thermostat/src/main.rs

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Rust
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#![no_std]
#![no_main]
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// TODO: #![deny(warnings, unused)]
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#[cfg(not(feature = "semihosting"))]
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use panic_abort as _;
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#[cfg(feature = "semihosting")]
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use panic_semihosting as _;
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use log::{info, warn};
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use core::fmt::Write;
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use cortex_m::asm::wfi;
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use cortex_m_rt::entry;
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use embedded_hal::watchdog::{WatchdogEnable, Watchdog};
use stm32f4xx_hal::{
rcc::RccExt,
watchdog::IndependentWatchdog,
time::{U32Ext, MegaHertz},
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stm32::{CorePeripherals, Peripherals},
};
use smoltcp::{
time::Instant,
wire::EthernetAddress,
};
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mod init_log;
use init_log::init_log;
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mod pins;
use pins::Pins;
mod ad7172;
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mod ad5680;
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mod net;
mod server;
use server::Server;
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mod session;
use session::{CHANNELS, Session, SessionOutput};
mod command_parser;
use command_parser::{Command, ShowCommand, PwmSetup, PwmMode};
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mod timer;
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#[derive(Clone, Copy, Debug)]
struct ChannelState {
adc_data: Option<i32>,
adc_time: Instant,
}
impl Default for ChannelState {
fn default() -> Self {
ChannelState {
adc_data: None,
adc_time: Instant::from_secs(0),
}
}
}
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#[cfg(not(feature = "semihosting"))]
const WATCHDOG_INTERVAL: u32 = 100;
#[cfg(feature = "semihosting")]
const WATCHDOG_INTERVAL: u32 = 10_000;
#[cfg(not(feature = "generate-hwaddr"))]
const NET_HWADDR: [u8; 6] = [0x02, 0x00, 0xDE, 0xAD, 0xBE, 0xEF];
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const TCP_PORT: u16 = 23;
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const HSE: MegaHertz = MegaHertz(8);
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/// Initialization and main loop
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#[entry]
fn main() -> ! {
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init_log();
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info!("tecpak");
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let mut cp = CorePeripherals::take().unwrap();
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cp.SCB.enable_icache();
cp.SCB.enable_dcache(&mut cp.CPUID);
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let dp = Peripherals::take().unwrap();
stm32_eth::setup(&dp.RCC, &dp.SYSCFG);
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let clocks = dp.RCC.constrain()
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.cfgr
.use_hse(HSE)
.sysclk(168.mhz())
.hclk(168.mhz())
.pclk1(32.mhz())
.pclk2(64.mhz())
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.freeze();
let mut wd = IndependentWatchdog::new(dp.IWDG);
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wd.start(WATCHDOG_INTERVAL.ms());
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wd.feed();
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let pins = Pins::setup(
clocks, dp.TIM1, dp.TIM3,
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dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOE, dp.GPIOF, dp.GPIOG,
dp.SPI2, dp.SPI4, dp.SPI5
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);
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let mut adc = ad7172::Adc::new(pins.adc_spi, pins.adc_nss).unwrap();
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let mut dac0 = ad5680::Dac::new(pins.dac0_spi, pins.dac0_sync);
dac0.set(0);
let mut dac1 = ad5680::Dac::new(pins.dac1_spi, pins.dac1_sync);
dac1.set(0);
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timer::setup(cp.SYST, clocks);
#[cfg(not(feature = "generate-hwaddr"))]
let hwaddr = EthernetAddress(NET_HWADDR);
#[cfg(feature = "generate-hwaddr")]
let hwaddr = {
let uid = stm32f4xx_hal::signature::Uid::get();
EthernetAddress(hash2hwaddr::generate_hwaddr(uid))
};
info!("Net hwaddr: {}", hwaddr);
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let mut channel_states = [ChannelState::default(); CHANNELS];
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net::run(dp.ETHERNET_MAC, dp.ETHERNET_DMA, hwaddr, |iface| {
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Server::<Session>::run(iface, |server| {
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loop {
let now = timer::now().0;
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let instant = Instant::from_millis(i64::from(now));
cortex_m::interrupt::free(net::clear_pending);
server.poll(instant)
.unwrap_or_else(|e| {
warn!("poll: {:?}", e);
});
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// ADC input
adc.data_ready().unwrap().map(|channel| {
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let data = adc.read_data().unwrap();
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let state = &mut channel_states[usize::from(channel)];
state.adc_data = Some(data);
state.adc_time = instant;
server.for_each(|_, session| session.set_report_pending(channel.into()));
});
// TCP protocol handling
server.for_each(|mut socket, session| {
if ! socket.is_open() {
let _ = socket.listen(TCP_PORT);
session.reset();
} else if socket.can_send() && socket.can_recv() && socket.send_capacity() - socket.send_queue() > 128 {
match socket.recv(|buf| session.feed(buf)) {
Ok(SessionOutput::Nothing) => {}
Ok(SessionOutput::Command(command)) => match command {
Command::Quit =>
socket.close(),
Command::Reporting(reporting) => {
let _ = writeln!(socket, "report={}", if reporting { "on" } else { "off" });
}
Command::Show(ShowCommand::Reporting) => {
let _ = writeln!(socket, "report={}", if session.reporting() { "on" } else { "off" });
}
Command::Show(ShowCommand::Input) => {
for (channel, state) in channel_states.iter().enumerate() {
if let Some(adc_data) = state.adc_data {
let _ = writeln!(
socket, "t={} raw{}=0x{:06X}",
state.adc_time, channel, adc_data
);
// TODO: show pwm status et al
}
}
}
Command::Show(ShowCommand::Pid) => {
// for (channel, state) in states.iter().enumerate() {
// let _ = writeln!(socket, "PID settings for channel {}", channel);
// let pid = &state.pid;
// 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);
// let _ = writeln!(socket, "");
// }
}
Command::Show(ShowCommand::Pwm) => {
// for (channel, state) in states.iter().enumerate() {
// let _ = writeln!(
// socket, "channel {}: PID={}",
// channel,
// if state.pid_enabled { "engaged" } else { "disengaged" }
// );
// for pin in TecPin::VALID_VALUES {
// let (width, total) = match channel {
// 0 => tec0.get(*pin),
// 1 => tec1.get(*pin),
// _ => unreachable!(),
// };
// let _ = writeln!(socket, "- {}={}/{}", pin, width, total);
// }
// let _ = writeln!(socket, "");
// }
}
Command::Show(ShowCommand::SteinhartHart) => {
// for (channel, state) in states.iter().enumerate() {
// let _ = writeln!(
// socket, "channel {}: Steinhart-Hart equation parameters",
// channel,
// );
// let _ = writeln!(socket, "- a={}", state.sh.a);
// let _ = writeln!(socket, "- b={}", state.sh.b);
// let _ = writeln!(socket, "- c={}", state.sh.c);
// let _ = writeln!(socket, "- parallel_r={}", state.sh.parallel_r);
// let _ = writeln!(socket, "");
// }
}
Command::Show(ShowCommand::PostFilter) => {
// for (channel, _) in states.iter().enumerate() {
// match adc.get_postfilter(channel as u8).unwrap() {
// Some(filter) => {
// let _ = writeln!(
// socket, "channel {}: postfilter={:.2} SPS",
// channel, filter.output_rate().unwrap()
// );
// }
// None => {
// let _ = writeln!(
// socket, "channel {}: no postfilter",
// channel
// );
// }
// }
// }
}
Command::Pwm { channel, setup: PwmSetup::ISet(PwmMode::Pid) } => {
// states[channel].pid_enabled = true;
// let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel
// );
}
Command::Pwm { channel, setup: PwmSetup::ISet(PwmMode::Manual(config))} => {
// states[channel].pid_enabled = false;
// let PwmConfig { width, total } = config;
// match channel {
// 0 => tec0.set(TecPin::ISet, width, total),
// 1 => tec1.set(TecPin::ISet, width, total),
// _ => unreachable!(),
// }
// let _ = writeln!(
// socket, "channel {}: PWM duty cycle manually set to {}/{}",
// channel, config.width, config.total
// );
}
Command::Pwm { channel, setup } => {
// let (pin, config) = match setup {
// PwmSetup::ISet(_) =>
// // Handled above
// unreachable!(),
// PwmSetup::MaxIPos(config) =>
// (TecPin::MaxIPos, config),
// PwmSetup::MaxINeg(config) =>
// (TecPin::MaxINeg, config),
// PwmSetup::MaxV(config) =>
// (TecPin::MaxV, config),
// };
// let PwmConfig { width, total } = config;
// match channel {
// 0 => tec0.set(pin, width, total),
// 1 => tec1.set(pin, width, total),
// _ => unreachable!(),
// }
// let _ = writeln!(
// socket, "channel {}: PWM {} reconfigured to {}/{}",
// channel, pin, width, total
// );
}
Command::Pid { channel, parameter, value } => {
// let pid = &mut states[channel].pid;
// 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),
// }
// pid.reset();
// let _ = writeln!(socket, "PID parameter updated");
}
Command::SteinhartHart { channel, parameter, value } => {
// let sh = &mut states[channel].sh;
// use command_parser::ShParameter::*;
// match parameter {
// A => sh.a = value,
// B => sh.b = value,
// C => sh.c = value,
// ParallelR => sh.parallel_r = value,
// }
// let _ = writeln!(socket, "Steinhart-Hart equation parameter updated");
}
Command::PostFilter { channel, rate } => {
// let filter = ad7172::PostFilter::closest(rate);
// match filter {
// Some(filter) => {
// adc.set_postfilter(channel as u8, Some(filter)).unwrap();
// let _ = writeln!(
// socket, "channel {}: postfilter set to {:.2} SPS",
// channel, filter.output_rate().unwrap()
// );
// }
// None => {
// let _ = writeln!(socket, "Unable to choose postfilter");
// }
// }
}
}
Ok(SessionOutput::Error(e)) => {
let _ = writeln!(socket, "Command error: {:?}", e);
}
Err(_) =>
socket.close(),
}
} else if socket.can_send() && socket.send_capacity() - socket.send_queue() > 256 {
while let Some(channel) = session.is_report_pending() {
let state = &mut channel_states[usize::from(channel)];
let _ = writeln!(
socket, "t={} raw{}=0x{:04X}",
state.adc_time, channel, state.adc_data.unwrap_or(0)
).map(|_| {
session.mark_report_sent(channel);
});
}
}
});
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// Update watchdog
wd.feed();
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// cortex_m::interrupt::free(|cs| {
// if !net::is_pending(cs) {
// // Wait for interrupts
// wfi();
// }
// });
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}
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});
});
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unreachable!()
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}