Calibrator, version that works (kind of) with milliseconds

5 files changed, 227 insertions, 4 deletions

diff --git a/Makefile b/Makefile
index 295aac8..7826266 100644
--- a/Makefile
+++ b/Makefile
@@ -41,7 +41,7 @@
 
 
 # Target file name (without extension).
-TARGET = example
+TARGET = calibrator
 
 
 # List C source files here. (C dependencies are automatically generated.)
@@ -63,7 +63,7 @@ MCU = atmega32u4        # Teensy 2.0
 #   so your program will run at the correct speed.  You should also set this
 #   variable to same clock speed.  The _delay_ms() macro uses this, and many
 #   examples use this variable to calculate timings.  Do not add a "UL" here.
-F_CPU = 16000000
+F_CPU = 1000000
 
 
 # Output format. (can be srec, ihex, binary)
@@ -443,7 +443,8 @@ gccversion :
 
 # Program the device.  
 program: $(TARGET).hex $(TARGET).eep
-	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+#	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+	teensy_loader_cli -mmcu=$(MCU) -w -v $(TARGET).hex
 
 
 # Generate avr-gdb config/init file which does the following:
diff --git a/calibrator.c b/calibrator.c
new file mode 100644
index 0000000..7eb9003
--- /dev/null
+++ b/calibrator.c
@@ -0,0 +1,106 @@
+/* Simple example for Teensy USB Development Board
+ * http://www.pjrc.com/teensy/
+ * Copyright (c) 2008 PJRC.COM, LLC
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+#include <avr/interrupt.h>
+#include <stdint.h>
+#include <util/delay.h>
+#include "usb_serial.h"
+
+#define CPU_PRESCALE(n) (CLKPR = 0x80, CLKPR = (n))
+
+void send_str(const char *s);
+void send_int(unsigned int val);
+uint8_t recv_str(char *buf, uint8_t size);
+
+volatile unsigned int system_timer = 0;
+
+int main(void)
+{
+	int changed = 0, val;
+	int port = 'B' - 'A';
+	int pin = 1 << ('0' - '0');
+	unsigned int timer_prev = 1;
+
+	system_timer = 100;
+
+	CPU_PRESCALE(0x00); // 16 MHz
+	usb_init();
+	while (!usb_configured()) /* wait */ ;
+	_delay_ms(1000);
+	CPU_PRESCALE(0x04); // 1 MHz
+	TCCR1B |= (1 << CS10); // Set timer1 to 1 microsecond steps
+	TIMSK1 |= (1 << TOIE1); // enabled timer overflow interrupt;
+	sei();
+
+	while (1) {
+		if (system_timer != timer_prev) {
+			timer_prev++;
+//			send_int((int)system_timer);
+			usb_serial_putchar('\n');
+			continue;
+		}
+	}
+}
+
+ISR(TIMER1_OVF_vect)
+{
+	system_timer++;
+}
+
+// Send a string to the USB serial port.  The string must be in
+// flash memory, using PSTR
+//
+void send_str(const char *s)
+{
+	char c;
+	while (1) {
+		c = pgm_read_byte(s++);
+		if (!c) break;
+		usb_serial_putchar(c);
+	}
+}
+
+/* Write a decimal integer to the serial port
+ */
+void send_int(unsigned int val)
+{
+	char c_out[10];
+	int ptr;
+	c_out[ptr++] = '\0';
+	if (val < 0) {
+		c_out[ptr++] = '-';
+		val = -val;
+	}
+	while (val > 0) {
+		c_out[ptr++] = (val % 10) + '0';
+		val /= 10;
+	}
+	ptr--;
+	while (ptr) {
+		usb_serial_putchar(c_out[ptr--]);
+	}
+}
+
+
diff --git a/client.c b/client.c
new file mode 100644
index 0000000..2b3ff4c
--- /dev/null
+++ b/client.c
@@ -0,0 +1,29 @@
+/* Thinger to read 60hz cycle times and display diagnostics in a kind
+ * of stripcharty way.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <fcntl.h>
+
+
+int main(int *argc, char **argv)
+{
+	char line[20];
+	double bottom = 1/59.9;
+	double top = 1/60.1;
+	double center = 1/60;
+	int fd = open("/dev/ttyACM0", O_RDONLY);
+
+	while (1) {
+		double current;
+		char* line = "          |          \n";
+		int len = read(fd, &line, 20);
+		if (len == 0) {
+			puts("Fucked\n");
+			continue;
+		}
+		current = (float)atoi(&line);
+		printf("%f %f\n", current - bottom, current);
+	}
+}
diff --git a/host/calibrator_client.c b/host/calibrator_client.c
new file mode 100644
index 0000000..3b5eee5
--- /dev/null
+++ b/host/calibrator_client.c
@@ -0,0 +1,82 @@
+/* Thinger to read 60hz cycle times and display diagnostics in a kind
+ * of stripcharty way.
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <time.h>
+
+// window for reporting, in cycles
+#define REPORT_FREQ 60
+// width of the bargraph
+#define WIDTH 40
+// timer cycles per second
+#define SCALE 1000000
+// length between nominal timer overflows, in microseconds
+// (1 overflow / 65'536 microseconds) * (1'000'000 microseconds)
+#define TICKSIZE (SCALE / 65536)
+
+#define NANOSECOND 1000000000
+#define MILLISECOND 1000
+
+#define NOMINAL 60
+#define MOTION 0.2
+
+int main(int *argc, char **argv)
+{
+	char line[WIDTH + 10];
+	char blankline[] = "                    |                    ";
+	double bottom = SCALE/(NOMINAL-MOTION);
+	double top = SCALE/(NOMINAL+MOTION);
+	double center = SCALE/(NOMINAL);
+	int counter;
+	int qpos = 0;
+	int fd = open("/dev/ttyACM0", O_RDONLY);
+
+	long int count_total = 0;	// total overflows so far ever
+	struct timespec initial;	// initial timestamp
+
+	signed long long int initial_nsec;
+	signed long int initial_msec;
+
+	strcpy(&line, &blankline);
+
+	clock_gettime(CLOCK_REALTIME, &initial);
+
+	initial_nsec = initial.tv_nsec;
+
+	initial_msec = (initial.tv_sec * 1000) + (initial.tv_nsec / (1000 * 1000));
+
+	while (1) {
+		double current, average;
+		char inlin[20];
+		int position, pos_avg, i;
+		int len;
+
+		struct timespec current_time;
+		signed long long int cur_nsec;
+		signed long int cur_msec;
+
+		long double nominal, measured;
+
+		len = read(fd, &inlin, 1);
+		if (len == 0) {
+			puts("Fucked\n");
+			continue;
+		}
+		clock_gettime(CLOCK_REALTIME, &current_time);
+		cur_nsec = (current_time.tv_nsec) + ((current_time.tv_sec - initial.tv_sec) * 1000 * 1000 * 1000);
+		cur_msec = (current_time.tv_nsec / (1000 * 1000)) + ((current_time.tv_sec) * 1000);
+
+		count_total++;
+
+		nominal = (long double) count_total / TICKSIZE;
+		//measured = (cur_nsec - initial_nsec) / NANOSECOND;
+		measured = (cur_msec - initial_msec) / MILLISECOND;
+
+		printf("% '05.8Lf - % '05.8Lf, % '05.8Lf\n", nominal, measured, measured/nominal);
+
+	}
+}
diff --git a/host/client.c b/host/client.c
index 17f3fba..3752800 100644
--- a/host/client.c
+++ b/host/client.c
@@ -7,8 +7,13 @@
 #include <string.h>
 #include <fcntl.h>
 
+// window for frequency averaging, in cycles
 #define QUEUE 3600
+// window for reporting, in cycles
+#define REPORT_FREQ 60
+// width of the bargraph
 #define WIDTH 40
+// timer cycles per second
 #define SCALE 1000000
 
 int main(int *argc, char **argv)
@@ -57,7 +62,7 @@ int main(int *argc, char **argv)
 			line[position] = '.';
 		}
 
-		if (counter % 60 == 0) {
+		if (counter % REPORT_FREQ == 0) {
 			if (pos_avg > WIDTH) {
 				line[WIDTH] = '_';
 			} else if (pos_avg < 0) {