delint

firmware/src/ad7172/adc.rs

@@ -2,7 +2,7 @@ use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::blocking::spi::Transfer;
 use super::checksum::{ChecksumMode, Checksum};
 use super::AdcError;
-use super::{regs, regs::RegisterData, Input, RefSource};
+use super::{regs, regs::RegisterData, Input};
 
 /// AD7172-2 implementation
 ///

firmware/src/ad7172/regs.rs

@@ -63,16 +63,19 @@ macro_rules! def_reg {
 
 macro_rules! reg_bit {
     ($getter: ident, $byte: expr, $bit: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> bool {
             self.0[$byte].get_bit($bit)
         }
     };
     ($getter: ident, $setter: ident, $byte: expr, $bit: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> bool {
             self.0[$byte].get_bit($bit)
         }
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $setter(&mut self, value: bool) {
             self.0[$byte].set_bit($bit, value);
@@ -82,32 +85,38 @@ macro_rules! reg_bit {
 
 macro_rules! reg_bits {
     ($getter: ident, $byte: expr, $bits: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> u8 {
             self.0[$byte].get_bits($bits)
         }
     };
     ($getter: ident, $setter: ident, $byte: expr, $bits: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> u8 {
             self.0[$byte].get_bits($bits)
         }
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $setter(&mut self, value: u8) {
             self.0[$byte].set_bits($bits, value);
         }
     };
     ($getter: ident, $byte: expr, $bits: expr, $ty: ty, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> $ty {
             self.0[$byte].get_bits($bits) as $ty
         }
     };
     ($getter: ident, $setter: ident, $byte: expr, $bits: expr, $ty: ty, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> $ty {
             self.0[$byte].get_bits($bits).into()
         }
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $setter(&mut self, value: $ty) {
             self.0[$byte].set_bits($bits, value as u8);
@@ -156,11 +165,13 @@ impl channel::Data {
     reg_bits!(setup, set_setup, 0, 4..=5, "Setup number");
 
     /// Which input is connected to positive input of this channel
+    #[allow(unused)]
     pub fn a_in_pos(&self) -> Input {
         ((self.0[0].get_bits(0..=1) << 3) |
          self.0[1].get_bits(5..=7)).into()
     }
     /// Set which input is connected to positive input of this channel
+    #[allow(unused)]
     pub fn set_a_in_pos(&mut self, value: Input) {
         let value = value as u8;
         self.0[0].set_bits(0..=1, value >> 3);
@@ -207,11 +218,13 @@ impl filt_con::Data {
 
 def_reg!(Offset, u8, offset, 0x30, 3);
 impl offset::Data {
+    #[allow(unused)]
     pub fn offset(&self) -> u32 {
         (u32::from(self.0[0]) << 16) |
         (u32::from(self.0[1]) << 8) |
         u32::from(self.0[2])
     }
+    #[allow(unused)]
     pub fn set_offset(&mut self, value: u32) {
         self.0[0] = (value >> 16) as u8;
         self.0[1] = (value >> 8) as u8;
@@ -221,11 +234,13 @@ impl offset::Data {
 
 def_reg!(Gain, u8, gain, 0x38, 3);
 impl gain::Data {
+    #[allow(unused)]
     pub fn gain(&self) -> u32 {
         (u32::from(self.0[0]) << 16) |
         (u32::from(self.0[1]) << 8) |
         u32::from(self.0[2])
     }
+    #[allow(unused)]
     pub fn set_gain(&mut self, value: u32) {
         self.0[0] = (value >> 16) as u8;
         self.0[1] = (value >> 8) as u8;

firmware/src/command_parser.rs

@@ -1,10 +1,11 @@
+use core::fmt;
 use nom::{
     IResult,
     branch::alt,
     bytes::complete::{tag, take_while1},
     character::{is_digit, complete::char},
     combinator::{map, value},
-    sequence::{preceded, tuple, Tuple},
+    sequence::preceded,
     multi::fold_many1,
     error::ErrorKind,
 };
@@ -12,7 +13,7 @@ use btoi::{btoi, ParseIntegerError};
 use super::session::ReportMode;
 
 
-#[derive(Debug)]
+#[derive(Clone, Debug)]
 pub enum Error {
     Parser(ErrorKind),
     Incomplete,
@@ -39,9 +40,43 @@ impl From<ParseIntegerError> for Error {
     }
 }
 
+impl fmt::Display for Error {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        match self {
+            Error::Incomplete =>
+                "incomplete input".fmt(fmt),
+            Error::UnexpectedInput(c) => {
+                "unexpected input: ".fmt(fmt)?;
+                c.fmt(fmt)
+            }
+            Error::Parser(e) => {
+                "parser: ".fmt(fmt)?;
+                (e as &dyn core::fmt::Debug).fmt(fmt)
+            }
+            Error::ParseInteger(e) => {
+                "parsing number: ".fmt(fmt)?;
+                e.fmt(fmt)
+            }
+        }
+    }
+}
+
 #[derive(Debug, Clone)]
 pub enum ShowCommand {
     ReportMode,
+    Pid,
+}
+
+#[derive(Debug, Clone)]
+pub enum PidParameter {
+    Target,
+    KP,
+    KI,
+    KD,
+    OutputMin,
+    OutputMax,
+    IntegralMin,
+    IntegralMax,
 }
 
 #[derive(Debug, Clone)]
@@ -53,6 +88,10 @@ pub enum Command {
         width: u32,
         total: u32,
     },
+    Pid {
+        parameter: PidParameter,
+        value: f32,
+    },
 }
 
 fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
@@ -113,17 +152,54 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     Ok((input, Ok(Command::Pwm { width, total })))
 }
 
-fn command(input: &[u8]) -> IResult<&[u8], Command> {
-    alt((value(Command::Quit, tag("quit")),
-         report
+fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, parameter) =
+        alt((value(PidParameter::Target, tag("target")),
+             value(PidParameter::KP, tag("kp")),
+             value(PidParameter::KI, tag("ki")),
+             value(PidParameter::KD, tag("kd")),
+             value(PidParameter::OutputMin, tag("output_min")),
+             value(PidParameter::OutputMax, tag("output_max")),
+             value(PidParameter::IntegralMin, tag("integral_min")),
+             value(PidParameter::IntegralMax, tag("integral_max"))
+        ))(input)?;
+    let (input, _) = whitespace(input)?;
+    // TODO: parse float
+    let (input, value) = unsigned(input)?;
+    let result = value
+        .map(|value| Command::Pid { parameter, value: value as f32  })
+        .map_err(|e| e.into());
+    Ok((input, result))
+}
+
+fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pid")(input)?;
+    let (input, _) = whitespace(input)?;
+
+    alt((
+        preceded(
+            whitespace,
+            pid_parameter
+        ),
+        |input| Ok((input, Ok(Command::Show(ShowCommand::Pid))))
+    ))(input)
+}
+
+fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    alt((value(Ok(Command::Quit), tag("quit")),
+         |input| report(input).map(|(input, command)| {
+             (input, Ok(command))
+         }),
+         pwm,
+         pid,
     ))(input)
 }
 
 impl Command {
     pub fn parse(input: &[u8]) -> Result<Self, Error> {
         match command(input) {
-            Ok((b"", command)) =>
-                Ok(command),
+            Ok((b"", result)) =>
+                result,
             Ok((input_remain, _)) =>
                 Err(Error::UnexpectedInput(input_remain[0])),
             Err(e) =>

firmware/src/main.rs

@@ -1,8 +1,8 @@
-#![feature(const_fn)]
+#![feature(const_fn, proc_macro_hygiene)]
 #![no_std]
 #![no_main]
 
-use cortex_m_rt::{entry, heap_start};
+use cortex_m_rt::entry;
 use core::fmt::{self, Write};
 use smoltcp::time::Instant;
 use smoltcp::wire::{IpCidr, IpAddress, EthernetAddress};
@@ -41,6 +41,7 @@ use command_parser::{Command, ShowCommand};
 mod session;
 use self::session::{Session, SessionOutput};
 mod ad7172;
+mod pid;
 
 pub struct UART0;
 
@@ -77,6 +78,15 @@ macro_rules! create_socket {
 
 /// In nanoseconds
 const REPORT_INTERVAL: u64 = 100_000;
+const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
+    kp: 1.0,
+    ki: 1.0,
+    kd: 1.0,
+    output_min: 0.0,
+    output_max: 0xffff as f32,
+    integral_min: 0.0,
+    integral_max: 0xffff as f32,
+};
 
 #[entry]
 fn main() -> ! {
@@ -143,6 +153,8 @@ fn main() -> ! {
     // SENS1_{P,N}
     adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
 
+    let mut pid = pid::Controller::new(DEFAULT_PID_PARAMETERS.clone());
+
     let mut hardware_addr = EthernetAddress(board::get_mac_address());
     if hardware_addr.is_multicast() {
         println!("programmed MAC address is invalid, using default");
@@ -200,7 +212,7 @@ fn main() -> ! {
         // ADC input
         adc.data_ready()
             .unwrap_or_else(|e| {
-                writeln!(stdout, "ADC error: {:?}", e);
+                writeln!(stdout, "ADC error: {:?}", e).unwrap();
                 None
             }).map(|channel| {
                 let data = adc.read_data().unwrap();
@@ -241,21 +253,61 @@ fn main() -> ! {
             if socket.may_recv() && socket.may_send() {
                 let output = socket.recv(|buf| session.feed(buf));
 
+                // TODO: use "{}" to display pretty errors
                 match output {
                     Ok(SessionOutput::Nothing) => {}
                     Ok(SessionOutput::Command(command)) => match command {
                         Command::Quit =>
                             socket.close(),
                         Command::Report(mode) => {
-                            let _ = writeln!(socket, "Report mode: {:?}", mode);
+                            let _ = writeln!(socket, "Report mode: {}", mode);
                         }
                         Command::Show(ShowCommand::ReportMode) => {
-                            let _ = writeln!(socket, "Report mode: {:?}", session.report_mode());
+                            let _ = writeln!(socket, "Report mode: {}", session.report_mode());
+                        }
+                        Command::Show(ShowCommand::Pid) => {
+                            let _ = writeln!(socket, "PID settings");
+                            let _ = writeln!(socket, "target: {:.4}", pid.get_target());
+                            let p = pid.get_parameters();
+                            macro_rules! out {
+                                ($p: tt) => {
+                                    let _ = writeln!(socket, "{}: {:.4}", stringify!($p), p.$p);
+                                };
+                            }
+                            out!(kp);
+                            out!(ki);
+                            out!(kd);
+                            out!(output_min);
+                            out!(output_max);
+                            out!(integral_min);
+                            out!(integral_max);
                         }
                         Command::Pwm { width, total } => {
                             board::set_timer_pwm(width, total);
                             let _ = writeln!(socket, "PWM duty cycle: {}/{}", width, total);
                         }
+                        Command::Pid { parameter, value } => {
+                            use command_parser::PidParameter::*;
+                            match parameter {
+                                Target =>
+                                    pid.set_target(value),
+                                KP =>
+                                    pid.update_parameters(|parameters| parameters.kp = value),
+                                KI =>
+                                    pid.update_parameters(|parameters| parameters.ki = value),
+                                KD =>
+                                    pid.update_parameters(|parameters| parameters.kd = value),
+                                OutputMin =>
+                                    pid.update_parameters(|parameters| parameters.output_min = value),
+                                OutputMax =>
+                                    pid.update_parameters(|parameters| parameters.output_max = value),
+                                IntegralMin =>
+                                    pid.update_parameters(|parameters| parameters.integral_min = value),
+                                IntegralMax =>
+                                    pid.update_parameters(|parameters| parameters.integral_max = value),
+                            }
+                            let _ = writeln!(socket, "PID parameter updated");
+                        }
                     }
                     Ok(SessionOutput::Error(e)) => {
                         let _ = writeln!(socket, "Command error: {:?}", e);

firmware/src/pid.rs

@@ -56,10 +56,22 @@ impl Controller {
         output
     }
 
+    pub fn get_target(&mut self) -> f32 {
+        self.target
+    }
+
     pub fn set_target(&mut self, target: f32) {
         self.target = target;
     }
 
+    pub fn get_parameters(&self) -> &Parameters {
+        &self.parameters
+    }
+
+    pub fn update_parameters<F: FnOnce(&mut Parameters)>(&mut self, f: F) {
+        f(&mut self.parameters);
+    }
+
     #[allow(dead_code)]
     pub fn reset(&mut self) {
         self.integral = 0.0;

firmware/src/session.rs

@@ -1,4 +1,5 @@
 use core::ops::Deref;
+use core::fmt;
 use super::command_parser::{Command, Error as ParserError};
 
 const MAX_LINE_LEN: usize = 64;
@@ -60,6 +61,16 @@ pub enum ReportMode {
     Continuous,
 }
 
+impl fmt::Display for ReportMode {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        match self {
+            ReportMode::Off => "off",
+            ReportMode::Once => "once",
+            ReportMode::Continuous => "continuous",
+        }.fmt(fmt)
+    }
+}
+
 pub enum SessionOutput {
     Nothing,
     Command(Command),