gps.c
@@ -217,7 +217,7 @@ ubx_recv_utc (uint8_t *ptr, unsigned len)
     now = SCS_DWT_CYCCNT;
     abs = abs_extend (now);
 
-    gps_last_happy = abs + (int64_t) HZ * (int64_t) 60;
+    gps_last_happy = make_happy (abs, 180);
 
     pll_set_offset (gps_time, abs);
 
diff --git a/app/led.c b/app/led.c
index 825bd0d..b7f34a0 100644
--- a/app/led.c
+++ b/app/led.c
@@ -1,9 +1,11 @@
 #include "project.h"
 
-#define LED (GPIO3)
-#define LED_PORT GPIOB
+#define LED (GPIO6)
+#define LED_PORT GPIOA
 
 
+static unsigned led_ms;
+
 void
 led_init (void)
 {
@@ -15,24 +17,29 @@ led_init (void)
 void
 led_clear (void)
 {
-  CLEAR (LED);
+  SET (LED);
 }
 
 void
 led_set()
 {
-  gpio_set (LED_PORT, LED);
+  CLEAR (LED);
+}
+
+void led_blink (unsigned ms)
+{
+  led_set();
+  led_ms = ms;
 }
 
+
 void
-led_slow_tick (void)
+led_tick (void)
 {
-  static int c;
+  if (!led_ms) return;
+
+  led_ms--;
 
-  c = !c;
+  if (!led_ms) led_clear();
 
-  if (c)
-    led_set();
-  else
-    led_clear();
 }
diff --git a/app/main.c b/app/main.c
index 703d366..356d4da 100644
--- a/app/main.c
+++ b/app/main.c
@@ -3,7 +3,7 @@
 int time_known;
 
 
-static void cmd_dispatch()
+static void cmd_dispatch (void)
 {
   uint8_t c;
 
@@ -49,7 +49,7 @@ static void
 board_setup (void)
 {
   rcc_osc_bypass_enable (HSE);
-  RCC_SSCGR=0;
+  RCC_SSCGR = 0;
   rcc_clock_setup_hse_3v3 (&hse_10mhz_3v3_168);
 
   rcc_periph_clock_enable (RCC_SYSCFG);
diff --git a/app/msf.c b/app/msf.c
index 4b3c350..82dea7d 100644
--- a/app/msf.c
+++ b/app/msf.c
@@ -104,7 +104,7 @@ static void process_bits (uint64_t abs)
 
   msf_time = time_utc_to_epoch (u);
 
-  msf_last_happy = abs - (int64_t) 120 * (int64_t) HZ;
+  msf_last_happy = make_happy (abs, 0);
 
   pll_set_offset (msf_time, abs);
 
diff --git a/app/pll.c b/app/pll.c
index 944e6cc..460b789 100644
--- a/app/pll.c
+++ b/app/pll.c
@@ -2,7 +2,7 @@
 
 #define JUMP_THRESH 0.1
 #define JUMP_TICKS  30
-#define FEEDBACK    0.01
+#define FEEDBACK    0.0001
 #define WARM_UP     30
 
 
@@ -15,8 +15,56 @@ static int out_of_lock = JUMP_TICKS + 1;
 uint64_t pll_last_update;
 int pll_valid = 0;
 
+int pll_ready = 0;
+
+
+# if 0
+#define   PLL_BW    0.01
+#define   PLL_DAMP  0.707
+#define   PLL_GAIN  0.001
+
+#define   F_T1    ((PLL_GAIN)/((PLL_BW)*(PLL_BW)))
+#define   F_T2    ((2*(PLL_DAMP))/(PLL_BW))
+
+
+#define   F_B0    (((4*(PLL_GAIN))/(F_T1))*(1.0+((F_T2)/(2.0))))
+#define   F_B1    ((8*(PLL_GAIN))/(F_T1))
+#define   F_B2    (((4*(PLL_GAIN))/(F_T1))*(1.0-((F_T2)/(2.0))))
+
+#define   F_A0    (1.0)
+#define   F_A1    (-2.0)
+#define   F_A2    (1.0)
+
+void pll_dump_filter (void)
+{
+  printf ("%g %g %g\n", F_A0, F_A1, F_A2);
+  printf ("%g %g %g\n", F_B0, F_B1, F_B2);
+}
+
+
+
+static double filter (double in)
+{
+  static double v[3];
+  double ret;
+
+  v[2] = v[1];
+  v[1] = v[0];
+  v[0] = in - (v[1] * F_A1) - (v[2] * F_A2);
+
+  return (v[0] * F_B0) + (v[1] * F_B1) + (v[2] * F_B2);
+
+}
+#endif
+
+
+#define PLL_ALPHA (0.005)
+#define PLL_BETA  (0.5*PLL_ALPHA*PLL_ALPHA)
+
+
+
+
 
-static int warming_up = WARM_UP;
 
 
 void pll_meh (void)
@@ -32,10 +80,15 @@ static void modify_pll_freq (uint64_t now, int d)
   int64_t pd1, pd2, te;
 
   pd1 = now - phase;
-
   te = pd1 / pll_freq;
   pd1 %= pll_freq;
 
+  if (pd1 > (pll_freq >> 1)) {
+    te++;
+    pd1 = pd1 - pll_freq;
+  }
+
+
   if (d > 0)
     pll_freq += d;
   else
@@ -47,10 +100,27 @@ static void modify_pll_freq (uint64_t now, int d)
   phase = now - pd2;
 }
 
+uint64_t make_happy (uint64_t abs, int64_t shift)
+{
+  shift *= HZ;
+
+  if (shift < 0) {
+    shift = -shift;
+
+    if (abs < (uint64_t) shift) return 0;
+    else
+      return abs - shift;
+  }
+
+  return abs + shift;
+
+
+}
+
 
 void pll_dispatch (uint64_t happy, uint64_t edge, const char *src)
 {
-  double f;
+  double f, g;
   int64_t pd;
 
 
@@ -59,23 +129,40 @@ void pll_dispatch (uint64_t happy, uint64_t edge, const char *src)
   {
     int h1, h2, h3, h4;
     EPOCH e;
+    UTC u;
+    char s1[80];
+    char s2[80];
+    char s3[80];
+    char s4[80];
 
 
     e = pll_decompose (happy);
+    u = time_epoch_to_utc (e);
+    utc_to_str (s1, u);
     h1 = e.s;
+
     e = pll_decompose (gps_last_happy);
+    u = time_epoch_to_utc (e);
+    utc_to_str (s2, u);
     h2 = e.s;
+
     e = pll_decompose (dcf77_last_happy);
+    u = time_epoch_to_utc (e);
+    utc_to_str (s3, u);
     h3 = e.s;
+
     e = pll_decompose (msf_last_happy);
+    u = time_epoch_to_utc (e);
+    utc_to_str (s4, u);
     h4 = e.s;
 
     printf ("H %d %d %d %d\r\n", h1 - h2, h2 - h2, h3 - h2, h4 - h2);
+    // printf ("H %s %s %s %s\r\n",s1,s2,s3,s4);
   }
 #endif
 
 
-if ((!gps_last_happy) && (!dcf77_last_happy) && (!msf_last_happy)) return;
+  if ((!gps_last_happy) && (!dcf77_last_happy) && (!msf_last_happy)) return;
 
   if (happy < gps_last_happy) return;
 
@@ -83,14 +170,17 @@ if ((!gps_last_happy) && (!dcf77_last_happy) && (!msf_last_happy)) return;
 
   if (happy < msf_last_happy) return;
 
-  if (warming_up) {
-    warming_up--;
+  if (!pll_ready && (edge < ((uint64_t) WARM_UP  * (uint64_t) HZ)))
     return;
-  }
 
-printf("EDGE %08x%08x\r\n",
-	(uint32_t) (edge >>32),
-	(uint32_t) (edge & 0xffffffff));
+  led_blink (100);
+
+
+#if 1
+  printf ("EDGE %08x%08x\r\n",
+          (unsigned) (edge >> 32),
+          (unsigned) (edge & 0xffffffff));
+#endif
 
   {
     int diff, hf;
@@ -107,27 +197,27 @@ printf("EDGE %08x%08x\r\n",
 
 
     f = (double) diff;
-    f /= (double) pll_freq;
+    g = f / (double) pll_freq;
   }
 
-  if ((f > (JUMP_THRESH)) || (f < - (JUMP_THRESH)))
+  if ((g > (JUMP_THRESH)) || (g < - (JUMP_THRESH)))
     out_of_lock++;
   else if (out_of_lock <= JUMP_TICKS)
     out_of_lock = 0;
 
-  printf ("PLL pd %.3f pll_freq %d phase %d %s\r\n", (float) f, (int) pll_freq, (int) phase, src);
+  printf ("PLL pd %.3f %.1f pll_freq %d phase %d %s\r\n", (float) g, (float)f, (int) pll_freq, (int) phase, src);
 
-  if (out_of_lock > JUMP_TICKS) {
+  if ((out_of_lock > JUMP_TICKS) || !pll_ready) {
     phase += pd;
     out_of_lock = 0;
     printf ("PLL - jumping\r\n");
     pll_freq = HZ;
+    pll_ready = 1;
   } else {
 
-    f *= FEEDBACK;
-    f *= (double) pll_freq;
+    phase += (int) (f * PLL_BETA);
+    modify_pll_freq (edge, (int) (f * PLL_ALPHA));
 
-    modify_pll_freq (edge, (int) f);
   }
 
   pll_last_update = edge;
diff --git a/app/project.h b/app/project.h
index d19cd61..869cb3d 100644
--- a/app/project.h
+++ b/app/project.h
@@ -21,6 +21,7 @@
 #include <libopencm3/cm3/nvic.h>
 #include <libopencm3/cm3/cortex.h>
 #include <libopencm3/cm3/scs.h>
+#include <libopencm3/cm3/scb.h>
 
 #include <lwip/init.h>
 #include <lwip/sys.h>
diff --git a/app/prototypes.h b/app/prototypes.h
index 44cc1c8..933e583 100644
--- a/app/prototypes.h
+++ b/app/prototypes.h
@@ -2,7 +2,8 @@
 extern void led_init(void);
 extern void led_clear(void);
 extern void led_set(void);
-extern void led_slow_tick(void);
+extern void led_blink(unsigned ms);
+extern void led_tick(void);
 /* ticker.c */
 extern volatile uint32_t ticks;
 extern void delay_us(uint32_t d);
@@ -64,6 +65,7 @@ extern int64_t pll_freq;
 extern uint64_t pll_last_update;
 extern int pll_valid;
 extern void pll_meh(void);
+extern uint64_t make_happy(uint64_t abs, int64_t shift);
 extern void pll_dispatch(uint64_t happy, uint64_t edge, const char *src);
 extern void pll_set_offset(EPOCH epoch, uint64_t abs);
 extern EPOCH _pll_decompose(uint64_t abs);
@@ -75,6 +77,7 @@ extern int main(void);
 /* time_fn.c */
 extern UTC time_epoch_to_utc(EPOCH epoch);
 extern EPOCH time_utc_to_epoch(UTC u);
+extern void utc_to_str(char *dst, UTC u);
 extern void time_print_utc(const char *p, UTC u);
 extern void time_print_epoch(const char *p, EPOCH e);
 /* ntp.c */
diff --git a/app/steth.c b/app/steth.c
index 2603725..ead4efd 100644
--- a/app/steth.c
+++ b/app/steth.c
@@ -2,10 +2,6 @@
 
 #include "steth.h"
 
-#define FUCKED
-
-static int fucked;
-
 
 #define AN_RETRY  6
 
@@ -86,13 +82,15 @@ static void phy_stat_reg (unsigned i)
   if (cur == last_phy[i]) return;
 
   printf ("  phy:%02x %4x (was %4x +%4x -%4x)\r\n",
-          i, (unsigned) cur, (unsigned) last_phy[i],
+          i,
+          (unsigned) cur, (unsigned) last_phy[i],
           (unsigned) ((last_phy[i] ^ cur) & cur),
           (unsigned) ((last_phy[i] ^ cur) & last_phy[i]));
 
   last_phy[i] = cur;
 }
 
+
 static void phy_stat (void)
 {
   unsigned i;
@@ -104,7 +102,7 @@ static void phy_stat (void)
 static bool
 phy_link_an_done (uint8_t phy)
 {
-  return eth_smi_read (PHY, PHY_REG_BSR) & PHY_REG_BSR_ANDONE;
+  return eth_smi_read (phy, PHY_REG_BSR) & PHY_REG_BSR_ANDONE;
 }
 
 
@@ -197,22 +195,9 @@ steth_lwip_init (struct netif *netif)
   return ERR_OK;
 }
 
-
-#ifdef FUCKED
-
-static void fucked_phy_reset (uint8_t phy)
-{
-  unsigned i;
-  eth_smi_write (phy, PHY_REG_BCR, PHY_REG_BCR_RESET);
-
-  for (i = 0; (eth_smi_read (phy, PHY_REG_BCR) & PHY_REG_BCR_RESET) && (i < 1000); ++i) delay_us (1000);
-
-}
-
-static void fucked_eth_init (uint8_t phy, enum eth_clk clock)
+static void my_eth_init (uint8_t phy, enum eth_clk clock)
 {
   ETH_MACMIIAR = clock;
-  fucked_phy_reset (phy);
 
   ETH_MACCR = ETH_MACCR_CSTF | ETH_MACCR_FES | ETH_MACCR_DM |
               ETH_MACCR_APCS | ETH_MACCR_RD;
@@ -227,7 +212,35 @@ static void fucked_eth_init (uint8_t phy, enum eth_clk clock)
                (32 << ETH_DMABMR_RDP_SHIFT) | (32 << ETH_DMABMR_PBL_SHIFT) |
                ETH_DMABMR_PM_2_1 | ETH_DMABMR_USP;
 }
-#endif
+
+
+
+static void phy_set_ignore_address (void)
+{
+  unsigned i;
+
+  i = 0;
+
+  while (eth_smi_read (PHY0, 0) == 0xffff) {
+    delay_us (1000);
+    i++;
+
+    if (i > 10) break;
+  }
+
+  eth_smi_write (PHY, 0x11, 0x8);
+
+  i = 0;
+
+  while (eth_smi_read (PHY1, 0) == 0xffff) {
+    delay_us (1000);
+    i++;
+
+    if (i > 10) break;
+  }
+
+  eth_smi_write (PHY1, 0x11, 0x8);
+}
 
 
 static void eth_reset (void)
@@ -237,21 +250,21 @@ static void eth_reset (void)
   printf ("Eth_reset()\r\n");
 
   rcc_periph_reset_hold (RST_ETHMAC);
-  delay_ms (1);
+  delay_us (1000);
 #ifndef SYSCFG_PMC_MII_RMII_SEL
 #define SYSCFG_PMC_MII_RMII_SEL (1UL << 23)
 #endif
 
   SYSCFG_PMC |= SYSCFG_PMC_MII_RMII_SEL;
-  delay_ms (1);
+  delay_us (1000);
   rcc_periph_reset_release (RST_ETHMAC);
 
 
-  delay_ms (1);
+  delay_us (1000);
   CLEAR (NRST);
   delay_us (1);
   SET (NRST);
-  delay_ms (1);
+  delay_us (1000);
 
   TRACE;
   ETH_DMABMR |= ETH_DMABMR_SR;
@@ -259,7 +272,7 @@ static void eth_reset (void)
   i = 0;
 
   while (ETH_DMABMR & ETH_DMABMR_SR) {
-    delay_ms (1);
+    delay_us (1000);
     i++;
 
     if (i > 1000) {
@@ -270,16 +283,9 @@ static void eth_reset (void)
 
   /*MDC = HCLK / 102 (0b100) => 1.6MHz */
   TRACE;
-#ifdef FUCKED
-  fucked_eth_init (PHY, ETH_CLK_150_168MHZ);
-#else
-  eth_init (PHY, ETH_CLK_150_168MHZ);
-#endif
 
-  if (eth_smi_read (PHY, 0) == 0xffff)  {
-    fucked = 1;
-    printf ("WARNING: PHY is AWOL\r\n");
-  }
+  my_eth_init (PHY, ETH_CLK_150_168MHZ);
+  phy_set_ignore_address();
 
   TRACE;
   phy_stat();
@@ -364,7 +370,7 @@ steth_init (void)
   eth_smi_write (PHY, PHY_REG_BCR, 0x2100);
   printf ("Waiting for link\r\n");
 
-  while (!phy_link_isup (PHY)) {
+  while (!phy_link_isup (phy)) {
     phy_stat();
     delay_ms (1000);
   }
@@ -373,12 +379,6 @@ steth_init (void)
 
   eth_start_an();
 
-  if (fucked) delay_ms (1000);
-
-
-
-  //
-  //eth_start();
   nvic_enable_irq (NVIC_ETH_IRQ);
 
 
@@ -389,11 +389,13 @@ steth_init (void)
 
 
 
+#if 0
 static void eth_stop (void)
 {
   ETH_MACCR &= (ETH_MACCR_TE & ETH_MACCR_RE);
   ETH_DMAOMR &= ~ (ETH_DMAOMR_FTF | ETH_DMAOMR_ST | ETH_DMAOMR_SR);
 }
+#endif
 
 void steth_slow_tick (void)
 {
diff --git a/app/ticker.c b/app/ticker.c
index f5bece6..0f2b3e3 100644
--- a/app/ticker.c
+++ b/app/ticker.c
@@ -24,6 +24,8 @@ sys_tick_handler (void)
 
   ticks++;
 
+  led_tick();
+
   slow++;
 
   if (slow < 1000)
@@ -31,7 +33,6 @@ sys_tick_handler (void)
 
   slow = 0;
 
-  led_slow_tick();
   abs_slow_tick();
   steth_slow_tick();
 }
diff --git a/app/time_fn.c b/app/time_fn.c
index 1067dd9..957bc47 100644
--- a/app/time_fn.c
+++ b/app/time_fn.c
@@ -209,6 +209,13 @@ EPOCH  time_utc_to_epoch (UTC u)
   return ret;
 }
 
+void utc_to_str (char *dst, UTC u)
+{
+  const char *dname[] = {"Sun", "Mon", "Tue", "Wed", "Thr", "Fri", "Sat", "Sun"};
+  const char *mname[] = {"", "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
+  sprintf (dst, "%s %04d-%s-%02d %02d:%02d:%02d.%09d", dname[u.wday], u.year, mname[u.month], u.mday, u.hour, u.minute, u.second, u.nanosecond);
+}
+
 
 void time_print_utc (const char *p, UTC u)
 {
diff --git a/oocd/board/stm32f407vet6.cfg b/oocd/board/stm32f407vet6.cfg
index 4ba3a0a..9be7ac5 100644
--- a/oocd/board/stm32f407vet6.cfg
+++ b/oocd/board/stm32f407vet6.cfg
@@ -1,4 +1,5 @@
 
 source [find target/stm32f4x.cfg]
 
-reset_config srst_only
+#reset_config srst_only
+reset_config trst_only