164 lines
3.9 KiB
C
164 lines
3.9 KiB
C
#include <wiringPi.h>
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#include <wiringPiSPI.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <pthread.h>
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const int CTRL_OUT = 16;
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const int INTR_IN = 19;
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const int SPI_CHAN = 0;
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const int SPI_SPEED = 1000000;
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const uint8_t REG_MDR0 = 0b00001000;
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const uint8_t REG_MDR1 = 0b00010000;
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const uint8_t REG_DTR = 0b00011000;
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const uint8_t REG_CNTR = 0b00100000;
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const uint8_t REG_OTR = 0b00101000;
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const uint8_t REG_STR = 0b00110000;
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const uint8_t CMD_CLR = 0b00000000;
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const uint8_t CMD_RD = 0b01000000;
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const uint8_t CMD_WR = 0b10000000;
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const uint8_t CMD_LOAD = 0b11000000;
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const uint8_t STR_CY = 0b10000000;
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const uint8_t STR_BW = 0b01000000;
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const uint8_t STR_CMP = 0b00100000;
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const uint8_t STR_IDX = 0b00010000;
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const uint8_t STR_CEN = 0b00001000;
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const uint8_t STR_PLS = 0b00000100;
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const uint8_t STR_UD = 0b00000010;
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const uint8_t STR_S = 0b00000001;
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const uint8_t MDR0_NOQ = 0b00000000;
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const uint8_t MDR0_Q1 = 0b00000001;
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const uint8_t MDR0_Q2 = 0b00000010;
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const uint8_t MDR0_Q4 = 0b00000011;
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const uint8_t MDR0_FRC = 0b00000000;
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const uint8_t MDR0_SCC = 0b00000100;
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const uint8_t MDR0_RLC = 0b00001000;
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const uint8_t MDR0_MNC = 0b00001100;
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const uint8_t MDR0_DI = 0b00000000;
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const uint8_t MDR0_ILC = 0b00010000;
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const uint8_t MDR0_IRC = 0b00100000;
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const uint8_t MDR0_ILO = 0b00110000;
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const uint8_t MDR0_AI = 0b00000000;
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const uint8_t MDR0_SI = 0b01000000;
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const uint8_t MDR0_FC1 = 0b00000000;
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const uint8_t MDR0_FC2 = 0b10000000;
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const uint8_t MDR1_4CM = 0b00000000;
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const uint8_t MDR1_3CM = 0b00000001;
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const uint8_t MDR1_2CM = 0b00000010;
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const uint8_t MDR1_1CM = 0b00000011;
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const uint8_t MDR1_EC = 0b00000000;
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const uint8_t MDR1_DC = 0b00000100;
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const uint8_t MDR1_F_IDX = 0b00010000;
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const uint8_t MDR1_F_CMP = 0b00100000;
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const uint8_t MDR1_F_BW = 0b01000000;
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const uint8_t MDR1_F_CY = 0b10000000;
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uint32_t ec = 0;
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uint32_t counter = 0;
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uint32_t diff = 0;
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pthread_mutex_t counterMutex = PTHREAD_MUTEX_INITIALIZER;
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pthread_mutex_t eventMutex = PTHREAD_MUTEX_INITIALIZER;
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pthread_cond_t eventSignal = PTHREAD_COND_INITIALIZER;
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void writeCmd(uint8_t c) {
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uint8_t buf[1];
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buf[0] = c;
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wiringPiSPIDataRW(SPI_CHAN, buf, 1);
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}
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void writeCmdData(uint8_t c, uint8_t d) {
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uint8_t buf[2];
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buf[0] = c;
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buf[1] = d;
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wiringPiSPIDataRW(SPI_CHAN, buf, 2);
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}
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uint8_t read8(uint8_t c) {
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uint8_t buf[2];
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buf[0] = c;
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wiringPiSPIDataRW(SPI_CHAN, buf, 2);
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return buf[1];
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}
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uint32_t read32(uint8_t c) {
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uint8_t buf[5];
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buf[0] = c;
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wiringPiSPIDataRW(SPI_CHAN, buf, 5);
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uint32_t r = ((uint32_t)buf[1] << 24) | ((uint32_t)buf[2] << 16) | ((uint32_t)buf[3] << 8) | ((uint32_t)buf[4]);
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return r;
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}
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void isr() {
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static uint32_t lastCounter = 0;
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uint32_t currentCounter = read32(CMD_RD | REG_OTR);
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pthread_mutex_lock(&counterMutex);
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diff = currentCounter - lastCounter;
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counter = currentCounter;
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ec++;
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pthread_mutex_unlock(&counterMutex);
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lastCounter = currentCounter;
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pthread_mutex_lock(&eventMutex);
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pthread_cond_signal(&eventSignal);
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pthread_mutex_unlock(&eventMutex);
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}
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void init() {
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wiringPiSetupGpio();
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wiringPiSPISetup(SPI_CHAN, SPI_SPEED);
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pinMode(CTRL_OUT, OUTPUT);
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digitalWrite(CTRL_OUT, 0);
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pinMode(INTR_IN, INPUT);
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wiringPiISR(INTR_IN, INT_EDGE_RISING, isr);
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}
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void initCounter() {
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writeCmd(CMD_CLR | REG_STR);
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writeCmd(CMD_CLR | REG_CNTR);
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writeCmdData(CMD_WR | REG_MDR0, MDR0_ILO);
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}
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int main (void) {
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static uint32_t lastDiff = 0;
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uint32_t my_ec = 0;
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uint32_t my_counter = 0;
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uint32_t my_diff = 0;
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init();
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initCounter();
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while (1) {
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pthread_mutex_lock(&eventMutex);
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pthread_cond_wait(&eventSignal, &eventMutex);
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pthread_mutex_unlock(&eventMutex);
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pthread_mutex_lock(&counterMutex);
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my_ec = ec;
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my_counter = counter;
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my_diff = diff;
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pthread_mutex_unlock(&counterMutex);
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if (diff != lastDiff) {
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lastDiff = diff;
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double f = 1.0 / (((double) diff) / 1000000.0);
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printf("%d %d %d %f\n", ec, counter, diff, f);
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}
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}
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}
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