firmware/src/command_parser.rs

@@ -10,6 +10,7 @@ use nom::{
     error::ErrorKind,
 };
 use lexical_core as lexical;
+use super::session::ReportMode;
 
 
 #[derive(Clone, Debug)]
@@ -62,8 +63,7 @@ impl fmt::Display for Error {
 
 #[derive(Debug, Clone)]
 pub enum ShowCommand {
-    Input,
+    ReportMode,
-    Reporting,
     Pid,
 }
 
@@ -83,7 +83,7 @@ pub enum PidParameter {
 pub enum Command {
     Quit,
     Show(ShowCommand),
-    Reporting(bool),
+    Report(ReportMode),
     Pwm {
         width: u32,
         total: u32,
@@ -112,9 +112,10 @@ fn float(input: &[u8]) -> IResult<&[u8], Result<f32, lexical::Error>> {
     Ok((input, result))
 }
 
-fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
+fn report_mode(input: &[u8]) -> IResult<&[u8], ReportMode> {
-    alt((value(false, tag("off")),
+    alt((value(ReportMode::Off, tag("off")),
-         value(true, tag("on"))
+         value(ReportMode::Once, tag("once")),
+         value(ReportMode::Continuous, tag("continuous"))
     ))(input)
 }
 
@@ -132,16 +133,13 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
                     alt((
                         preceded(
                             whitespace,
-                            // `report mode <on | off>` - Switch repoting mode
+                            map(report_mode,
-                            map(off_on,
+                                |mode| Command::Report(mode))
-                                |reporting| Command::Reporting(reporting))
                         ),
-                        // `report mode` - Show current reporting state
+                        |input| Ok((input, Command::Show(ShowCommand::ReportMode)))
-                        |input| Ok((input, Command::Show(ShowCommand::Reporting)))
                     ))
                 )),
-            // `report` - Report once
+            |input| Ok((input, Command::Report(ReportMode::Once)))
-            |input| Ok((input, Command::Show(ShowCommand::Input)))
         ))
     )(input)
 }
@@ -175,6 +173,7 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
              value(PidParameter::IntegralMax, tag("integral_max"))
         ))(input)?;
     let (input, _) = whitespace(input)?;
+    // TODO: parse float
     let (input, value) = float(input)?;
     let result = value
         .map(|value| Command::Pid { parameter, value })

firmware/src/main.rs

@@ -76,6 +76,8 @@ 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,
@@ -86,8 +88,6 @@ const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
     integral_max: 0xffff as f32,
 };
 
-pub const CHANNELS: usize = 2;
-
 #[entry]
 fn main() -> ! {
     let mut stdout = hio::hstdout().unwrap();
@@ -204,7 +204,11 @@ fn main() -> ! {
         (Session::new(), tcp_handle7),
     ];
 
-    let mut report = [None; CHANNELS];
+    let mut last_report = get_time();
+    let mut next_report = get_time();
+    // cumulative (sum, count)
+    let mut sample = [(0u64, 0usize); 2];
+    let mut report = [None; 2];
     loop {
         // ADC input
         adc.data_ready()
@@ -212,14 +216,30 @@ fn main() -> ! {
                 writeln!(stdout, "ADC error: {:?}", e).unwrap();
                 None
             }).map(|channel| {
-                let now = get_time();
                 let data = adc.read_data().unwrap();
-                report[usize::from(channel)] = Some((now, data));
+                sample[usize::from(channel)].0 += u64::from(data);
-
+                sample[usize::from(channel)].1 += 1;
-                for (session, _) in sessions_handles.iter_mut() {
-                    session.set_report_pending(channel.into());
-                }
             });
+        let now = get_time();
+        if now >= next_report {
+            if now < next_report + REPORT_INTERVAL {
+                // Try to keep interval constant
+                next_report += REPORT_INTERVAL;
+            } else {
+                // Bad jitter, catch up
+                next_report = now + REPORT_INTERVAL;
+            }
+            for (channel, sample) in sample.iter().enumerate() {
+                if sample.1 > 0 {
+                    // TODO: calculate med instead of avg?
+                    report[channel] = Some(sample.0 / (sample.1 as u64));
+                }
+            }
+            for (session, _) in sessions_handles.iter_mut() {
+                session.set_report_pending();
+            }
+            last_report = get_time();
+        }
 
         for (session, tcp_handle) in sessions_handles.iter_mut() {
             let socket = &mut *sockets.get::<TcpSocket>(*tcp_handle);
@@ -240,18 +260,11 @@ fn main() -> ! {
                     Ok(SessionOutput::Command(command)) => match command {
                         Command::Quit =>
                             socket.close(),
-                        Command::Reporting(reporting) => {
+                        Command::Report(mode) => {
-                            let _ = writeln!(socket, "Report mode set to {}", if reporting { "on" } else { "off" });
+                            let _ = writeln!(socket, "Report mode: {}", mode);
-                        }
-                        Command::Show(ShowCommand::Reporting) => {
-                            let _ = writeln!(socket, "Report mode: {}", if session.reporting() { "on" } else { "off" });
-                        }
-                        Command::Show(ShowCommand::Input) => {
-                            for (channel, report) in report.iter().enumerate() {
-                                report.map(|(time, data)| {
-                                    let _ = writeln!(socket, "t={}, sens{}={}", time, channel, data);
-                                });
                         }
+                        Command::Show(ShowCommand::ReportMode) => {
+                            let _ = writeln!(socket, "Report mode: {}", session.report_mode());
                         }
                         Command::Show(ShowCommand::Pid) => {
                             let _ = writeln!(socket, "PID settings");
@@ -303,13 +316,15 @@ fn main() -> ! {
                     Err(_) => {}
                 }
             }
-            if socket.may_send() {
+            if socket.may_send() && session.is_report_pending() {
-                if let Some(channel) = session.is_report_pending() {
+                let _ = write!(socket, "t={}", last_report);
-                    report[channel].map(|(time, data)| {
+                for (channel, report_data) in report.iter().enumerate() {
-                        let _ = writeln!(socket, "t={} sens{}={:06X}", time, channel, data);
+                    report_data.map(|report_data| {
+                        let _ = write!(socket, " sens{}={:06X}", channel, report_data);
                     });
-                    session.mark_report_sent(channel);
                 }
+                let _ = writeln!(socket, "");
+                session.mark_report_sent();
             }
         }
         match iface.poll(&mut sockets, Instant::from_millis((get_time() / 1000) as i64)) {

firmware/src/session.rs

@@ -1,6 +1,6 @@
 use core::ops::Deref;
+use core::fmt;
 use super::command_parser::{Command, Error as ParserError};
-use super::CHANNELS;
 
 const MAX_LINE_LEN: usize = 64;
 
@@ -54,6 +54,23 @@ impl Deref for LineResult {
     }
 }
 
+#[derive(Debug, Clone, Copy)]
+pub enum ReportMode {
+    Off,
+    Once,
+    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),
@@ -69,16 +86,16 @@ impl From<Result<Command, ParserError>> for SessionOutput {
 
 pub struct Session {
     reader: LineReader,
-    reporting: bool,
+    report_mode: ReportMode,
-    report_pending: [bool; CHANNELS],
+    report_pending: bool,
 }
 
 impl Session {
     pub fn new() -> Self {
         Session {
             reader: LineReader::new(),
-            reporting: false,
+            report_mode: ReportMode::Off,
-            report_pending: [false; CHANNELS],
+            report_pending: false,
         }
     }
 
@@ -86,34 +103,30 @@ impl Session {
         self.reader.pos > 0
     }
 
-    pub fn reporting(&self) -> bool {
+    pub fn report_mode(&self) -> ReportMode {
-        self.reporting
+        self.report_mode
     }
 
-    pub fn set_report_pending(&mut self, channel: usize) {
+    pub fn set_report_pending(&mut self) {
-        if self.reporting {
+        self.report_pending = true;
-            self.report_pending[channel] = true;
+    }
+
+    pub fn is_report_pending(&self) -> bool {
+        match self.report_mode {
+            ReportMode::Off => false,
+            _ => self.report_pending,
         }
     }
 
-    pub fn is_report_pending(&self) -> Option<usize> {
+    pub fn mark_report_sent(&mut self) {
-        if ! self.reporting {
+        self.report_pending = false;
-            None
+        match self.report_mode {
-        } else {
+            ReportMode::Once =>
-            self.report_pending.iter()
+                self.report_mode = ReportMode::Off,
-                .enumerate()
+            _ => {}
-                .fold(None, |result, (channel, report_pending)| {
-                    result.or_else(|| {
-                        if *report_pending { Some(channel) } else { None }
-                    })
-                })
         }
     }
 
-    pub fn mark_report_sent(&mut self, channel: usize) {
-        self.report_pending[channel] = false;
-    }
-
     pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionOutput) {
         let mut buf_bytes = 0;
         for (i, b) in buf.iter().enumerate() {
@@ -123,8 +136,8 @@ impl Session {
                 Some(line) => {
                     let command = Command::parse(&line);
                     match command {
-                        Ok(Command::Reporting(reporting)) => {
+                        Ok(Command::Report(mode)) => {
-                            self.reporting = reporting;
+                            self.report_mode = mode;
                         }
                         _ => {}
                     }